scholarly journals Semantic Component Association within Object Classes Based on Convex Polyhedrons

2020 ◽  
Vol 10 (8) ◽  
pp. 2641 ◽  
Author(s):  
Petra Đurović ◽  
Ivan Vidović ◽  
Robert Cupec
Keyword(s):  
Physical Properties ◽  
Real Time ◽  
Weight Distribution ◽  
Semantic Association ◽  
Object Class ◽  
Geometrical Arrangement ◽  
Semantic Component ◽  
Association Graph ◽  
Object Parts ◽  
Robotic Tasks

Most objects are composed of semantically distinctive parts that are more or less geometrically distinctive as well. Points on the object relevant for a certain robot operation are usually determined by various physical properties of the object, such as its dimensions or weight distribution, and by the purpose of object parts. A robot operation defined for a particular part of a representative object can be transferred and adapted to other instances of the same object class by detecting the corresponding components. In this paper, a method for semantic association of the object’s components within the object class is proposed. It is suitable for real-time robotic tasks and requires only a few previously annotated representative models. The proposed approach is based on the component association graph and a novel descriptor that describes the geometrical arrangement of the components. The method is experimentally evaluated on a challenging benchmark dataset.

Real time robotic tactile sensor system for the determination of the physical properties of biomaterials

2004 ◽  
Vol 112 (2-3) ◽  
pp. 278-285 ◽  
Author(s):  
Sadao Omata ◽  
Yoshinobu Murayama ◽  
Christos E. Constantinou
Keyword(s):  
Physical Properties ◽  
Real Time ◽  
Tactile Sensor ◽  
Sensor System

scholarly journals Flexible and continuous execution of real-time critical robotic tasks

2014 ◽  
Vol 4 (1) ◽  
pp. 27 ◽  
Author(s):  
Michael Vistein ◽  
Andreas Angerer ◽  
Alwin Hoffmann ◽  
Andreas Schierl ◽  
Wolfgang Reif
Keyword(s):  
Real Time ◽  
Time Critical ◽  
Robotic Tasks

scholarly journals HyP-DESPOT: A hybrid parallel algorithm for online planning under uncertainty

2020 ◽  
pp. 027836492093707
Author(s):  
Panpan Cai ◽  
Yuanfu Luo ◽  
David Hsu ◽  
Wee Sun Lee
Keyword(s):  
Real Time ◽  
Computational Cost ◽  
Search Tree ◽  
Planning Under Uncertainty ◽  
State Action ◽  
Online Planning ◽  
Planning Algorithm ◽  
One Step ◽  
Robotic Tasks ◽  
High Computational Cost

Robust planning under uncertainty is critical for robots in uncertain, dynamic environments, but incurs high computational cost. State-of-the-art online search algorithms, such as DESPOT, have vastly improved the computational efficiency of planning under uncertainty and made it a valuable tool for robotics in practice. This work takes one step further by leveraging both CPU and GPU parallelization in order to achieve real-time online planning performance for complex tasks with large state, action, and observation spaces. Specifically, Hybrid Parallel DESPOT (HyP-DESPOT) is a massively parallel online planning algorithm that integrates CPU and GPU parallelism in a multi-level scheme. It performs parallel DESPOT tree search by simultaneously traversing multiple independent paths using multi-core CPUs; it performs parallel Monte Carlo simulations at the leaf nodes of the search tree using GPUs. HyP-DESPOT provably converges in finite time under moderate conditions and guarantees near-optimality of the solution. Experimental results show that HyP-DESPOT speeds up online planning by up to a factor of several hundred in several challenging robotic tasks in simulation, compared with the original DESPOT algorithm. It also exhibits real-time performance on a robot vehicle navigating among many pedestrians.

scholarly journals Time-Sync Video Tag Extraction Using Semantic Association Graph

2019 ◽  
Vol 13 (4) ◽  
pp. 1-24 ◽  
Author(s):  
Wenmain Yang ◽  
Kun Wang ◽  
Na Ruan ◽  
Wenyuan Gao ◽  
Weijia Jia ◽  
...  
Keyword(s):  
Semantic Association ◽  
Association Graph

Fractionation of Polymers

1972 ◽  
Vol 45 (3) ◽  
pp. 667-708 ◽  
Author(s):  
W. V. Smith
Keyword(s):  
Molecular Weight ◽  
Physical Properties ◽  
Molecular Weight Distribution ◽  
Weight Distribution ◽  
Structural Information ◽  
Gel Permeation Chromatography ◽  
Molecular Weight Distributions ◽  
Polymer Solubility ◽  
Homogeneous Composition ◽  
Layer Chromatography

