In the realm of modern image processing, the emphasis often lies on engineering-based approaches rather than scientific solutions to address diverse practical problems. One prevalent task within this domain involves the skeletonization of binary images. Skeletonization is a powerful process for extracting the skeleton of objects located in digital binary images. This process is widely employed for automating many tasks in numerous fields such as pattern recognition, robot vision, animation, and image analysis. The existing skeletonization techniques are mainly based on three approaches: boundary erosion, distance coding, and Voronoi diagram for identifying an approximate skeleton. In this work, we present an empirical evaluation of a set of well-known techniques and report our findings. We specifically deal with computing skeletons in 2d binary images by selecting different approaches and evaluating their effectiveness. Visual evaluation is the primary method used to showcase the performance of selected skeletonization algorithms. Due to the absence of a definitive definition for the "true" skeleton of a digital object, accurately assessing the effectiveness of skeletonization algorithms poses a significant research challenge. Although researchers have attempted quantitative assessments, these measures are typically customized for specific domains and may not be suitable for our current work. The experimental results shown in this work illustrate the performance of the three main approaches in applying skeletonization with respect to different perspectives.
The article discusses the design of an expert system and a control algorithm of a quasistatic gait of an exoskeleton, which guarantees the stability of the device in the vertical position, on the basis of which mathematical modelling of the object’s motion is carried out. In this work we present an analytical scheme of the device in the form of an eleven-link mechanism, whose links are connected with each other by single-coordinate hinges, which describes the exoskeleton’s motion in two planes: sagittal and frontal. The position of the center of mass, whose coordinates change depending on the position of the legs and body, has been determined. We have developed logical rules that form the expert system and ensure a stable gait of the exoskeleton by placing the center of mass inside the support polygon. Results of numerical modelling of the system step in a specially designed virtual simulator have been obtained.
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