Scanning Operation Research Articles

Measuring digital pathology throughput and tissue dropouts

BackgroundDigital pathology operations that precede viewing by a pathologist have a substantial impact on costs and fidelity of the digital image. Scan time and file size determine throughput and storage costs, whereas tissue omission during digital capture (“dropouts”) compromises downstream interpretation. We compared how these variables differ across scanners. MethodsA 212 slide set randomly selected from a gynecologic-gestational pathology practice was used to benchmark scan time, file size, and image completeness. Workflows included the Hamamatsu S210 scanner (operated under default and optimized profiles) and the Leica GT450. Digital tissue dropouts were detected by the aligned overlay of macroscopic glass slide camera images (reference) with images created by the slide scanners whole slide images. ResultsFile size and scan time were highly correlated within each platform. Differences in GT450, default S210, and optimized S210 performance were seen in average file size (1.4 vs. 2.5 vs. 3.4 GB) and scan time (93 vs. 376 vs. 721 s). Dropouts were seen in 29.5% (186/631) of successful scans overall: from a low of 13.7% (29/212) for the optimized S210 profile, followed by 34.6% (73/211) for the GT450 and 40.4% (84/208) for the default profile S210 profile. Small dislodged fragments, “shards,” were dropped in 22.2% (140/631) of slides, followed by tissue marginalized at the glass slide edges, 6.2% (39/631). “Unique dropouts,” those for which no equivalent appeared elsewhere in the scan, occurred in only three slides. Of these, 67% (2/3) were “floaters” or contaminants from other cases. ConclusionsScanning speed and resultant file size vary greatly by scanner type, scanner operation settings, and clinical specimen mix (tissue type, tissue area). Digital image fidelity as measured by tissue dropout frequency and dropout type also varies according to the tissue type and scanner. Dropped tissues very rarely (1/631) represent actual specimen tissues that are not represented elsewhere in the scan, so in most cases cannot alter the diagnosis. Digital pathology platforms vary in their output efficiency and image fidelity to the glass original and should be matched to the intended application.

Imaging documentation in the on-site investigation of explosion/fire events

Explosion/fire investigation is a procedure that involves significant resources of time and activities. The most important of the basic activities performed by the investigator/investigation team is the on-site research, which, if properly performed, allows the elaboration, foundation, and verification of hypotheses, while playing a defining role in establishing the final conclusions regarding the place of initiation and cause of the event. For these types of phenomena, the on-site investigation is hampered by the damage caused by the event, making it difficult to identify footprints or traces, or by the disruptive effects of the extinguishing products used. The investigation is carried out in the area of the outbreak as well as in all the areas where the fire spread and aims to examine the fire footprint, the set of traces, objects, and materials present in the burnt area, seen in interaction, both with each other and with the surrounding space and environment. Traditional verbal or written methods of presenting evidence or traces collected at the crime scene are no longer sufficient today, as technological advances are also evident in these areas. Important benefits include the coverage of the entire crime scene, which allows for complete and efficient documentation, using spherical or panoramic photography, or the use of spatial, three-dimensional scans. This paper aims to present the important contribution made by on-site documentation activities using SceneCam Forensic imaging scanning equipment, based on a high-resolution (HDR) image capture device capable of capturing spherical, 360° x 180° images at a resolution of up to 50 Megapixels in a single scanning operation (Spheron Cam VR).

Vibration Analyses of a Gantry Structure by Mobile Phone Digital Image Correlation and Interferometric Radar

The study presents results from applying the Real Aperture Radar interferometry technique and Digital Image Correlation through a mobile phone camera to identify static and dynamic deformations of a gantry during surveying operations on the Michelangelo’s David at the Galleria dell’Accademia di Firenze Museum in Florence. The statue has considerable size and reaches an elevation of more than seven meters on its pedestal. An ad-hoc gantry was designed and deployed, given the cramped operating area around the statue. The scanner had a stability control system that forbid surveying in instrument movements. However, considering the unicity of the survey and its rare occurrence, the previous survey had been carried out in the year 2000; verifying stability and recording deformations is a crucial task, and necessary for validation. As the gantry does not have an on-board stability sensor, and considering the hi-survey accuracy requested, a redundant, contactless, remote monitoring system of the gantry and the statue stability was chosen to guarantee the maximum freedom of movement around the David to avoid any interference during scanning operations. Thanks to the TInRAR technique, the gantry and the statue were monitored with an accuracy of 0.01 mm. At the same time, a Digital Image Correlation analysis was performed on the gantry, which can be considered a Multi-Degree-Of-Freedom (MDOF) system, to accurately calculate the vibration frequency and amplitude. A comparison between TInRAR and DIC results reported substantial accordance in detecting gantry’s oscillating frequencies; a predominant oscillation frequency of 1.33 Hz was identified on the gantry structure by TinSAR and DIC analysis.

