scholarly journals A Practical Approach for Picking Items in an Online Shopping Warehouse

2021 ◽  
Vol 11 (13) ◽  
pp. 5805
Author(s):  
Nataliya Nechyporenko ◽  
Antonio Morales ◽  
Enric Cervera ◽  
Angel P. del Pobil
Keyword(s):  
Online Shopping ◽  
Cost Effective ◽  
Robot Arm ◽  
Grasp Planning ◽  
Novel Approach ◽  
New Strategy ◽  
Realistic Description ◽  
Difficult Challenge ◽  
Retail Shopping ◽  
Dual Arm

Commercially viable automated picking in unstructured environments by a robot arm remains a difficult challenge. The problem of robot grasp planning has long been around but the existing solutions tend to be limited when it comes to deploy them in open-ended realistic scenarios. Practical picking systems are called for that can handle the different properties of the objects to be manipulated, as well as the problems arising from occlusions and constrained accessibility. This paper presents a practical solution to the problem of robot picking in an online shopping warehouse by means of a novel approach that integrates a carefully selected method with a new strategy, the centroid normal approach (CNA), on a cost-effective dual-arm robotic system with two grippers specifically designed for this purpose: a two-finger gripper and a vacuum gripper. Objects identified in the scene point cloud are matched to the grasping techniques and grippers to maximize success. Extensive experimentation provides clues as to what are the reasons for success and failure. We chose as benchmark the scenario proposed by the 2017 Amazon Robotics Challenge, since it represents a realistic description of a retail shopping warehouse case; it includes many challenging constraints, such as a wide variety of different product items with a diversity of properties, which are also presented with restricted visibility and accessibility.

A Novel Approach for the Treatment of Sialolithiasis that Preserves Salivary Duct Anatomy

2021 ◽  
pp. 000348942110189
Author(s):  
Gani Atilla Şengör ◽  
Ahmet Mert Bilgili
Keyword(s):  
Salivary Gland ◽  
Success Rate ◽  
Cost Effective ◽  
Complete Removal ◽  
Level Of Evidence ◽  
Invasive Approach ◽  
Pneumatic Lithotripsy ◽  
Novel Approach ◽  
Surgical Methods ◽  
Salivary Gland Stones

Objective: The sialendoscopy era in the treatment of salivary gland stones has reduced the use of classical surgical methods. However, the miniature ducts and tools may cause difficulties in removing large sialoliths. Therefore, invasive combined oral surgeries or gland resection may be considered. We searched for the most suitable method in order to stay in line with the minimally invasive approach that preserves the ductus anatomy, and that can reduce the surgical fears of patients. Materials and Methods: The study included 84 cases (23 parotid and 61 submandibular) in whom stones were fragmented by pneumatic lithotripsy and removed between January 2015 and January 2020. The parotid cases comprised 7 females and 16 males, and the submandibular cases comprised 25 females and 36 males. Intraductal lithotripsy was performed using pneumatic lithotripter. This study has fourth level of evidence. Results: Based on total number of cases (n = 84), success rate was 67/84 (79.7%) immediately after sialendoscopy, and overall success rate was 77/84 (91.6%). Based on number of stones treated (n = 111), our immediate success rate was 94/111 (84.6%), and overall success rate was 104/111 (93.7%). The success criteria were complete removal of the stone and fragments in a single sialendoscopy procedure and resolution of symptoms. Conclusions: We successfully treated salivary gland stones, including L3b stones, in our patient cohort with sialendoscopy combined with pneumatic lithotripsy. The lithotripsy method that we have adapted seems to be more useful and cost-effective compared to its alternatives. We were also able to preserve the ductus anatomy and relieve patients’ concerns. Level of Evidence: Level IV

scholarly journals New fractional approaches for n-polynomial P-convexity with applications in special function theory

2020 ◽  
Vol 2020 (1) ◽  
Author(s):  
Shu-Bo Chen ◽  
Saima Rashid ◽  
Muhammad Aslam Noor ◽  
Zakia Hammouch ◽  
Yu-Ming Chu
Keyword(s):  
Fractional Calculus ◽  
Convex Functions ◽  
Special Functions ◽  
Real Life ◽  
Fractional Integrals ◽  
Digamma Function ◽  
Novel Approach ◽  
Inequality Theory ◽  
New Strategy ◽  
Significant Mechanism

Abstract Inequality theory provides a significant mechanism for managing symmetrical aspects in real-life circumstances. The renowned distinguishing feature of integral inequalities and fractional calculus has a solid possibility to regulate continuous issues with high proficiency. This manuscript contributes to a captivating association of fractional calculus, special functions and convex functions. The authors develop a novel approach for investigating a new class of convex functions which is known as an n-polynomial $\mathcal{P}$ P -convex function. Meanwhile, considering two identities via generalized fractional integrals, provide several generalizations of the Hermite–Hadamard and Ostrowski type inequalities by employing the better approaches of Hölder and power-mean inequalities. By this new strategy, using the concept of n-polynomial $\mathcal{P}$ P -convexity we can evaluate several other classes of n-polynomial harmonically convex, n-polynomial convex, classical harmonically convex and classical convex functions as particular cases. In order to investigate the efficiency and supremacy of the suggested scheme regarding the fractional calculus, special functions and n-polynomial $\mathcal{P}$ P -convexity, we present two applications for the modified Bessel function and $\mathfrak{q}$ q -digamma function. Finally, these outcomes can evaluate the possible symmetric roles of the criterion that express the real phenomena of the problem.