Abstract Fractionation is an important tool for obtaining structural information on polymers. It is also important for isolating relatively homogeneous samples of polymer to use in determining relationships between structure and properties. The most common structural information obtained from fractionation is molecular weight distribution (MWD). This is a very important factor in determining processing behavior. To a lesser extent MWD affects the properties of finished polymer products. It is quite important in helping to elucidate mechanisms of polymer formation. Development of gel permeation chromatography (GPC) over the past few years has provided a fast convenient tool for comparing molecular weight distributions. GPC is fast enough that it may even be considered as a potential means of controlling polymerization processes. The chemical composition of copolymers can be determined using fractionation techniques. For this the fractionations based on polymer solubility are particularly suitable. Thin layer chromatography also shows promise in this area. This information is of importance in respect to some physical properties such as solvent and oil resistance and crystallinity. It is also useful in elucidating mechanisms of polymerization. While the ultracentrifuge has not been used extensively in the investigation of industrial polymers, it does have the advantage of being capable of providing absolute moleclar weight information. When it is desired to establish relationships between the structure of polymers and their physical properties it is always desirable to work with polymers having a narrow molecular weight distribution and a homogeneous composition. This can frequently best be accomplished by using fractionated polymer samples. At the present time fractionations based on solubility are the principal ones used through preparative fractionations based on GPC are now possible and a limited amount of literature in this area is now appearing.

scholarly journals Guided wave-based system for real-time cure monitoring of composites using piezoelectric discs and phase-shifted fiber Bragg gratings

2018 ◽  
Vol 53 (7) ◽  
pp. 969-979 ◽  
Author(s):  
Tyler B Hudson ◽  
Nicolas Auwaijan ◽  
Fuh-Gwo Yuan
Keyword(s):  
Physical Properties ◽  
Fiber Bragg Grating ◽  
Real Time ◽  
Fiber Optic ◽  
Guided Wave ◽  
Fiber Optic Sensor ◽  
State Transitions ◽  
Bragg Grating ◽  
Cure Cycle ◽  
Cure Monitoring

A real-time, in-process cure monitoring system employing a guided wave-based concept for carbon fiber reinforced polymer composites was developed. The system included a single piezoelectric disc that was bonded to the surface of the composite for excitation, and an embedded phase-shifted fiber Bragg grating for sensing. The phase-shifted fiber Bragg grating almost simultaneously measured both quasi-static strain and the ultrasonic guided wave-based signals throughout the cure cycle. A traditional FBG was also used as a base for evaluating the high sensitivity of the phase-shifted fiber Bragg grating sensor. Composite physical properties (degree of cure and glass transition temperature) were correlated to the amplitude and time of arrival of the guided wave-based measurements during the cure cycle. In addition, key state transitions (gelation and vitrification) were identified from the experimental data. The physical properties and state transitions were validated using cure process modeling software (e.g. RAVEN®). This system demonstrated the capability of using an embedded phase-shifted fiber Bragg grating to sense a wide bandwidth of signals during cure. The distinct advantages of a fiber optic-based system include multiplexing of multiple gratings along a single optical fiber, small size compared to piezoelectric sensors, ability to embed or surface mount, utilization in harsh environments, electrically passive operation, and electromagnetic interference (EMI) immunity. The embedded phase-shifted fiber Bragg grating fiber optic sensor can monitor the entire life-cycle of the composite structure from curing, post-cure/assembly, and in-service creating “smart structures”.

Improving Lower Limb Weight Distribution Asymmetry During the Squat Using Nintendo Wii Balance Boards and Real-Time Feedback

2012 ◽  
Vol 26 (1) ◽  
pp. 47-52 ◽  
Author(s):  
Rian McGough ◽  
Kade Paterson ◽  
Elizabeth J Bradshaw ◽  
Adam L Bryant ◽  
Ross A Clark
Keyword(s):  
Real Time ◽  
Weight Distribution ◽  
Lower Limb ◽  
Nintendo Wii

scholarly journals ANN analysis in a vision approach for potato inspection

2008 ◽  
Vol 6 (02) ◽  
Author(s):  
R. Rios-Cabrera ◽  
I Lopez-Juarez ◽  
Hsieh Sheng-Jen
Keyword(s):  
Neural Networks ◽  
Image Processing ◽  
Feature Extraction ◽  
Artificial Neural Networks ◽  
Comparative Analysis ◽  
Physical Properties ◽  
Real Time ◽  
The Other ◽  
Stability And Convergence

An image processing methodology for the extraction of potato properties is explained. The objective is to determine their quality evaluating physical properties and using Artificial Neural Networks (ANN’s) to find misshapen potatoes. A comparative analysis for three connectionist models (Backpropagation, Perceptron and FuzzyARTMAP), evaluating speed and stability for classifying extracted properties is presented. The methodology for image processing and pattern feature extraction is presented together with some results. These results showed that FuzzyARTMAP outperformed the other models due to its stability and convergence speed with times as low as 1 ms per pattern which demonstrates its suitability for real-time inspection. Several algorithms to determine potato defects such as greening, scab, cracks are proposed which can be affectively used for grading different quality of potatoes.

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