Compact line source generator for feeding continuous transverse stub arrays

Abstract Based on a substrate integrated lens (SIL), a compact line source generator (LSG) for feeding continuous transverse stub (CTS) arrays with linear-polarized (LP) beam scanning and dual-polarized (DP) operations is presented in this paper. The SIL consists of metamaterial cells with different sizes being arranged as concentric annulus and is printed on the center surface of two substrate layers. The SIL can convert the cylindrical wave generated by the feed probe of SIW-horn to the planar wave for feeding the CTS array. This rotationally symmetric SIL can be used conveniently to design LSG for feeding CTS arrays with the continuous beam scanning and DP operations, which has been verified by the fabrications and measurements. By simply rotating the SIW-horn along the edge of SIL, the 10-element LP-CTS array obtains a measured beam scanning range of ±35° with the highest gain of 20.6 dBi. By setting two orthogonal SIW-horns at the edge of the proposed SIL, the nine-element DP-CTS array with orthogonal radiation stubs is excited. The DP array obtains the gain of 20.3 dBi at the center frequency with the isolation of 28 dB and the cross-polarization level <−25 dB.

Factors influencing duration of neonatal cranial ultrasound: A pilot study of retrospective data

AbstractBackgroundCranial ultrasound is frequently used for diagnostic and/or routine screening in neonates. Exploring factors associated with scan duration is warranted to ensure alignment to clinical guidelines.AimTo identify factors associated with neonatal cranial scan time.MethodsA retrospective pilot study was undertaken in a tertiary hospital. A sample of completed neonatal scans was examined from July 1 to December 31, 2017. Data were analysed for statistical differences between groups. Correlational and regression analysis was undertaken to explore associations.ResultsAnalysis of 201 cases revealed estimated scan duration ranged from 4 to 54 min with median estimated scan time being 11.00 min (IQR = 6 min). Mann–Whitney U tests identified scans undertaken by two operators took significantly longer than single operator scans (5 min longer; U = 1175.500; p < .001). Additionally, scans with pathological findings were significantly longer than scans without (2 min longer; U = 3710.000; p = .004). Number of scan operators (r = .378; p < .001) and presence of pathology (r = .155; p = .003) were significantly correlated with estimated scan duration, representing medium and small effect size, respectively. Both variables explained 29% of variance in estimated scan duration (R2 = 0.294; F = 39.260; p = <.001).ConclusionResults identified significant associations between variables, providing baseline data for scanning practices in our setting.

A quantum-enhanced wide-field phase imager.

Quantum techniques can be used to enhance the signal-to-noise ratio in optical imaging. Leveraging the latest advances in single-photon avalanche diode array cameras and multiphoton detection techniques, here, we introduce a supersensitive phase imager, which uses space-polarization hyperentanglement to operate over a large field of view without the need of scanning operation. We show quantum-enhanced imaging of birefringent and nonbirefringent phase samples over large areas, with sensitivity improvements over equivalent classical measurements carried out with equal number of photons. The potential applicability is demonstrated by imaging a biomedical protein microarray sample. Our technology is inherently scalable to high-resolution images and represents an essential step toward practical quantum-enhanced imaging.

Influence of age and scanning system on the learning curve of experienced and novel intraoral scanner operators: A multi-centric clinical trial.

