View Planning for Robotic Inspection of Tolerances Through Visual Tracking of Manual Surface Finishing Operations

This article presents an approach for determining suitable camera view poses for inspection of surface tolerances based on visual tracking of the tool movements performed by a skilled worker. Automated surface inspection of a workpiece adjusted by manual operations depends on manual programming of the inspecting robot, or a timeconsuming exhaustive search over the entire surface. The proposed approach is based on the assumption that the tool movements of the skilled worker coincide with the most relevant regions of the underlying surface of the workpiece, namely the parts where a manual process has been performed. The affected region is detected with a visual tracking system, which measures the motion of the tool using a low-cost RGBD-camera, a particle filter, and a CAD model of the tool. The main contribution is a scheme for selecting relevant camera view poses for inspecting the affected region using a robot equipped with a high-accuracy RGBDcamera. A principal component analysis of the tracked tool paths allows for evaluating the view poses by the Hotelling’s T-squared distribution test in order to sort and select suitable camera view poses. The approach is implemented and tested for the case where a large ship propeller blade cast in NiAl bronze is to be inspected by a robot after manual adjustments of its surface.

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Shutter delay estimation for a low-cost stand-alone visual tracking system * *This research was supported by the South African National Research Foundation under Grant 81148 and by the University of Cape Town.

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2017.08.1813 ◽

2017 ◽

Vol 50 (1) ◽

pp. 11441-11446 ◽

Cited By ~ 1

Author(s):

Arnold Pretorius ◽

Edward Boje

Keyword(s):

South African ◽

Visual Tracking ◽

Tracking System ◽

Low Cost ◽

Cape Town ◽

Delay Estimation ◽

The South ◽

University Of Cape Town ◽

The University

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Mobile Robot Positioning by using Low-Cost Visual Tracking System

MATEC Web of Conferences ◽

10.1051/matecconf/20179508006 ◽

2017 ◽

Vol 95 ◽

pp. 08006 ◽

Cited By ~ 1

Author(s):

Niramon Ruangpayoongsak

Keyword(s):

Mobile Robot ◽

Visual Tracking ◽

Tracking System ◽

Low Cost ◽

Robot Positioning

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Design and application of a low cost visual tracking system

Australian Journal of Electrical & Electronics Engineering ◽

10.1080/1448837x.2008.11464185 ◽

2008 ◽

Vol 4 (2) ◽

pp. 191-200

Author(s):

M G Her ◽

M Karkoub ◽

J M Chen

Keyword(s):

Visual Tracking ◽

Tracking System ◽

Low Cost ◽

Design And Application

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An Assessment of a Low-Cost Visual Tracking System (VTS) to Detect and Compensate for Patient Motion During SPECT

IEEE Transactions on Nuclear Science ◽

10.1109/tns.2008.915688 ◽

2008 ◽

Vol 55 (3) ◽

pp. 992-998 ◽

Cited By ~ 12

Author(s):

Joseph E. McNamara ◽

Philippe Bruyant ◽

Karen Johnson ◽

Bing Feng ◽

Andre Lehovich ◽

...

Keyword(s):

Visual Tracking ◽

Tracking System ◽

Low Cost ◽

Patient Motion

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Planning of Robotic Inspection from Visual Tracking of Manual Surface Finishing Tool

2019 Third IEEE International Conference on Robotic Computing (IRC) ◽

10.1109/irc.2019.00052 ◽

2019 ◽

Author(s):

Eirik B Njaastad ◽

Olav Egeland

Keyword(s):

Visual Tracking ◽

Surface Finishing ◽

Finishing Tool

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Evaluation of indigenous aromatic rice cultivars from sub-Himalayan Terai region of India for nutritional attributes and blast resistance

Scientific Reports ◽

10.1038/s41598-021-83921-7 ◽

2021 ◽

Vol 11 (1) ◽

Author(s):

Debayan Mondal ◽

Prudveesh Kantamraju ◽

Susmita Jha ◽

Gadge Sushant Sundarrao ◽

Arpan Bhowmik ◽

...

Keyword(s):

