scholarly journals Picking Towels in Point Clouds

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 713 ◽  
Author(s):  
Xiaoman Wang ◽  
Xin Jiang ◽  
Jie Zhao ◽  
Shengfan Wang ◽  
Tao Yang ◽  
...  
Keyword(s):  
Success Rate ◽  
Textile Industry ◽  
Point Clouds ◽  
Determination Method ◽  
Pose Determination ◽  
Industry Automation ◽  
Average Success Rate

Picking clothing has always been a great challenge in laundry or textile industry automation, especially when some clothes are of the same colors, material and entangled with each other. In order to solve the problem, we present a grasp pose determination method to pick towels placed in a laundry basket or on a table. In our method, it is not needed to segment towels into independent items and the target towels are not necessarily distinguishable in color. The proposed algorithm firstly segments point clouds into several convex wrinkles, and then selects the appropriate grasp point on the candidate convex wrinkle. Moreover, we plan the grasp orientation with respect to the wrinkle which can effectively reduce the grasp failure caused by the inappropriate grasp direction. We evaluate our method on picking white towels and square towels, respectively, and achieved an average success rate of about 80%.

scholarly journals Object Manipulation with an Anthropomorphic Robotic Hand via Deep Reinforcement Learning with a Synergy Space of Natural Hand Poses

Sensors ◽  
2021 ◽  
Vol 21 (16) ◽  
pp. 5301
Author(s):  
Patricio Rivera ◽  
Edwin Valarezo Valarezo Añazco ◽  
Tae-Seong Kim
Keyword(s):  
Reinforcement Learning ◽  
Success Rate ◽  
Point Clouds ◽  
Object Manipulation ◽  
Degree Of Freedom ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Flow Network ◽  
Average Success Rate ◽  
High Degree

Anthropomorphic robotic hands are designed to attain dexterous movements and flexibility much like human hands. Achieving human-like object manipulation remains a challenge especially due to the control complexity of the anthropomorphic robotic hand with a high degree of freedom. In this work, we propose a deep reinforcement learning (DRL) to train a policy using a synergy space for generating natural grasping and relocation of variously shaped objects using an anthropomorphic robotic hand. A synergy space is created using a continuous normalizing flow network with point clouds of haptic areas, representing natural hand poses obtained from human grasping demonstrations. The DRL policy accesses the synergistic representation and derives natural hand poses through a deep regressor for object grasping and relocation tasks. Our proposed synergy-based DRL achieves an average success rate of 88.38% for the object manipulation tasks, while the standard DRL without synergy space only achieves 50.66%. Qualitative results show the proposed synergy-based DRL policy produces human-like finger placements over the surface of each object including apple, banana, flashlight, camera, lightbulb, and hammer.

scholarly journals Deviation Tolerance Performance Evaluation and Experiment of Picking End Effector for Famous Tea

Agriculture ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 128
Author(s):  
Yingpeng Zhu ◽  
Chuanyu Wu ◽  
Junhua Tong ◽  
Jianneng Chen ◽  
Leiying He ◽  
...  
Keyword(s):  
Success Rate ◽  
Negative Pressure ◽  
Evaluation Method ◽  
Orthogonal Experiment ◽  
Spatial Position ◽  
End Effector ◽  
Significance Level ◽  
Growth Environment ◽  
End Effectors ◽  
Average Success Rate

Accurately obtaining the posture and spatial position of tea buds through machine vision and other technologies is difficult due to the small size, different shapes, and complex growth environment of tea buds. Therefore, end effectors are prone to problems, such as picking omission and picking error. This study designs a picking end effector based on negative pressure guidance for famous tea. This end effector uses negative pressure to guide tea buds in a top-down manner, thereby correcting their posture and spatial position. Therefore, the designed end effector has deviation tolerance performance that can improve the picking success rate. The pre-experiment is designed, the tip of apical bud is referred to as the descent position, and the negative pressure range is determined to be 0.6 to 0.9 kPa. A deviation tolerance orthogonal experiment is designed. Experimental results show that various experimental factors are ranked in terms of the significance level of the effect on the average success rate, and the significance ranking is as follows: negative pressure (P) > pipe diameter (D) > descent speed (V). An evaluation method of deviation tolerance performance is presented, and the optimal experiment factor-level combination is determined as: P = 0.9 kPa, D = 34 mm, V = 20 mm/s. Within the deviation range of a 10 mm radius, the average success rate of the negative pressure guidance of the end effector is 97.36%. The designed end effector can be applied to the intelligent picking of famous tea. This study can provide a reference for the design of similar picking end effectors for famous tea.

