scholarly journals Shape-Based Alignment of the Scanned Objects Concerning Their Asymmetric Aspects

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1529
Author(s):  
Andrej Lucny ◽  
Viliam Dillinger ◽  
Gabriela Kacurova ◽  
Marek Racev
Keyword(s):  
Shape Descriptor ◽  
Object Boundary ◽  
Actual Object ◽  
Integrated Method ◽  
Processing Depth ◽  
Industrial Use ◽  
Point To Point ◽  
The Given ◽  
Potential Object ◽  
Production Inspection

We introduce an integrated method for processing depth maps measured by a laser profile sensor. It serves for the recognition and alignment of an object given by a single example. Firstly, we look for potential object contours, mainly using the Retinex filter. Then, we select the actual object boundary via shape comparison based on Triangle Area Representation (TAR). We overcome the limitations of the TAR method by extension of its shape descriptor. That is helpful mainly for objects with symmetric shapes but other asymmetric aspects like squares with asymmetric holes. Finally, we use point-to-point pairing, provided by the extended TAR method, to calculate the 3D rigid affine transform that aligns the scanned object to the given example position. For the transform calculation, we design an algorithm that overcomes the Kabsch point-to-point algorithm’s accuracy and accommodates it for a precise contour-to-contour alignment. In this way, we have implemented a pipeline with features convenient for industrial use, namely production inspection.

Multi-Agent Form Closure Capture of a Generic 2D Polygonal Object Based on Projective Path Planning

2006 ◽  
Author(s):  
Pankaj Sharma ◽  
Anupam Saxena ◽  
Ashish Dutta
Keyword(s):  
Path Planning ◽  
Contact Point ◽  
Point Contact ◽  
Object Boundary ◽  
Actual Object ◽  
Contact Points ◽  
Correct Orientation ◽  
Novel Approach ◽  
Form Closure ◽  
Multi Agent

The study of multi-agent capture and manipulation of an object has been an area of active interest for many researchers. This paper presents a novel approach using Genetic Algorithm to determine the optimal contact points and the total number of agents (mobile robots) required to capture a stationary generic 2D polygonal object. After the goal points are determined the agents then reach their respective goals using a decentralized projective path planning algorithm. Form closure of the object is obtained using the concept of accessibility angle. The object boundary is first expanded and the robots reach the expanded object goal points and then converge on the actual object. This ensures that the agents reach the actual goal points at the same time and have the correct orientation. Frictionless point contact between the object and robots is assumed. The shape of the robot is considered a circle such that it can only apply force in outward radial direction from its center and along the normal to the object boundary at the contact point. Simulations results are presented that prove the effectiveness of the proposed method.

An Interval-Based Method for Workspace Analysis of Planar Flexure-Jointed Mechanism

2008 ◽  
Vol 131 (1) ◽  
Author(s):  
D. Oetomo ◽  
D. Daney ◽  
B. Shirinzadeh ◽  
J.-P. Merlet
Keyword(s):  
Material Properties ◽  
Design Stage ◽  
Design Criteria ◽  
Pedagogical Approach ◽  
Workspace Analysis ◽  
Wide Range ◽  
Fabrication Tolerances ◽  
Flexure Joints ◽  
Point To Point ◽  
The Given

This paper addresses the problem of certifying the performance of a precision flexure-based mechanism design with respect to the given constraints. Due to the stringent requirements associated with flexure-based precision mechanisms, it is necessary to be able to evaluate and certify the performance at the design stage, taking into account the possible sources of errors such as fabrication tolerances and the modeling inaccuracies in flexure joints. An interval-based method is proposed to certify whether various constraints are satisfied for all points within a required workspace. Unlike the finite-element methods that are commonly used today to evaluate a design, where material properties are used for evaluation on a point-to-point sampling basis, the proposed technique offers a wide range of versatility in the design criteria to be evaluated and the results are true for all continuous values within the certified range of the workspace. This paper takes a pedagogical approach in presenting the interval-based methodologies and the implementation on a planar 3revolute-revolute-revolute (RRR) parallel flexure-based manipulator.