ObjectivesTo evaluate the effect of age and intra-oral scanner (IOS) on the learning curve of inexperienced operators. MethodsThirty-four operators pertaining to 1 of 3 groups: (G1) students ≤ 25 years (y), (G2) dentists ≥ 40y, and (G3) a control group of experienced IOS operators (no age limitation), were included. All participants performed baseline and final quadrant scans on a volunteer subject, before and after a training program of 3 sessions, with two different IOS: TRIOS 3 (S1) and True Definition (S2). Baseline and final scanning times were registered in seconds.A Pearson correlation was applied to evaluate the correlation between age and scanning time.An ANOVA of repeated measures test was applied to evaluate inter-group (G1, G2, G3) and inter-system performance.Significance level was set at a = 0.05. ResultsAge and scanning time for inexperienced operators showed a weak positive correlation for final scanning time (r = 0.29, p < 0.05). When comparing groups and filtering by IOS, S1 failed to show differences between groups (p > 0.05). With S2, the control group demonstrated a better performance than G2 (p < 0.05), while G1 only demonstrated a better performance than G2 at final scanning time (p = 0.005). Overall, the type of IOS had a significant impact on the scanning time (p < 0.001). ConclusionResults from this study indicate that age and type of IOS have an impact on the performance and learning curve of inexperienced IOS operators. Clinical significanceGaining knowledge on how different aspects, such as age, experience or IOS system, influence the learning curve to IOSs is relevant due to the financial and strategical impact associated with the acquisition of an IOS.

Anti-Bacterial Action of Plasma Multi-Jets in the Context of Chronic Wound Healing

This work is a contribution to the development and implementation of non-thermal plasma technology for decontamination in the perspective of nosocomial and chronic wound innovative therapies. Multi jets devices based on Plasma Gun® technology in static and scanning operation modes and bacterial lawns inoculated with resistant and non-resistant bacterial strains were designed and used. A pilot toxicity study exploring plasma treatment of wound bearing patients, performed with a low voltage plasma applicator, is documented as a first step for the translation of in vitro experiments to clinical care. Bacterial inactivation was demonstrated for Staphylococcus aureus, Pseudomonas aeruginosa and drug resistant S. aureus, P. aeruginosa and Escherichia Coli strains collected from patient wounds at Orleans (France) hospital. A few square centimeter large contaminated samples were inactivated following a single plasma exposure as short as one minute. Samples inoculated with a single but also a mix of three resistant pathogens were successfully inactivated not only right after their contamination but for mature lawns as well. Similar bactericidal action was demonstrated for antibiotic-resistant and non-resistant P. aeruginosa. The time exposure dependent increase of the inhibition spots, following multi jets exposure, is discussed as either the accumulation of reactive species or the likely combinatory action of both the reactive species and transient electric field delivery on inoculated samples.

DIGITAL IMAGE CORRELATION IN ASSESSING STRUCTURED-LIGHT 3D SCANNER’S GANTRY STABILITY: PERFORMING DAVID’S (MICHELANGELO) HIGH-ACCURACY 3D SURVEY

Abstract. The paper presents results from applying Digital Image Correlation (DIC) technique to determine deformations and verify stability on a gantry during surveying operations on the Michelangelo’s David at the Galleria dell’Accademia di Firenze museum in Florence. An advanced hi-resolution Structured-light 3D scanner has been used to create a hi-detailed digital twin of the masterpiece. Considering the high scanner sensitivity, a contactless, remote and passive monitoring system of the gantry stability has been chosen to guarantee maximum freedom of movement around the David and avoid any interference during scanning operations. Due to the remarkable elevation of the statue, which reaches almost 7 meters on his pedestal, and considering the cramped operating area around the statue, an ad-hoc gantry has been designed and deployed. The sophisticated scanner’s technique and the extreme hi-resolution required for the survey needed firm gantry stability during scanning operations from one side. The complex geometries and the considerable extension of the statue surface impose extended flexibility and a nimble elevation platform from the other side. Thanks to the DIC technique the gantry stability has been constantly monitored with an accuracy of 0.03 ÷ 0,04 pixels, optimising scanning scheduling and, consequently, operations efficiency. A comparison of scans with post-processed deformation patterns allowed to optimise the scanning schedule, minimising downtime, and maintaining the needed platform stability threshold for effective scanning.

Beam and sample movement compensation for robust spectro-microscopy measurements on a hard X-ray nanoprobe.

Static and in situ nanoscale spectro-microscopy is now routinely performed on the Hard X-ray Nanoprobe beamline at Diamond and the solutions implemented to provide robust energy scanning and experimental operation are described. A software-based scheme for active feedback stabilization of X-ray beam position and monochromatic beam flux across the operating energy range of the beamline is reported, consisting of two linked feedback loops using extremum seeking and position control. Multimodal registration methods have been implemented for active compensation of drift during an experiment to compensate for sample movement during in situ experiments or from beam-induced effects.

Use of Iris Scanning for Biometric Recognition of Healthy Adults Participating in an Ebola Vaccine Trial in the Democratic Republic of the Congo: Mixed Methods Study.

