Auxiliary Objects Research Articles

Современные космические технологии для войны и мира: тенденции, угрозы, перспективы

The article examines the issue of applying space technologies for both military and peaceful purposes. The subject of the study includes specialized technical means designed for the exploration and utilization of the universe: spacecraft, satellites, orbital stations, launch vehicles, deep space communication, space engines, extraterrestrial and terrestrial auxiliary infrastructure objects, as well as procedures and special events. It has been proven that space technologies, including the quantitative and qualitative characteristics of satellite constellations, are currently crucial indicators of a nation’s capabilities, status, and global influence. The study analyzes the conceptual framework, the process of spreading space technologies, and the current trends in their development at the present stage. Drawing on data from Russian and foreign scientists and specialists, the author conducted a systematic analysis of modern types of space weapons – those located in space or deployed into Earth orbit and designed for combat in or from space – as well as an analysis of weapons designed to destroy or damage infrastructure in space. The author demonstrates that the increasing threats associated with the development and deployment of new military space technologies pose risks to global peace. In the context of a crisis in the relations between nuclear powers, the likelihood of a rapid escalation of a nuclear conflict increases due to the disruption of the Early Warning System satellites, which consequently raises the risk of accidental ballistic missile launches. Following this logic, it can be argued that the level of strategic stability is already declining today, with extremely negative consequences for all countries worldwide. This underscores the relevance of the research. Proposals have been formulated to prevent an arms race in space by discussing and adopting special binding norms of international law, which Russia has been advocating for many years in cooperation with other interested countries.

Operation of Czechoslovak Military Intelligence in Austria. Part 2 (Origin of the Legal Mixed “Průsek” Residency and its Activity in 1976–1989)

The second part of the study builds on the previous first part by focusing on the period of the second half of the 1970s. During this period, the “Průsek” Residency, which was a mixed residency type, started operating in the area of interest. The paper analyses the early days of its activities, which were marked by problems in recruitment and information outreach. It highlights the difficulties in building an agency network and penetrating the identified main and auxiliary objects of interest.

Improving Mathematics Learning Outcomes Through Contextual Teaching Learning (CTL) Models with Auxiliary Objects of the Surrounding Environment at Madigondo Samigaluh Public Elementary School, Kulon Progo Regency, 2021/2022 Academic Year

This research was conducted to improve mathematics learning outcomes in the 2019 Coronavirus Disease (Covid-19) pandemic era through face-to-face meetings, increase student motivation in learning and improve teachers' abilities in carrying out teaching and learning activities. This type of research is Classroom Action Research (CAR). The subjects of this study were all fifth-grade students at SD Negeri Madigondo Kapanewon Samigaluh for the 2021/2022 academic year, with a total of 14 students consisting of 9 boys and 5 girls. The object of research is solving problems related to learning mathematics by using the CTL learning model to increase student motivation and achievement as well as teaching abilities in teaching and learning activities. The data collection technique in this study used the evaluation of student test assessments and observation sheets. The results showed that there was an increase in students' mathematics learning outcomes through the CTL learning model, namely in cycle I for 1st meeting of 55.56% in the "very low" category, and in 2nd meeting, the percentage of learning completeness was obtained by 66.67% in the "low" category, while in cycle II for 1st meeting percentage of 77.78% category "Enough" and at 2nd meeting obtained a percentage of 100%. The results showed that there was an increase in the learning motivation of fifth-grade students at SD Negeri Madigondo Kapanewon Samigaluh, namely in cycle I for the 1st meeting obtained a percentage of 49.39%, and the 2nd meeting obtained a percentage of 70.31%. While in cycle II for 1st meeting obtained a percentage of 84.60%, and the second meeting obtained a percentage of 92.70%. The results showed an increase in the current teacher's ability (KBM), that is, in cycle I a presentation of 89.68% was obtained with a conversion of 4 "Very Satisfactory" values, while in cycle II a percentage of 95.91% was obtained with a conversion of 4 "Very Satisfactory" values.