scholarly journals Gas Detection and Identification Using Multimodal Artificial Intelligence Based Sensor Fusion

2021 ◽  
Vol 4 (1) ◽  
pp. 3
Author(s):  
Parag Narkhede ◽  
Rahee Walambe ◽  
Shruti Mandaokar ◽  
Pulkit Chandel ◽  
Ketan Kotecha ◽  
...  
Keyword(s):  
Sensor Fusion ◽  
Network Architecture ◽  
Cost Effective ◽  
Sensor Data ◽  
Dense Layer ◽  
Gaseous Emissions ◽  
Multiple Sensors ◽  
Single Output ◽  
Novel Approach ◽  
Single Sensor

With the rapid industrialization and technological advancements, innovative engineering technologies which are cost effective, faster and easier to implement are essential. One such area of concern is the rising number of accidents happening due to gas leaks at coal mines, chemical industries, home appliances etc. In this paper we propose a novel approach to detect and identify the gaseous emissions using the multimodal AI fusion techniques. Most of the gases and their fumes are colorless, odorless, and tasteless, thereby challenging our normal human senses. Sensing based on a single sensor may not be accurate, and sensor fusion is essential for robust and reliable detection in several real-world applications. We manually collected 6400 gas samples (1600 samples per class for four classes) using two specific sensors: the 7-semiconductor gas sensors array, and a thermal camera. The early fusion method of multimodal AI, is applied The network architecture consists of a feature extraction module for individual modality, which is then fused using a merged layer followed by a dense layer, which provides a single output for identifying the gas. We obtained the testing accuracy of 96% (for fused model) as opposed to individual model accuracies of 82% (based on Gas Sensor data using LSTM) and 93% (based on thermal images data using CNN model). Results demonstrate that the fusion of multiple sensors and modalities outperforms the outcome of a single sensor.

scholarly journals Implementation of Fused Filament Fabrication in Dentistry

2021 ◽  
Vol 11 (14) ◽  
pp. 6444
Author(s):  
Jörg Lüchtenborg ◽  
Felix Burkhardt ◽  
Julian Nold ◽  
Severin Rothlauf ◽  
Christian Wesemann ◽  
...  
Keyword(s):  
Fused Deposition Modeling ◽  
Present Report ◽  
Cost Effective ◽  
Great Promise ◽  
Temperature Sensitive ◽  
Fused Filament Fabrication ◽  
Digital Light Processing ◽  
Fused Deposition ◽  
Surgical Guides ◽  
Novel Approach

Additive manufacturing is becoming an increasingly important technique for the production of dental restorations and assistive devices. The most commonly used systems are based on vat polymerization, e.g., stereolithography (SLA) and digital light processing (DLP). In contrast, fused filament fabrication (FFF), also known under the brand name fused deposition modeling (FDM), is rarely applied in the dental field. This might be due to the reduced accuracy and resolution of FFF compared to vat polymerization. However, the use of FFF in the dental sector seems very promising for in-house production since it presents a cost-effective and straight forward method. The manufacturing of nearly ready-to-use parts with only minimal post-processing can be considered highly advantageous. Therefore, the objective was to implement FFF in a digital dental workflow. The present report demonstrates the production of surgical guides for implant insertion by FFF. Furthermore, a novel approach using a temperature-sensitive filament for bite registration plates holds great promise for a simplified workflow. In combination with a medical-grade filament, a multi-material impression tray was printed for optimized impression taking of edentulous patients. Compared to the conventional way, the printed thermoplastic material is pleasant to model and can allow clean and fast work on the patient.

A Novel Approach to the Interpretation of PAL Spectra in Glycerol

2008 ◽  
Vol 607 ◽  
pp. 260-262
Author(s):  
Sergey V. Stepanov ◽  
Dmitry Zvezhinskiy ◽  
Gilles Duplâtre ◽  
Vsevolod Byakov ◽  
V.S. Subrahmanyam
Keyword(s):  
Positron Annihilation ◽  
Rate Constants ◽  
Reaction Rate ◽  
Volume Distribution ◽  
Viscous Liquids ◽  
Positron Annihilation Lifetime ◽  
Reaction Rate Constants ◽  
Novel Approach ◽  
New Strategy ◽  
Viscous Media

A new strategy for the treatment of positron annihilation lifetime (PAL) spectra in viscous liquids is proposed, enabling to extract values of the Ps reaction rate constants with intratrack radiolytic products as well as parameters of the free volume distribution in viscous media.