BackgroundA partnership between the University of Antwerp and the University of Kinshasa implemented the EBOVAC3 clinical trial with an Ebola vaccine regimen administered to health care provider participants in Tshuapa Province, Democratic Republic of the Congo. This randomized controlled trial was part of an Ebola outbreak preparedness initiative financed through Innovative Medicines Initiative-European Union. The EBOVAC3 clinical trial used iris scan technology to identify all health care provider participants enrolled in the vaccine trial, to ensure that the right participant received the right vaccine at the right visit.ObjectiveWe aimed to assess the acceptability, accuracy, and feasibility of iris scan technology as an identification method within a population of health care provider participants in a vaccine trial in a remote setting.MethodsWe used a mixed methods study. The acceptability was assessed prior to the trial through 12 focus group discussions (FGDs) and was assessed at enrollment. Feasibility and accuracy research was conducted using a longitudinal trial study design, where iris scanning was compared with the unique study ID card to identify health care provider participants at enrollment and at their follow-up visits.ResultsDuring the FGDs, health care provider participants were mainly concerned about the iris scan technology causing physical problems to their eyes or exposing them to spiritual problems through sorcery. However, 99% (85/86; 95% CI 97.1-100.0) of health care provider participants in the FGDs agreed to be identified by the iris scan. Also, at enrollment, 99.0% (692/699; 95% CI 98.2-99.7) of health care provider participants accepted to be identified by iris scan. Iris scan technology correctly identified 93.1% (636/683; 95% CI 91.2-95.0) of the participants returning for scheduled follow-up visits. The iris scanning operation lasted 2 minutes or less for 96.0% (656/683; 95% CI 94.6-97.5), and 1 attempt was enough to identify the majority of study participants (475/683, 69.5%; 95% CI 66.1-73.0).ConclusionsIris scans are highly acceptable as an identification tool in a clinical trial for health care provider participants in a remote setting. Its operationalization during the trial demonstrated a high level of accuracy that can reliably identify individuals. Iris scanning is found to be feasible in clinical trials but requires a trained operator to reduce the duration and the number of attempts to identify a participant.Trial RegistrationClinicalTrials.gov NCT04186000; https://clinicaltrials.gov/ct2/show/NCT04186000

Parallel Point Clouds: Hybrid Point Cloud Generation and 3D Model Enhancement via Virtual–Real Integration

Three-dimensional information perception from point clouds is of vital importance for improving the ability of machines to understand the world, especially for autonomous driving and unmanned aerial vehicles. Data annotation for point clouds is one of the most challenging and costly tasks. In this paper, we propose a closed-loop and virtual–real interactive point cloud generation and model-upgrading framework called Parallel Point Clouds (PPCs). To our best knowledge, this is the first time that the training model has been changed from an open-loop to a closed-loop mechanism. The feedback from the evaluation results is used to update the training dataset, benefiting from the flexibility of artificial scenes. Under the framework, a point-based LiDAR simulation model is proposed, which greatly simplifies the scanning operation. Besides, a group-based placing method is put forward to integrate hybrid point clouds, via locating candidate positions for virtual objects in real scenes. Taking advantage of the CAD models and mobile LiDAR devices, two hybrid point cloud datasets, i.e., ShapeKITTI and MobilePointClouds, are built for 3D detection tasks. With almost zero labor cost on data annotation for newly added objects, the models (PointPillars) trained with ShapeKITTI and MobilePointClouds achieved 78.6% and 60.0% of the average precision of the model trained with real data on 3D detection, respectively.

Study on the characteristics of quadrupole mass spectrometer by the UHV partial pressure standard

This study aims to investigate the characteristics of QMG700 quadrupole mass spectrometer (QMS) with use of the ultrahigh vacuum (UHV) partial pressure standard. The research parameters were the sensitivity, linearity, secondary electron multiplier (SEM) detector gain, stability, noise level and minimum detectable partial pressure (MDPP). This work was carried out in the scan and multiple ion detection (MID) operation modes for characterization of the QMS, where both the Faraday cup (FC) and the SEM detector were used, and the dwell time and scan speed were respectively 50 ms, 1 s and 50 ms/amu, 1 s/amu, the SEM voltage was varied from 1100 V to 3000 V. The experiments were performed within the partial pressure range of 10−7 Pa to 10−5 Pa for the FC detector and over the range of 10−9 Pa to 10−7 Pa for SEM using He, N2 and Ar. The results demonstrated a significant correlation between the QMS metrological characteristics and its operation mode as well as ion current detection mode. This study was conducted according to the ISO TS 20175: 2018.

