Abstract: A vision-based state estimation framework to estimate the state of an underwater remotely operated vehicle (ROV) used for inspection of an underwater structure, for example, a nuclear reactor pressure vessel. The framework employs an external overhead, pan-tilt-zoom (PTZ) camera as the primary sensing modality and incorporates prior knowledge of the geometry of the structure.

Abstract: A method of removing wrinkles, and a device to assist in wrinkle removal is provided. Wrinkles are removed from items such as clothing, linens, curtains, upholstery, fabrics and the like by placing a handheld pad on one side of the item, a wrinkle-removing device (such as a nozzle of a garment steamer) on the other side of the item, and pressing a portion of the item between the pad and the wrinkle-removing device. The wrinkle-removing device and the pad are moved about the item compressing a small portion of the item at a time until the wrinkles are removed from the entire item. The pad device of the instant invention includes a working surface against which a portion of the item is pressed by the wrinkle removing device, and a handgrip for the user to support the pad on a user's hand. The pad includes a foam core that insulates the user's hand from heat of the wrinkle-removing device. The foam core is located within a heat-reflective pouch to further insulate the user's hand and to aid in wrinkle removal.

Abstract: A method of removing wrinkles, and a device to assist in wrinkle removal is provided. Wrinkles are removed from items such as clothing, linens, curtains, upholstery, fabrics and the like by placing a handheld pad on one side of the item, a wrinkle-removing device (such as a nozzle of a garment steamer) on the other side of the item, and pressing a portion of the item between the pad and the wrinkle-removing device. The wrinkle-removing device and the pad are moved about the item compressing a small portion of the item at a time until the wrinkles are removed from the entire item. The pad device of the instant invention includes a working surface against which a portion of the item is pressed by the wrinkle removing device, and a handgrip for the user to support the pad on a user's hand. The pad includes a foam core that insulates the user's hand from heat of the wrinkle-removing device. The foam core is located within a heat-reflective pouch to further insulate the user's hand and to aid in wrinkle removal.