Peculiarities of Using Lighting in the Process of Film Shooting

The purpose of the article. It analyzes the components that influence the creation of movie images. Set the role of lighting in the shooting of an audiovisual product. Identify features and fragments when working with it. Prove the importance of the ability to use light sources in natural and pavilion locations. Identify the factors that affect the quality of the visual material. Research methodology. Such methods were used in the article: theoretical – analysis of movies, and publications; generalization – the influence of lighting on the quality of visual material; determination of interdependence (light, time of day and auxiliary objects that influence the creation of a frame); empirical – systematization of one’s own experience, determination of the relationship between lighting and the quality of visual material. Scientific novelty. The components that influence the creation of a visual image were analyzed for the first time, a detailed analysis of the dependence of the time of day and illumination in the field, which forms the illumination scheme, by means of theoretical analysis of films, the factors that influence the quality of the visual material are determined. Conclusions. In the course of the article, the main techniques of cinematography when creating audiovisual works are analyzed. The concepts of frame composition and the skill of conveying an emotional state are considered. The use of various lighting sources in natural and artificial locations is considered in detail. Based on the analysis of audiovisual products of leading masters, the importance of the ability to use different types of lighting sources has been proven. A list of the features and difficulties of using different types of lighting has been created and the key factors that have a direct impact on the quality of creating an audiovisual work have been outlined.

STRUCTURAL MODEL OF THE SYSTEM OF DEVELOPMENT OF METHODOLOGICAL COMPETENCE OF IT-DISCIPLINE TEACHERS ON THE BASIS OF CONTINUING EDUCATION

The article considers the creation of structural model for the system of development of methodological competence of IT-discipline teachers based on continuing education with the description of the structure of microservices subsystems. To implement the proposed conceptual model the paper proposes a software architecture based on the use of classical service-oriented design pattern "Model-View Separation" (separation of model objects from the graphical interface objects with the user) and provides for interaction with the database, the composition of its main packages is detailed. Logical and physical service-oriented models of basic classes of objects of subject area and auxiliary objects (services) have been developed. The article also proposes a relational database structure based on the use of metadata tables, directories, and operational data in a relational database management system environment. Methods and mechanisms for data protection and replication are proposed and justified, considering the specifics of system operation in higher education institutions. The article aims to develop insurgents and mechanisms of creation of information technology improvement of the system of higher education and creation and operation of integrated flexible software tools to support the mixed system of organization of educational process, as well as increasing the effectiveness of the introduction of a mixed system for the organization of the educational process on the basis of the use of the latest technical means of training and documentation, ensuring free access of students to teaching and methodological resources, сontent and criteria for the assessment of knowledge in disciplines and modules, data recording, and partial compensation for the increased workload of teachers and staff through the automation of assessment, registration and assessment processes. A task-oriented model for managing technical problems in the implementation of the information system for the development of teachers' methodological competence is also proposed, and a conceptual framework for managing these problems has been developed from the perspective of considering projects as a set of objects and subjects. Technical problems in projects are shown to be obstacles to moving in the right direction, created by random events, uncertainties, and changes. A mathematical model of the change in resistance value caused by technical problems has been developed and methods to counteract these problems have been proposed.

Implementation of the method of figurative transformations to minimizing symmetric Boolean functions

This paper reports a study that has established the possibility of improving the effectiveness of the method of figurative transformations in order to minimize symmetrical Boolean functions in the main and polynomial bases. Prospective reserves in the analytical method were identified, such as simplification of polynomial function conjuncterms using the created equivalent transformations based on the method of inserting the same conjuncterms followed by the operation of super-gluing the variables. The method of figurative transformations was extended to the process of minimizing the symmetrical Boolean functions with the help of algebra in terms of rules for simplifying the functions of the main and polynomial bases and developed equivalent transformations of conjuncterms. It was established that the simplification of symmetric Boolean functions by the method of figurative transformations is based on a flowchart with repetition, which is the actual truth table of the assigned function. This is a sufficient resource to minimize symmetrical Boolean functions that makes it possible to do without auxiliary objects, such as Karnaugh maps, cubes, etc. The perfect normal form of symmetrical functions can be represented by binary matrices that would represent the terms of symmetrical Boolean functions and the OR or XOR operation for them. The experimental study has confirmed that the method of figurative transformations that employs the 2-(n, b)-design, and 2-(n, x/b)-design combinatorial systems improves the efficiency of minimizing symmetrical Boolean functions. Compared to analogs, this makes it possible to enhance the productivity of minimizing symmetrical Boolean functions by 100‒200 %. There are grounds to assert the possibility of improving the effectiveness of minimizing symmetrical Boolean functions in the main and polynomial bases by the method of figurative transformations. This is ensured, in particular, by using the developed equivalent transformations of polynomial function conjuncterms based on the method of inserting similar conjuncterms followed by the operation of super-gluing the variables.