Simplified Deep Forest Model Based Just-in-Time Defect Prediction for Android Mobile Apps

The popularity of mobile devices has led to an explosive growth in the number of mobile apps in which Android mobile apps are the mainstream. Android mobile apps usually undergo frequent update due to new requirements proposed by users. Just-in-time (JIT) defect prediction is appropriate for this scenario for quality assurance because it can provide timely feedback by determining whether a new code commit will introduce defects into the apps. As defect-prediction performance usually relies on the quality of the data representation and the used classification model, in this work, we propose a model, called Simplified Deep Forest (SDF), to conduct JIT defect prediction for Android mobile apps. SDF modifies a state-of-the-art deep forest model by removing the multigrained scanning operation that is designed for data with a high-dimensional feature space. It uses a cascade structure with ensemble forests for representation learning and classification. We conduct experiments on 10 Android mobile apps and experimental results show that SDF performs significantly better than comparative methods in terms of 3 performance indicators.

Accuracy of Microcomputed Tomography in Detecting Dentinal Cracks: A Correlative Study with Scanning Electron and Operative Microscopy.

The aim of the study was to evaluate the accuracy of microcomputed tomography (mCT) to detect dentinal cracks when compared with scanning electron microscopy (SEM) and operating microscopy (OM). Different conditions of pixel size (10 or 17 μm), sample moisture (dry/moist), and transillumination (with/without) were evaluated. Additionally, the influence of the dentinal defect width on its detection was analyzed. The root canals of human mandibular incisors were prepared with the Reciproc R40 instrument (VDW, Munich, Germany). The roots were sectioned 5 and 10 mm from the apex, and mCT scans of middle and apical segments were performed at two pixel sizes: 10 μm and 17 μm, under dry and moist conditions (groups: 10dry, 10moist, 17dry, and 17moist). The operating microscope was used with and without transillumination (groups: OMTrans and OM). Findings showed that accuracy was moderate for the 10dry, 10moist, and OMTrans groups, poor for OM and very poor for 17dry and 17moist. The thickness of the dentin crack significantly influenced its detection by mCT using the resolution of 10 μm in both dry and wet conditions (P = .002), 17 μm in the dry condition (P = .002), and by the operating microscope using transillumination (P = .009). Some cracks visualized in SEM were not detected by mCT and an operating microscope. Not only the mCT resolution but also the sample moisture condition and the dentinal crack width can significantly influence its detection.

Energy-Efficient Scans by Weaving Indexes Into the Storage Layout in Computing Platforms for Internet of Things

Recent advances in computing are widely leveraged to design energy-efficient computing platforms for Internet of Things. Especially, scans is a crucial operation that consumes major energy in main-memory column-stores. Scanning a column involves returning a result bit vector to indicate whether each record satisfies a predicate (i.e., a filter condition) or not. ByteSlice, as an existing storage layout, chops the data into multiple bytes, thus possessing early-stop capability by comparing high-order bytes while scanning data. However, the width of columns is usually not multiples of byte, and in these cases, the last-byte of ByteSlice layout is padded with zeros, which wastes the computation energy and the memory bandwidth. To make the scan operation energy-efficient, a lightweight index is squeezed into the bits that originally padded with zeros. In this way, our proposed storage layout DIFusion integrates the data and the index in a unified structure. DIFusion enables an energy-efficient scan because it inherits the early-stopping capability from ByteSlice and possesses the data-skipping ability at the same time. The experimental evaluation on TPC-H, SSB and the real workload shows promising speedup for scans on DIFusion.

