ABSTRACT
This study describes a three-dimensional visualization system with spatial information for the effective control of a tele-operated robot. The environmental visualization system for operating the robot is very important. The tele-operated robot performs tasks in a disaster area that is not accessible to humans. The visualization system should perform in real-time to cope with rapidly changing situations. The visualization system should also provide accurate and high-level information so that the tele-operator can make the right decisions. The proposed system consists of four fisheye cameras and a 360° laser scanner. When the robot moves to the unknown space, a spatial model is created using the spatial information data of the laser scanner, and a single-stitched image is created using four images from cameras and mapped in real-time. The visualized image contains the surrounding spatial information; hence, the tele-operator can not only grasp the surrounding space easily, but also knows the relative position of the robot in space. In addition, it provides various angles of view without moving the robot or sensor, thereby coping with various situations. The experimental results show that the proposed method has a more natural appearance than the conventional methods.
ABSTRACT
Urine tests are performed by using an off-the-shelf reference sheet to compare the color of test strips. However, the tabular representation is difficult to use and more prone to visual errors, especially when the reference color-swatches to be compared are spatially apart. Thus, making it is difficult to distinguish between the subtle differences of shades on the reagent pads. This manuscript represents a new arrangement of reference arrays for urine test strips (urinalysis). Reference color swatches are grouped in a doughnut chart, surrounding each reagent pad on the strip. The urine test can be evaluated using naked eye by referring to the strip with no additional sheet necessary. Along with this new strip, an algorithm for smartphone based application is also proposed as an alternative to deliver diagnostic results. The proposed colorimetric detection method evaluates the captured image of the strip, under various color spaces and evaluates ten different tests for urine. Thus, the proposed system can deliver results on the spot using both naked eye and smartphone. The proposed scheme delivered accurate results under various environmental illumination conditions without any calibration requirements, exhibiting performances suitable for real-life applications and an ease for a common user.