Developing the minimization of a polynomial normal form of boolean functions by the method of figurative transformations

This paper reports a study that has established the possibility of improving the effectiveness of the method of figurative transformations in order to minimize Boolean functions on the Reed-Muller basis. Such potential prospects in the analytical method have been identified as a sequence in the procedure of inserting the same conjuncterms of polynomial functions followed by the operation of super-gluing the variables. The extension of the method of figurative transformations to the process of simplifying the functions of the polynomial basis involved the developed algebra in terms of the rules for simplifying functions in the Reed-Muller basis. It was established that the simplification of Boolean functions of the polynomial basis by a figurative transformation method is based on a flowchart with repetition, which is actually the truth table of the predefined function. This is a sufficient resource to minimize functions that makes it possible not to refer to such auxiliary objects as Karnaugh maps, Weich charts, cubes, etc. A perfect normal form of the polynomial basis functions can be represented by binary sets or a matrix that would represent the terms of the functions and the addition operation by module two for them. The experimental study has confirmed that the method of figurative transformations that employs the systems of 2-(n, b)-design, and 2-(n, x/b)-design in the first matrix improves the efficiency of minimizing Boolean functions. That also simplifies the procedure for finding a minimum function on the Reed-Muller basis. Compared to analogs, this makes it possible to enhance the performance of minimizing Boolean functions by 100‒200 %. There is reason to assert the possibility of improving the efficiency of minimizing Boolean functions in the Reed-Muller basis by a method of figurative transformations. This is ensured by using more complex algorithms to simplify logical expressions involving a procedure of inserting the same function terms in the Reed-Muller basis, followed by the operation of super-gluing the variables.

“On Nomadic Shores Inward”: Harry Martinson’s Journey to Late-Life Suicide

The aim of this study was to explore the unconscious dimensions of suicide as conveyed by the Swedish writer Harry Martinson, who took his life in 1978, four years after having received the Nobel Prize in Literature. A psychoanalytically informed “listening” to Martinson comprised a close reading of his writings, reflection on my total response to the material, the application of psychoanalytic hypotheses on severe depression and suicide-nearness, and the study of biographical sources. The dramatic fluctuations of Martinson’s self-regard were noted, as was the juxtaposition of opposites in his poetry: darkness that seeps through observations of the beauty of nature and man or the reverse, a gleam of love that defuses the cruelty of the world. Martinson’s drive to communicate with himself and others by talking and writing, to find auxiliary objects compensating for the traumatic losses of his childhood, and to realize mature love in adulthood was understood as a counterforce to self-destructiveness and threatening narcissistic disintegration. Pressured by negative reactions to the Nobel, which overlay decades of envy and political critique from colleagues, whose support he coveted, Martinson’s aggressivity—reflecting the near soul-murder of his early life—exploded in his suicide.

A bijection between two subfamilies of Motzkin paths

Two subfamilies of Motzkin paths, with the same numbers of up, down, horizontal steps were known to be equinumerous with ternary trees and related objects. We construct a bijection between these two families that does not use any auxiliary objects, like ternary trees.

Devising a method of figurative transformations for minimizing boolean functions in the implicative basis

This paper reports a study that has established the possibility of reducing computational complexity while improving the productivity of simplification of Boolean functions in the class of perfect implied normal forms (PINF-1 and PINF-2) using a method of figurative transformations.The method of figurative transformations has been expanded to cover the process of simplifying the functions of the implicative basis by using the developed algebra of the implicative basis in the form of rules that simplify the PINF-1 and PINF-2 functions of the implicative basis. A special feature in simplifying the functions of the implicative basis on the binary structures of 2-(n, b)-designs) is the use of analogs of perfect disjunctive normal forms (PDNF) and perfect conjunctive normal forms (PCNF) of Boolean functions. The specified forms of the functions define transformation rules for the functions of the implicative basis on binary structures.It is shown that the perfect implicative normal form of n-place function of the implicative basis can be represented by the binary sets or a matrix. Logical operations over the structure of the matrix ensure the result from simplifying the functions of the implicative basis. This makes it possible to focus the minimization principle within the truth table of the assigned function and avoid auxiliary objects such as Carnot map, Weich charts, etc.The method under consideration makes it possible:– to reduce the algorithmic complexity of PINF-1 and PINF-2 simplification;– to improve the performance of simplifying the functions of the implied basis by 100‒200 %;– to visualize the process of PINF-1 or PINF-2 minimization;There is reason to argue that minimizing the functions of the implicative basis using a method of figurative transformations brings the task of PINF-1 and PINF-2 minimization to the level of well-researched problems within the class of disjunctive-conjunctive normal forms of Boolean functions