Gold-Modified Micellar Composites as Colorimetric Probes for the Determination of Low Molecular Weight Thiols in Biological Fluids Using Consumer Electronic Devices

This work describes a new, low-cost and simple-to-use method for the determination of free biothiols in biological fluids. The developed method utilizes the interaction of biothiols with gold ions, previously anchored on micellar assemblies through electrostatic interactions with the hydrophilic headgroup of cationic surfactant micelles. Specifically, the reaction of AuCl4− with the cationic surfactant cetyltrimethyl ammonium bromide (CTAB) produces an intense orange coloration, due to the ligand substitution reaction of the Br− for Cl− anions, followed by the coordination of the AuBr4− anions on the micelle surface through electrostatic interactions. When biothiols are added to the solution, they complex with the gold ions and disrupt the AuBr4−–CTAB complex, quenching the initial coloration and inducing a decrease in the light absorbance of the solution. Biothiols are assessed by monitoring their color quenching in an RGB color model, using a flatbed scanner operating in transmittance mode as an inexpensive microtiter plate photometer. The method was applied to determine the biothiol content in urine and blood plasma samples, with satisfactory recoveries (i.e., &gt;67.3–123% using external calibration and 103.8–115% using standard addition calibration) and good reproducibility (RSD &lt; 8.4%, n = 3).

Real-Time Removal of Topographic Artifacts in Scanning Microwave Microscopy

Near-field scanning microwave microscopy (SMM) employs microwave radiation to image and characterize samples down to the atomic scale, including soft biological structures or inorganic materials, such as ferroelectric films. However, SMM generally also senses sample topography; hypersensitivity to topography becomes problematic with additional parasitic contributions and may partially or completely mask nontopographic sample features in the data, such as contrast in electrical conductivity or permittivity. This work proposes a simple and effective procedure to remove unwanted parasitic effects from SMM images. Differently from existing procedures, the method is applicable either in postprocessing or in real time, i.e., during the scanning operation. This allows the immediate visualization of nontopographic sample features in the instrument screen. As a proof of concept, hafnium zirconium oxide (HfZrO) ferroelectric film with high surface roughness is studied; unwanted contributions were removed from SMM data, providing a clear map of the sample ferroelectric structure that was originally hidden.

Metasurface-Enhanced Antennas for Microwave Brain Imaging.

Stroke is a very frequent disorder and one of the major leading causes of death and disability worldwide. Timely detection of stroke is essential in order to select and perform the correct treatment strategy. Thus, the use of an efficient imaging method for an early diagnosis of this syndrome could result in an increased survival’s rate. Nowadays, microwave imaging (MWI) for brain stroke detection and classification has attracted growing interest due to its non-invasive and non-ionising properties. In this paper, we present a feasibility study with the goal of enhancing MWI for stroke detection using metasurface (MTS) loaded antennas. In particular, three MTS-enhanced antennas integrated in different brain scanners are presented. For the first two antennas, which operate in a coupling medium, we show experimental measurements on an elliptical brain-mimicking gel phantom including cylindrical targets representing the bleeding in haemorrhagic stroke (h-stroke) and the not oxygenated tissue in ischaemic stroke (i-stroke). The reconstructed images and transmission and reflection parameter plots show that the MTS loadings improve the performance of our imaging prototype. Specifically, the signal transmitted across our head model is indeed increased by several dB‘s over the desired frequency range of 0.5–2.0 GHz, and an improvement in the quality of the reconstructed images is shown when the MTS is incorporated in the system. We also present a detailed simulation study on the performance of a new printed square monopole antenna (PSMA) operating in air, enhanced by a MTS superstrate loading. In particular, our previous developed brain scanner operating in an infinite lossy matching medium is compared to two tomographic systems operating in air: an 8-PSMA system and an 8-MTS-enhanced PSMA system. Our results show that our MTS superstrate enhances the antennas’ return loss by around 5 dB and increases the signal difference due to the presence of a blood-mimicking target up to 25 dB, which leads to more accurate reconstructions. In conclusion, MTS structures may be a significant hardware advancement towards the development of functional and ergonomic MWI scanners for stroke detection.

RETRACTED: Research on teaching based on tennis-assisted robot image recognition

Design and development of an autonomous robot will collect the scattered tennis balls on the tennis court. To make the camera active, the robot uses a camera placed above from these recently collected the ball to roll. And, given the machine design, because it falls to prevent the ball, catch the ball. Image processing, the use of color filters, the detected edge detection algorithm, corresponds to the Raspberry Pi 3, can be achieved by the distance to the library implementation of robot OpenCV, it is sorted. After the desired robot angle is generated, it is translated to the appropriate motor speed value is sent to the motor control unit. To realize this behavior, it has four DC motors to be used. For the movement platform, one of which is a scanning operation of the ball, which is used to control the camera angle, the last one will be used for the ball detent mechanism. The realized by the discrete PI controller with two DC motors position and speed control motor controller boards of the rotary encoder. Experimental tests of the real world validate the design of the system.