Using a novel characterization of texture, we propose an image decomposition technique that can effectively decomposes an image into its cartoon and texture components. The characterization rests on our observation that the texture component enjoys a blockwise low-rank nature with possible overlap and shear, because texture, in general, is globally dissimilar but locally well patterned. More specifically, one can observe that any local block of the texture component consists of only a few individual patterns. Based on this premise, we first introduce a new convex prior, named the block nuclear norm (BNN), leading to a suitable characterization of the texture component. We then formulate a cartoon-texture decomposition model as a convex optimization problem, where the simultaneous estimation of the cartoon and texture components from a given image or degraded observation is executed by minimizing the total variation and BNN. In addition, patterns of texture extending in different directions are extracted separately, which is a special feature of the proposed model and of benefit to texture analysis and other applications. Furthermore, the model can handle various types of degradation occurring in image processing, including blur+missing pixels with several types of noise. By rewriting the problem via variable splitting, the so-called alternating direction method of multipliers becomes applicable, resulting in an efficient algorithmic solution to the problem. Numerical examples illustrate that the proposed model is very selective to patterns of texture, which makes it produce better results than state-of-the-art decomposition models.

No abstract

After disasters, remote control of construction machinery is often required to ensure the safety of workers during excavation. However, only limited numbers of remote-controlled construction machinery exist, and they are typically larger than conventional machinery. After a disaster, the transportation of such machinery takes additional time and is often troublesome. Therefore, it would be desirable to develop a remote-control system that could easily be installed on ordinary construction machinery. A pneumatic humanoid robot arm is in the process of being developed. While considering the portability issue, a lightweight fiber knitted pneumatic artificial rubber muscle (PARM) was selected as the actuator for the arm. This arm can be installed on all construction machinery models, can be controlled remotely, and has been designed for easy installation and portability. In this research, construction machinery was retrofitted with a pneumatic robot that enables it to be operated remotely. This robot has 6 degrees of freedom and utilizes the fiber knitted PARM. Experiments were conducted to measure the static characteristics of the new PARM and to measure their performance in the remote control of construction machinery. Experimental results showed that the developed system is able to achieve handling two levers of machinery, one that controls back and forward movement and the other that controls the bucket. Experimental results showed that the developed system successfully operated construction machinery remotely.

No abstract

I the restoration work from disasters, the remote control of construction machine is required to ensure the worker's safety. However, conventional remote-controlled construction machine is larger than ordinary ones and limited in types and numbers, so there is a problem that the transportation to the destructed sites takes time and is troublesome.We have been developing the pneumatic humanoid type robot arm, which can be installed in any models of construction machine. In consideration of portability, the lightweight fiber knitted type pneumatic artificial rubber muscle (PARM) was adopted as the actuator.In this paper, we developed the static and dynamic characteristic models of the PARM taking the effect of elasticity of rubber and frictional force into consideration. Then we realized the remote control of the construction machine using the pneumatic robot that has 6 degree of freedom using the PARM. Moreover, we did some experiments on the remote control of the construction machine. Experimental results show that the developed system is available in remote control of a construction machine.