Implementation of the method of image transformations for minimizing the Sheffer functions

The studies have established the possibility of reducing computational complexity, higher productivity of minimization of the Boolean functions in the class of expanded normal forms of the Sheffer algebra functions by the method of image transformations. Expansion of the method of image transformations to the minimization of functions of the Sheffer algebra makes it possible to identify new algebraic rules of logical transformations. Simplification of the Sheffer functions on binary structures of the 2-(n, b)-designs) features exceptional situations. They are used both when deriving the result of simplification of functions from a binary matrix and introducing the Sheffer function to the matrix. It was shown that the expanded normal form of the n-digit Sheffer function can be represented by binary sets or a matrix. Logical operations with the matrix structure provide the result of simplification of the Sheffer functions. This makes it possible to concentrate the principle of minimization within the truth table of a given function and do without auxiliary objects, such as Karnaugh map, Weich diagrams, coverage tables, etc. Compared with the analogs of minimizing the Sheffer algebra functions, the method under the study makes the following to be possible: ‒ reduce algorithmic complexity of minimizing expanded normal forms of the Sheffer functions (ENSF-1 and ENSF-2); ‒ increase the productivity of minimizing the Sheffer algebra functions by 100‒150 %; ‒ demonstrate clarity of the process of minimizing the ENSF-1 or ENSF-2; ‒ ensure self-sufficiency of the method of image transformations to minimize the Sheffer algebra functions by introducing the tag of minimum function and minimization in the complete truth table of the ENSF-1 and ENSF-2. There are reasons to assert that application of the method of image transformations to the minimization of the Sheffer algebra functions brings the problem of minimization of the ENSF-1 and ENSF-2 to the level of a well-studied problem in the class of disjunctive-conjunctive normal forms (DCNF) of Boolean functions

IMAGODRAMA: uso de bonecos e objetos-auxiliares em psicodrama individual e on-line

Este artigo aborda aspectos referentes à utilização de objetos-auxiliares e mediadores em psicodrama individual e on-line a partir das suas funções terapêuticas, e associados à técnica de construção de imagens psicodramáticas com bonecos. Retoma o enquadre clássico da metodologia psicodramática com o objetivo de adequar os instrumentos fundamentais do psicodrama ao atendimento on-line e, em seguida, abrir a discussão teórica sobre as nomenclaturas surgidas no Brasil, decorrentes de diferentes enquadres em psicodrama individual. Conclui sua escrita com as definições dos conceitos de objetos-auxiliares, mediadores e criativos, ilustrando com três sessões on-line sobre o uso de bonecos e objetos-auxiliares em psicodrama clínico, definindo sua prática clínica, seja presencial ou on-line, como Imagodrama.

Geometric calibration for LiDAR-camera system fusing 3D-2D and 3D-3D point correspondences.

Calibrating the extrinsic parameters on a system of 3D Light Detection And Ranging (LiDAR) and the monocular camera is a challenging task, because accurate 3D-2D or 3D-3D point correspondences are hard to establish from the sparse LiDAR point clouds in the calibration procedure. In this paper, we propose a geometric calibration method for estimating the extrinsic parameters of the LiDAR-camera system. In this method, a novel combination of planar boards with chessboard patterns and auxiliary calibration objects are proposed. The planar chessboard provides 3D-2D and 3D-3D point correspondences. Auxiliary calibration objects provide extra constraints for stable calibration results. After that, a novel geometric optimization framework is proposed to utilize these point correspondences, thus leading calibration results robust to LiDAR sensor noise. Besides, we contribute an automatic approach to extract point clouds of calibration objects. In the experiments, our method has a superior performance over state-of-the-art calibration methods. Furthermore, we verify our method by computing depth map and improvements can also be found. These results demonstrate that our method performance on the LiDAR-camera system is applicable for future advanced visual applications.

Adaptive learning path recommender approach using auxiliary learning objects

In e-learning, one of the main difficulties is recommending learning materials that users can complete on time. It becomes more challenging when users cannot devote enough time to learn the entire course. In this paper, we describe two approaches to maximize users’ scores for a course while satisfying their time constraints. These approaches recommend successful paths based on the available time and knowledge background of users. We first briefly explain a method that has a similar goal to our method, and highlight its drawbacks. We then describe our proposal, which works based on a two-layered course graph (lesson and Learning Object (LO) layers; a lesson includes a few LO). Initially, our method uses the Depth First Search algorithm (DFS) to find all lesson sequences in the graph that start by a lesson (opted by a user). It then assigns LO for lessons of paths and estimates their score and time. Finally, a path that satisfies the user’s limited time while maximizing his/her score is recommended lesson by lesson. During a path recommendation, if the user could not get the estimated score from a lesson, our method recommends auxiliary LO for that lesson. To evaluate our method, we first assessed the quality of our estimation methods and then evaluate our recommender in a live environment. Results show that our estimation methods outperformed the ones in the literature. Results also present within the same amount of time, the users of our recommender proceeded more on the course than the users of another e-learning system.

