Dataset Information

Passing through Open/Closed Doors: A Solution for 3D Scanning Robots.

ABSTRACT: In this article, a traversing door methodology for building scanning mobile platforms is proposed. The problem of passing through open/closed doors entails several actions that can be implemented by processing 3D information provided by dense 3D laser scanners. Our robotized platform, denominated as MoPAD (Mobile Platform for Autonomous Digitization), has been designed to collect dense 3D data and generate basic architectural models of the interiors of buildings. Moreover, the system identifies the doors of the room, recognises their respective states (open, closed or semi-closed) and completes the aforementioned 3D model, which is later integrated into the robot global planning system. This document is mainly focused on describing how the robot navigates towards the exit door and passes to a contiguous room. The steps of approaching, door-handle recognition/positioning and handle-robot arm interaction (in the case of a closed door) are shown in detail. This approach has been tested using our MoPAD platform on the floors of buildings composed of several rooms in the case of open doors. For closed doors, the solution has been formulated, modeled and successfully tested in the Gazebo robot simulation tool by using a 4DOF robot arm on board MoPAD. The excellent results yielded in both cases lead us to believe that our solution could be implemented/adapted to other platforms and robot arms.

SUBMITTER: Prieto SA

PROVIDER: S-EPMC6864753 | biostudies-literature | 2019 Oct

REPOSITORIES: biostudies-literature

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Passing through Open/Closed Doors: A Solution for 3D Scanning Robots.

Prieto Samuel A SA Adán Antonio A Vázquez Andrés S AS Quintana Blanca B

Sensors (Basel, Switzerland) 20191031 21

In this article, a traversing door methodology for building scanning mobile platforms is proposed. The problem of passing through open/closed doors entails several actions that can be implemented by processing 3D information provided by dense 3D laser scanners. Our robotized platform, denominated as MoPAD (Mobile Platform for Autonomous Digitization), has been designed to collect dense 3D data and generate basic architectural models of the interiors of buildings. Moreover, the system identifies ...[more]

PMID: 31683691

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Project description:In this study, we analyze first whether there is a common spatial distribution of child maltreatment (CM) and intimate partner violence (IPV), and second, whether the risks of CM and IPV are influenced by the same neighborhood characteristics, and if these risks spatially overlap. To this end we used geocoded data of CM referrals (N = 588) and IPV incidents (N = 1450) in the city of Valencia (Spain). As neighborhood proxies, we used 552 census block groups. Neighborhood characteristics analyzed at the aggregated level (census block groups) were: Neighborhood concentrated disadvantage (neighborhood economic status, neighborhood education level, and policing activity), immigrant concentration, and residential instability. A Bayesian joint modeling approach was used to examine the spatial distribution of CM and IPV, and a Bayesian random-effects modeling approach was used to analyze the influence of neighborhood-level characteristics on small-area variations of CM and IPV risks. For CM, 98% of the total between-area variation in risk was captured by a shared spatial component, while for IPV the shared component was 77%. The risks of CM and IPV were higher in neighborhoods characterized by lower levels of economic status and education, and higher levels of policing activity, immigrant concentration, and residential instability. The correlation between the log relative risk of CM and IPV was .85. Most census block groups had either low or high risks in both outcomes (with only 10.5% of the areas with mismatched risks). These results show that certain neighborhood characteristics are associated with an increase in the risk of family violence, regardless of whether this violence is against children or against intimate partners. Identifying these high-risk areas can inform a more integrated community-level response to both types of family violence. Future research should consider a community-level approach to address both types of family violence, as opposed to individual-level intervention addressing each type of violence separately.

Dataset Information

Passing through Open/Closed Doors: A Solution for 3D Scanning Robots.

Publications

Passing through Open/Closed Doors: A Solution for 3D Scanning Robots.

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