Nutritive Value ◽

Amylose Content ◽

Blast Resistance ◽

Starch Content ◽

Low Cost ◽

Principal Component ◽

Blast Disease ◽

Basmati Rice ◽

Phenotypic Traits ◽

Rice Cultivars

AbstractIndigenous folk rice cultivars often possess remarkable but unrevealed potential in terms of nutritional attributes and biotic stress tolerance. The unique cooking qualities and blissful aroma of many of these landraces make it an attractive low-cost alternative to high priced Basmati rice. Sub-Himalayan Terai region is bestowed with great agrobiodiversity in traditional heirloom rice cultivars. In the present study, ninety-nine folk rice cultivars from these regions were collected, purified and characterized for morphological and yield traits. Based on traditional importance and presence of aroma, thirty-five genotypes were selected and analyzed for genetic diversity using micro-satellite marker system. The genotypes were found to be genetically distinct and of high nutritive value. The resistant starch content, amylose content, glycemic index and antioxidant potential of these genotypes represented wide variability and ‘Kataribhog’, ‘Sadanunia’, ‘Chakhao’ etc. were identified as promising genotypes in terms of different nutritional attributes. These cultivars were screened further for resistance against blast disease in field trials and cultivars like ‘Sadanunia’, ‘T4M-3-5’, ‘Chakhao Sampark’ were found to be highly resistant to the blast disease whereas ‘Kalonunia’, ‘Gobindabhog’, ‘Konkanijoha’ were found to be highly susceptible. Principal Component analysis divided the genotypes in distinct groups for nutritional potential and blast tolerance. The resistant and susceptible genotypes were screened for the presence of the blast resistant pi genes and association analysis was performed with disease tolerance. Finally, a logistic model based on phenotypic traits for prediction of the blast susceptibility of the genotypes is proposed with more than 80% accuracy.

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Gold, Silver, and Electrum Electroless Plating on Additively Manufactured Laser Powder-Bed Fusion AlSi10Mg Parts: A Review

Coatings ◽

10.3390/coatings11040422 ◽

2021 ◽

Vol 11 (4) ◽

pp. 422

Author(s):

Dana Ashkenazi ◽

Alexandra Inberg ◽

Yosi Shacham-Diamand ◽

Adin Stern

Keyword(s):

Additive Manufacturing ◽

Low Cost ◽

Ion Beam ◽

Surface Finishing ◽

Powder Bed Fusion ◽

Laser Powder Bed Fusion ◽

Powder Bed ◽

Finishing Process ◽

Gold Silver ◽

3D Printed

Additive manufacturing (AM) revolutionary technologies open new opportunities and challenges. They allow low-cost manufacturing of parts with complex geometries and short time-to-market of products that can be exclusively customized. Additive manufactured parts often need post-printing surface modification. This study aims to review novel environmental-friendly surface finishing process of 3D-printed AlSi10Mg parts by electroless deposition of gold, silver, and gold–silver alloy (e.g., electrum) and to propose a full process methodology suitable for effective metallization. This deposition technique is simple and low cost method, allowing the metallization of both conductive and insulating materials. The AlSi10Mg parts were produced by the additive manufacturing laser powder bed fusion (AM-LPBF) process. Gold, silver, and their alloys were chosen as coatings due to their esthetic appearance, good corrosion resistance, and excellent electrical and thermal conductivity. The metals were deposited on 3D-printed disk-shaped specimens at 80 and 90 °C using a dedicated surface activation method where special functionalization of the printed AlSi10Mg was performed to assure a uniform catalytic surface yielding a good adhesion of the deposited metal to the substrate. Various methods were used to examine the coating quality, including light microscopy, optical profilometry, XRD, X-ray fluorescence, SEM–energy-dispersive spectroscopy (EDS), focused ion beam (FIB)-SEM, and XPS analyses. The results indicate that the developed coatings yield satisfactory quality, and the suggested surface finishing process can be used for many AM products and applications.

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Optimal design of the solar tracking system of parabolic trough concentrating collectors

International Journal of Low-Carbon Technologies ◽

10.1093/ijlct/ctaa065 ◽

2020 ◽

Vol 15 (4) ◽

pp. 613-619

Author(s):

Li Kong ◽

Yunpeng Zhang ◽

Zhijian Lin ◽

Zhongzhu Qiu ◽

Chunying Li ◽

...

Keyword(s):

Numerical Simulation ◽

Solar Radiation ◽

Tracking System ◽

Low Cost ◽

Parabolic Trough ◽

The North ◽

Tracking Mode ◽

Solar Tracking ◽

East West

Abstract The present work aimed to select the optimum solar tracking mode for parabolic trough concentrating collectors using numerical simulation. The current work involved: (1) the calculation of daily solar radiation on the Earth’s surface, (2) the comparison of annual direct solar radiation received under different tracking modes and (3) the determination of optimum tilt angle for the north-south tilt tracking mode. It was found that the order of solar radiation received in Shanghai under the available tracking modes was: dual-axis tracking > north-south Earth’s axis tracking > north-south tilt tracking (β = 15°) > north-south tilt tracking (β = 45) > north-south horizontal tracking > east-west horizontal tracking. Single-axis solar tracking modes feature simple structures and low cost. This study also found that the solar radiation received under the north-south tilt tracking mode was higher than that of the north-south Earth’s axis tracking mode in 7 out of 12 months. Therefore, the north-south tilt tracking mode was studied separately to determine the corresponding optimum tilt angles in Haikou, Lhasa, Shanghai, Beijing and Hohhot, respectively, which were shown as follows: 18.81°, 27.29°, 28.67°, 36.21° and 37.97°.

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