Three-Dimensional Morphological Measurement Method for a Fruit Tree Canopy Based on Kinect Sensor Self-Calibration

Perception of the fruit tree canopy is a vital technology for the intelligent control of a modern standardized orchard. Due to the complex three-dimensional (3D) structure of the fruit tree canopy, morphological parameters extracted from two-dimensional (2D) or single-perspective 3D images are not comprehensive enough. Three-dimensional information from different perspectives must be combined in order to perceive the canopy information efficiently and accurately in complex orchard field environment. The algorithms used for the registration and fusion of data from different perspectives and the subsequent extraction of fruit tree canopy related parameters are the keys to the problem. This study proposed a 3D morphological measurement method for a fruit tree canopy based on Kinect sensor self-calibration, including 3D point cloud generation, point cloud registration and canopy information extraction of apple tree canopy. Using 32 apple trees (Yanfu 3 variety) morphological parameters of the height (H), maximum canopy width (W) and canopy thickness (D) were calculated. The accuracy and applicability of this method for extraction of morphological parameters were statistically analyzed. The results showed that, on both sides of the fruit trees, the average relative error (ARE) values of the morphological parameters including the fruit tree height (H), maximum tree width (W) and canopy thickness (D) between the calculated values and measured values were 3.8%, 12.7% and 5.0%, respectively, under the V1 mode; the ARE values under the V2 mode were 3.3%, 9.5% and 4.9%, respectively; and the ARE values under the V1 and V2 merged mode were 2.5%, 3.6% and 3.2%, respectively. The measurement accuracy of the tree width (W) under the double visual angle mode had a significant advantage over that under the single visual angle mode. The 3D point cloud reconstruction method based on Kinect self-calibration proposed in this study has high precision and stable performance, and the auxiliary calibration objects are readily portable and easy to install. It can be applied to different experimental scenes to extract 3D information of fruit tree canopies and has important implications to achieve the intelligent control of standardized orchards.

Saliency auxiliary objects for visual tracking

The background contains potential favorable information for visual tracking. The recent correlation filter-based tracking methods achieve great success by densely sampling at the target and its surrounding background. To further improve the tracking ability against deformation (DEF) and occlusion (OCC), we propose to utilize auxiliary objects. First, auxiliary object candidates with objectness are generated with unsupervised salient region detection. Second, the graph model between the target with all auxiliary object candidates is established when these objects are tracked individually. Third, all auxiliary objects vote for correcting the predicting result of the target tracker. Experimental results show that auxiliary objects are helpful for tracking the target, especially for improving the robustness on DEF and OCC.

О восхищении в русском языковом сознании

The article is concerned with voskhishcheniye ‘delight’ as a language-specific word in order to show its specific conceptual configuration in the Russian language consciousness. In this regard, the National Corpus seems to be most appropriate since a conceptual configuration of the analyzed emotional concept is not given in a “finished” form in any single utterance, but may be reconstructed only on the sum total of all possible utterances. It can be manifested in many different ways: distribution, predisposition to be associated with some emotional attitudes, concepts, propositional and metaphoric models. According to the available data, voskhishcheniye ‘delight’ is related, in its most manifestations, to many different concepts like gratitude, adoration, fascination, sympathy, mistrust, pity, fear, envy, that allow us to reconstruct some basic delight-situations as a delight-adoration, delight-approval, delight-surprise, delight-gratitude, delight-envy, etc. As such, the delight-emotion is caused not by an event itself, but what the subject thinks about it. In this perspective, voskhishcheniye is not only an emotional but also a mental state that causes a corresponding emotional reaction. The propositional model, built on the National Corpus, includes information that predicates associated with voskhishcheniye ‘delight’ vary according to the position in a syntactic structure of a proposition. As a semantic object voskhishcheniye ‘delight’ is felt, expressed, shown, delivered, caused, excited, anticipated, divided, given out, performed; as a semantic subject it worries, delivers gladness, covers your eyes. In a metaphoric mapping voskhishcheniye ‘delight’ is redefined over the categorical boundaries in terms of propositional models more appropriately applied to power, aquatic substance, honey or fire. By analogy with power it embraces and seizes; by analogy with an aquatic substance, it overfills and overflows; by analogy with fire it flames up and goes out, etc. And there are no other auxiliary objects more appropriate to characterize voskhishcheniye ‘delight’ in Russian except just power, aquatic substance, honey and fire, since native speakers don’t consider expressions like sweetest-smelling delight, awash with delight or to be smothered by delight as metaphoric ones, but rather take them for the authentic characteristic of voskhishcheniye ‘delight’.