Optimal arrest and guidance of a moving prismatic object using multiagents

Robotica ◽  
2008 ◽  
Vol 26 (1) ◽  
pp. 41-53 ◽  
Author(s):  
Pankaj Sharma ◽  
Anupam Saxena ◽  
Ashish Dutta
Keyword(s):  
Point Contact ◽  
Object Boundary ◽  
Actual Object ◽  
Linear Path ◽  
Form Closure ◽  
Planning Algorithm ◽  
Simulation Results ◽  
Path Planning Algorithm ◽  
Point Form ◽  
Multi Agents

SUMMARYGenetic algorithm is used to determine the optimal capture points for the multi agents required to grasp a moving generic prismatic object by arresting it in form closure. Thereafter, the agents approach their respective moving goals using a decentralized projective path planning algorithm. Post arrest, the object is guided along a desired linear path to a desired goal point. Form closure of the object is obtained using the concept of accessibility angle. A convex envelop is formed around the object, and the goal points on the object boundary are mapped onto the envelope. The robots approach the mapped goal points first, and then, converge on the actual object. This ensures that the agents reach the actual goal points almost simultaneously, and do not undergo looping at a local concave region. The object is assumed alive while being captured but is assumed compromised thereafter. Post arrest, robots alter their positions optimally around the object to transport it along a desired direction. Frictionless point contact between the object and a robot is assumed. The shape of the mobile robot is considered cylindrical such that it can only apply force along the outward radial direction. Simulation results are presented that illustrate the effectiveness of the proposed method.

A Fourier Descriptor-Based Approach to Design Space Decomposition for Planar Motion Approximation

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Xiangyun Li ◽  
Jun Wu ◽  
Q. J. Ge
Keyword(s):  
Design Space ◽  
Shape Descriptor ◽  
Harmonic Series ◽  
Design Parameters ◽  
Fourier Descriptor ◽  
Rotational Component ◽  
Motion Generation ◽  
Motion Approximation ◽  
Four Bar Linkage ◽  
The Given

In an earlier work, we have combined a curve fitting scheme with a type of shape descriptor, Fourier descriptor (FD), to develop a unified method to the synthesis of planar four-bar linkages for generation of both open and closed paths. In this paper, we aim to extend the approach to the synthesis of planar four-bar linkages for motion generation in an FD-based motion fitting scheme. Using FDs, a given motion is represented by two finite harmonic series, one for translational component of the motion and the other for rotational component. It is shown that there is a simple linear relationship between harmonic content of the rotational component and that of the translational component for a planar four-bar coupler motion. Furthermore, it is shown that the rotational component of the given motion identifies a subset of design parameters of a four-bar linkage including link ratios, while the translational component determines the rest of the design parameters such as locations of the fixed pivots. This leads naturally to a decomposed design space for four-bar mechanism synthesis for approximate motion generation.

Movement Trajectory Planning Algorithm of Rotating Mobile Piezorobot

2010 ◽  
Vol 164 ◽  
pp. 371-376 ◽  
Author(s):  
Ramutis Bansevičius ◽  
Asta Drukteiniene ◽  
Genadijus Kulvietis
Keyword(s):  
Mathematical Model ◽  
Trajectory Planning ◽  
Experimental Results ◽  
Motion Trajectory ◽  
Movement Trajectory ◽  
Point Motion ◽  
Planning Algorithm ◽  
Point To Point ◽  
The Given

his paper presents method for trajectory planning of mobile piezorobots. An algorithm for evaluation of motion trajectory for this kind of robots, describing point-to-point motion by means of the given function is presented. Preliminary experimental results prove the feasibility of proposed mathematical model.

Finding the Right Problems: Some HREM Applications to Interfaces

1984 ◽  
Vol 42 ◽  
pp. 376-379
Author(s):  
D. Cherns
Keyword(s):  
Grain Boundaries ◽  
High Resolution Electron Microscopy ◽  
Boundary Structure ◽  
Atomic Structures ◽  
Grain Boundary Structure ◽  
Resolution Electron ◽  
Point To Point ◽  
The Right ◽  
New Generation ◽  
Better Than

The use of high resolution electron microscopy (HREM) to determine the atomic structure of grain boundaries and interfaces is a topic of great current interest. Grain boundary structure has been considered for many years as central to an understanding of the mechanical and transport properties of materials. Some more recent attention has focussed on the atomic structures of metalsemiconductor interfaces which are believed to control electrical properties of contacts. The atomic structures of interfaces in semiconductor or metal multilayers is an area of growing interest for understanding the unusual electrical or mechanical properties which these new materials possess. However, although the point-to-point resolutions of currently available HREMs, ∼2-3Å, appear sufficient to solve many of these problems, few atomic models of grain boundaries and interfaces have been derived. Moreover, with a new generation of 300-400kV instruments promising resolutions in the 1.6-2.0 Å range, and resolutions better than 1.5Å expected from specialist instruments, it is an appropriate time to consider the usefulness of HREM for interface studies.

