Transitions Research Corporation

William Pong

William S Kazman

Robert G Stacy

Allen J Bancroft

Joseph F Engelberger

Carl F Weiman

A non-linear digital filter system for image data or other signal data suppresses undesirable noise while enhancing significant characteristics of the data. Data elements in a neighborhood (window) defined around and including an input data element are classified into characteristic classes based on their parameter value range. The class with the maximum population is selected as most representative of the neighborhood. A data value associated with that class is chosen as the output of the filter for the input data element around which the neighborhood is defined, to thereby form a plurality filter. As an alternative, the class holding more than half the data elements in the neighborhood is chosen as most representative, to form a majority filter. In case there is no class containing more than half the elements in a neighborhood, the output of the filter equal the value characteristic of the class in which the input pixel itself falls. In a further heterogeneity filter version, a data element for whose neighborhood there is no majority class is replaced by a '1'; a pixel for whose neighborhood there is a majority class is replaced by a '0'. In the case of image data, the '1' value may represent a black intensity or a white intensity, in which case the '0' represents the opposite intensity.

Processing system and method for enhancing image data

An obstacle detection and position sensing system for autonomous mobile vehicles is described. The system includes two spaced-apart contact and position sensitive bumpers disposed across the frontal cross section of the vehicle. Light beams are directed by transceivers and retroreflectors across the frontal cross section area between the two bumpers, forming a light curtain. The combination of the bumpers and light curtain provides complete frontal coverage of the potential collision cross-section of a fairly large vehicle, without obstructing the field of view of sonar, optical, or other forward-looking sensors.

Dual bumper-light curtain obstacle detection sensor

A tether-guided vehicle and method of controlling same. A tether sensor indicates the angle, .theta., of the tether with respect to the vehicle and the tension, T, on the tether. A contact-sensitive bumper disposed about at least the front periphery of the vehicle indicates the position, P, and force, F, of contact with an obstacle. A drive system moves the vehicle in response to tether angle, .theta., and tension, T, thereby providing a 'servo pull' feature. When the vehicle contacts an obstacle, it stops, backs up, turns and resume forward motion to circumnavigate the obstacle, thereby providing an 'obstacle avoidance' feature. The servo pull and obstacle avoidance features make the vehicle suitable in a number of applications, such as for canister vacuums, hospital or factory carts, and the like.

Tether-guided vehicle and method of controlling same

A bumper for impact detection with an object is disclosed. An electrically conductive member has a compressible, electrically conductive material mounted thereto. An insulator formed of mesh material is sandwiched between the electrically conductive member and the electrically conductive material for electrically insulating the member and the material when the member is in a non-compressed state and to provide electrical conduction between the member and the material when the conductive material is in a compressed state.

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Brookfield Center, CT, United States of America

William Pong