Evaluation of the cleansing and disinfection protocol of pig-breeding premises contaminated by the porcine epidemic diarrhea virus

The results of the determination of the efficiency of the cleaning and disinfection protocol of pig farms contaminated by the porcine epidemic diarrhea virus are presented in this study. The research was conducted in the Scientific Research Center of Biosafety and Environmental Control AIC of the Dnipro State Agrarian and Economic University. The experimental part was carried out on the basis of a permanently infected pig breeding farm of the southern region of Ukraine. In order to determine the critical points, a selection of samples of washings/scraps from the surfaces of the pig farm’s premises and the objects of the environment was carried out before cleaning and disinfection and after 1 and 2 premises’ sanitation. A total of 204 tests were analyzed. Disinfection of the territory of pig farms and livestock premises was carried out in accordance with generally accepted methods. Before disinfection, a thorough mechanical cleaning of livestock premises was carried out, with subsequent irrigation of all surfaces with cold tap water. Disinfection of premises and the territory of the pig complex was carried out by the wet cleaning of surfaces with a solution of disinfectant based on glutaraldehyde after preparatory operations in the absence of animals. After disinfection the premises were additionally processed with Ca(OH)2 solution. Washes were obtained with a sterile swab from a surface of 10.0 cm2 by inserting a swab into a test tube with a sterile physiological solution. Scraps from the surfaces were obtained with a disposable sterile blades from the scalpel. The obtained material was placed in disposable sterile plastic 1.5–2.0 cm3 test tubes. The study of the presence of the PEDV was performed using a real-time polymerase chain reaction with the previous reverse transcription of RNA. It was established that the causative agent of PED in a permanently infected farm contaminates most of the production and auxiliary premises and objects of the environment. The one-time cleaning and disinfection protocol does not allow free the farm from the PEDV completely. Only two-time sanitation of premises and objects of the environment with the laboratory control of the efficiency of cleaning and disinfection contributes to the effective eradication of the PEDV.

A simple method to achieve full-field and real-scale reconstruction using a movable stereo rig

This paper introduces a simple method to achieve full-field and real-scale reconstruction using a movable binocular vision system (MBVS). The MBVS is composed of two cameras, one is called the tracking camera, and the other is called the working camera. The tracking camera is used for tracking the positions of the MBVS and the working camera is used for the 3D reconstruction task. The MBVS has several advantages compared with a single moving camera or multi-camera networks. Firstly, the MBVS could recover the real-scale-depth-information from the captured image sequences without using auxiliary objects whose geometry or motion should be precisely known. Secondly, the removability of the system could guarantee appropriate baselines to supply more robust point correspondences. Additionally, using one camera could avoid the drawback which exists in multi-camera networks, that the variability of a cameras’ parameters and performance could significantly affect the accuracy and robustness of the feature extraction and stereo matching methods. The proposed framework consists of local reconstruction and initial pose estimation of the MBVS based on transferable features, followed by overall optimization and accurate integration of multi-view 3D reconstruction data. The whole process requires no information other than the input images. The framework has been verified with real data, and very good results have been obtained.

Understanding industrial robot programming by aid of a virtual reality environment

This paper reports on the construction of a virtual environment on top of a commercially available authoring platform that simulates an industrial robotic arm in pick-and-place movement scenarios. The user interface constructed follows in functionality the well-known teach pendants but exploits just a normal PC keyboard. However, both forward and inverse kinematics is served allowing the user to command movements in either the joint or the tool coordinate system. Perception pertaining to picking and placing movements and in particular the subtle docking positions was enhanced by adding so-called perceptual aids consisting of auxiliary objects with collision detection capabilities. The application was put to test by a group of practitioner-trainees who reported favourably, using a structured questionnaire, on its merits in enhancing their understanding of the robot’s capabilities, its kinematics, as well as the task performance strategy. Thus, confidence is increased regarding the ability of Virtual Reality – based platforms to contribute to successful training regarding programming and manipulation of industrial equipment.