Ultrastructure of mesotheliomas

1984 ◽  
Vol 42 ◽  
pp. 98-101
Author(s):  
Irving Dardick
Keyword(s):  
Electron Microscopy ◽  
Latent Period ◽  
Spindle Cell ◽  
Spindle Cell Sarcoma ◽  
Metastatic Adenocarcinoma ◽  
Cell Sarcoma ◽  
Cytological Features ◽  
Industrial Use ◽  
Degree Of Differentiation

With the extensive industrial use of asbestos in this century and the long latent period (20-50 years) between exposure and tumor presentation, the incidence of malignant mesothelioma is now increasing. Thus, surgical pathologists are more frequently faced with the dilemma of differentiating mesothelioma from metastatic adenocarcinoma and spindle-cell sarcoma involving serosal surfaces. Electron microscopy is amodality useful in clarifying this problem.In utilizing ultrastructural features in the diagnosis of mesothelioma, it is essential to appreciate that the classification of this tumor reflects a variety of morphologic forms of differing biologic behavior (Table 1). Furthermore, with the variable histology and degree of differentiation in mesotheliomas it might be expected that the ultrastructure of such tumors also reflects a range of cytological features. Such is the case.

An x-ray microprobe based upon a close-coupled focal-spot / glass capillary arrangement

1992 ◽  
Vol 50 (2) ◽  
pp. 1758-1759
Author(s):  
D. A. Carpenter ◽  
M. A. Taylor
Keyword(s):  
Imaging Techniques ◽  
Fluorescence Analysis ◽  
High Sensitivity ◽  
Specimen Preparation ◽  
X Rays ◽  
Glass Capillary ◽  
Close Coupling ◽  
X Ray ◽  
Point To Point ◽  
Beam Damage

The development of intense sources of x rays has led to renewed interest in the use of microbeams of x rays in x-ray fluorescence analysis. Sparks pointed out that the use of x rays as a probe offered the advantages of high sensitivity, low detection limits, low beam damage, and large penetration depths with minimal specimen preparation or perturbation. In addition, the option of air operation provided special advantages for examination of hydrated systems or for nondestructive microanalysis of large specimens.The disadvantages of synchrotron sources prompted the development of laboratory-based instrumentation with various schemes to maximize the beam flux while maintaining small point-to-point resolution. Nichols and Ryon developed a microprobe using a rotating anode source and a modified microdiffractometer. Cross and Wherry showed that by close-coupling the x-ray source, specimen, and detector, good intensities could be obtained for beam sizes between 30 and 100μm. More importantly, both groups combined specimen scanning with modern imaging techniques for rapid element mapping.

Atomic structure imaging of the Si/SiO2 interface with high-resolution electron microscopy

1986 ◽  
Vol 44 ◽  
pp. 390-391
Author(s):  
J.L. Batstone ◽  
J.M. Gibson ◽  
Alice.E. White ◽  
K.T. Short
Keyword(s):  
Electron Microscopy ◽  
High Resolution ◽  
Atomic Structure ◽  
High Resolution Electron Microscopy ◽  
Medium Voltage ◽  
Voltage Electron ◽  
Resolution Electron ◽  
Structural Image ◽  
Electron Microscopes ◽  
Point To Point

High resolution electron microscopy (HREM) is a powerful tool for the determination of interface atomic structure. With the previous generation of HREM's of point-to-point resolution (rpp) >2.5Å, imaging of semiconductors in only <110> directions was possible. Useful imaging of other important zone axes became available with the advent of high voltage, high resolution microscopes with rpp <1.8Å, leading to a study of the NiSi2 interface. More recently, it was shown that images in <100>, <111> and <112> directions are easily obtainable from Si in the new medium voltage electron microscopes. We report here the examination of the important Si/Si02 interface with the use of a JEOL 4000EX HREM with rpp <1.8Å, in a <100> orientation. This represents a true structural image of this interface.

Profile Imaging of Silicon Surface Reconstructions

1985 ◽  
Vol 43 ◽  
pp. 262-263
Author(s):  
O.L. Krivanek ◽  
G.J. Wood
Keyword(s):  
Electron Microscopy ◽  
Surface Structure ◽  
Structure Determination ◽  
Silicon Surface ◽  
Good Resolution ◽  
Surface Reconstructions ◽  
Bulk Structure ◽  
Point To Point ◽  
The Relationship

Electron microscopy at 0.2nm point-to-point resolution, 10-10 torr specimei region vacuum and facilities for in-situ specimen cleaning presents intere; ing possibilities for surface structure determination. Three methods for examining the surfaces are available: reflection (REM), transmission (TEM) and profile imaging. Profile imaging is particularly useful because it giv good resolution perpendicular as well as parallel to the surface, and can therefore be used to determine the relationship between the surface and the bulk structure.

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