Impedance Control of Dual-Arm Systems Based on the Object with Senseless Force

2013 ◽  
Vol 765-767 ◽  
pp. 1920-1923
Author(s):  
Li Jiang ◽  
Yang Zhou ◽  
Bin Wang ◽  
Chao Yu
Keyword(s):  
Numerical Simulations ◽  
Relative Position ◽  
Position Control ◽  
Impedance Control ◽  
Force Sensors ◽  
Operational Space ◽  
Novel Approach ◽  
Control Scheme ◽  
Statics And Dynamics ◽  
Dual Arm

A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors.

scholarly journals Silica-encapsulated DNA tracers for measuring aerosol distribution dynamics in real-world settings

2021 ◽  
Author(s):  
Anne M Luescher ◽  
Julian Koch ◽  
Wendelin J Stark ◽  
Robert N Grass
Keyword(s):  
Real World ◽  
Complex Dynamics ◽  
Quantitative Polymerase Chain Reaction ◽  
Cost Effective ◽  
Confined Space ◽  
Aerosol Dynamics ◽  
Novel Approach ◽  
Aerosol Distribution ◽  
Wide Range ◽  
Series Of Experiments

Aerosolized particles play a significant role in human health and environmental risk management. The global importance of aerosol-related hazards, such as the circulation of pathogens and high levels of air pollutants, have led to a surging demand for suitable surrogate tracers to investigate the complex dynamics of airborne particles in real-world scenarios. In this study, we propose a novel approach using silica particles with encapsulated DNA (SPED) as a tracing agent for measuring aerosol distribution indoors. In a series of experiments with a portable setup, SPED were successfully aerosolized, re-captured and quantified using quantitative polymerase chain reaction (qPCR). Position-dependency and ventilation effects within a confined space could be shown in a quantitative fashion achieving detection limits below 0.1 ng particles per m3 of sampled air. In conclusion, SPED show promise for a flexible, cost-effective and low-impact characterization of aerosol dynamics in a wide range of settings.

scholarly journals A handy skin wound dressing prepared by alginate and cationic nanofibrillated cellulose derived from solid residues of herbs

BioResources ◽  
2021 ◽  
Vol 16 (3) ◽  
pp. 5926-5946
Author(s):  
Ting Jiang ◽  
Xiaoyan Feng ◽  
Rui Xu ◽  
Sheng Dong ◽  
Meiyan Wu ◽  
...  
Keyword(s):  
Wound Dressing ◽  
Cost Effective ◽  
Nanofibrillated Cellulose ◽  
Antibacterial Activities ◽  
Skin Wound ◽  
Natural Medicine ◽  
Nanofibrous Structure ◽  
New Strategy ◽  
Physical Interactions ◽  
Dressing Materials

Large amounts of solid residues are generated after extraction of active ingredients from herbs for the production of natural medicine, but the residues have not been well utilized. In this work, cationic nanofibrillated cellulose (CCNF) was prepared from the solid residues of Astragali Radix by etherification and homogenization. The CCNF was mixed with sodium alginate (SA) to create a hydrogel dressing by physical interactions between CCNF and SA without any addition of cross-linker. The CCNF-SA dressing exhibited moderate viscosity, good moisture-maintaining property, great antibacterial activities, good cytocompatibility, and clear acceleration of wound healing on rats. Furthermore, this CCNF-SA dressing with nanofibrous structure had moderate air permeability. Therefore, the CCNF-SA hydrogel could be used potentially as a skin wound dressing. Development of cost-effective and bioactive wound dressing materials is of crucial importance to reduce the burden on patients and healthcare systems. Also, this work provides a new strategy for valorization of the solid residues of herbs.

Analysis of the Grasp Planning Method for Manipulation of BH-4 Dextrous Hand

2007 ◽  
Author(s):  
Weidong Guo ◽  
Mileta M. Tomovic ◽  
Jiting Li
Keyword(s):  
Coordinate System ◽  
Inverse Kinematic ◽  
Planning Method ◽  
Experimental Result ◽  
Robot Arm ◽  
Grasp Planning ◽  
Physical Prototype ◽  
Dexterous Hand ◽  
Dextrous Hand ◽  
Kinematic Solution

The paper presents method for planning robotic dexterous hand grasping task using example of the Beihang University’s BH-4 dexterous hand. The grasping planning method is devised through modeling and simulation and experimentally verified using physical prototype. The paper presents the method for forward and inverse kinematic solutions of the BH-4 robot 4-DOF finger, including transformation matrix between the palm coordinate system and the finger base coordinate system. In addition, the method of the idiographic manipulation is presented using example of ball grasping. The simulation results and physical experiment verify that the inverse kinematic solution is correct, and kinematic grasping and operating planning is valid and feasible. Finally, the experiment with the complex system integrated robot arm with dexterous hand is carried out. Experimental result shows that the more complicated grasping task can be done by a dexterous hand integrated in the robot arm system.

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