Treatment Strategies in Osteochondral Defects of the Talar Dome: a Systematic Review

2000 ◽  
Vol 21 (2) ◽  
pp. 119-126 ◽  
Author(s):  
J.L. Tol ◽  
P.A.A. Struijs ◽  
P.M.M. Bossuyt ◽  
R.A.W. Verhagen ◽  
C.N. van Dijk
Keyword(s):  
Systematic Review ◽  
Success Rate ◽  
Randomized Clinical Trials ◽  
Treatment Strategies ◽  
Osteochondral Defects ◽  
Cancellous Bone Grafting ◽  
Surgical Strategies ◽  
Randomized Controlled ◽  
Results Of Treatment ◽  
Average Success Rate

The aim of this study was to investigate the results of different treatment strategies for osteochondral defects (OCD) of the talus. Electronic databases from 1966 to July 1998 were systematically screened. Based on our inclusion criteria 32 studies describing the results of treatment strategies for OCD of the talus were included. No randomized clinical trials (RCT's) were identified. Fourteen studies described the results of excision alone, 11 the results of (EC), 14 the results of (ECD), 1 the results of cancellous bone grafting after EC, 1 the results of osteochondral transplantation and 3 the results of fixation. The average success rate of non-operative treatment (NT) was 45%. Comparison of different surgical procedures shows that the average highest success rate was reached by excision, curettage and drilling (ECD) (85%) followed by excision and curettage (EC) (78%) and excision alone (38%). Based on this systematic review we conclude that NT and excision alone are not to be recommended in treating talar OCD. Both EC and ECD have been shown to lead to a high percentage good/excellent results. However, due to great diversity in the articles and variability in treatment results, no definitive conclusions can be drawn. Further prospective randomized controlled trials are required to compare the outcome of these two surgical strategies for OCD of the talus.

scholarly journals When dogs look back: inhibition of independent problem-solving behaviour in domestic dogs ( Canis lupus familiaris ) compared with wolves ( Canis lupus )

2015 ◽  
Vol 11 (9) ◽  
pp. 20150489 ◽  
Author(s):  
Monique A. R. Udell
Keyword(s):  
Problem Solving ◽  
Success Rate ◽  
Canis Lupus ◽  
Domestic Dogs ◽  
Moderate Increase ◽  
Pet Dogs ◽  
Social Sensitivity ◽  
Shelter Dogs ◽  
Puzzle Box ◽  
Average Success Rate

Domestic dogs have been recognized for their social sensitivity and aptitude in human-guided tasks. For example, prior studies have demonstrated that dogs look to humans when confronted with an unsolvable task; an action often interpreted as soliciting necessary help. Conversely, wolves persist on such tasks. While dogs' ‘looking back’ behaviour has been used as an example of socio-cognitive advancement, an alternative explanation is that pet dogs show less persistence on independent tasks more generally. In this study, pet dogs, shelter dogs and wolves were given up to three opportunities to open a solvable puzzle box: when subjects were with a neutral human caretaker, alone and when encouraged by the human. Wolves were more persistent and more successful on this task than dogs, with 80% average success rate for wolves versus a 5% average success rate for dogs in both the human-in and alone conditions. Dogs showed increased contact with the puzzle box during the encouragement condition, but only a moderate increase in problem-solving success. Social sensitivity appears to play an important role in pet and shelter dogs' willingness to engage in problem-solving behaviour, which could suggest generalized dependence on, or deference to, human action.

scholarly journals Application of Intelligent Ultrasound in Real-Time Monitoring of Postoperative Analgesic Nerve Block

2021 ◽  
Vol 2021 ◽  
pp. 1-6
Author(s):  
Zhengwei Li ◽  
Ling Zhao ◽  
Wutao Wang ◽  
Ling Zheng
Keyword(s):  
Brachial Plexus ◽  
Success Rate ◽  
Real Time ◽  
Nerve Block ◽  
Postoperative Analgesia ◽  
Nerve Stimulator ◽  
Ultrasound Guided ◽  
Intelligent Monitoring ◽  
Average Success Rate ◽  
Plexus Block

In order to monitor the effect of nerve block in postoperative analgesia more accurately, this paper puts forward the application research of ultrasonic real-time intelligent monitoring of nerve block in postoperative analgesia. Ultrasonic real-time intelligent monitoring of nerve block in upper limb surgery, lower limb surgery, and abdominal surgery combined with the nerve stimulator. The experiments show that there are 5 cases of adverse reactions when the nerve stimulator is only used, but no adverse reactions occur when combined with ultrasound-guided block. Continuous subclavian brachial plexus block with the ultrasound-guided nerve stimulator can clearly see the subclavian brachial plexus and its surrounding tissue structure, the direction of needle insertion in the plane, and the diffusion of narcotic drugs. The average success rate of block was up to 95.2%, which was significantly higher than that of nerve stimulator alone, and the success rate of recatheterization after the first failure was also improved. The average postoperative analgesia satisfaction was 85.6%, the average operation time was only 20 min, and the subclavian artery and pleura were avoided effectively. No pneumothorax and other complications occurred. The average success rate of ultrasound-guided subclavicular brachial plexus block in 1-2-year-old children was 97%, which was much higher than the average success rate of nerve stimulator localization with 63%. Ultrasound-guided nerve block not only directly blocks nerves under visual conditions but also helps to observe the structures around nerves and dynamically observe the diffusion of local anesthetics, which can significantly improve the accuracy and success rate of nerve block and reduce the incidence of complications.

scholarly journals Voice Recognition Untuk Otomatisasi Sistem Pengakses Pintu

2021 ◽  
Vol 4 (1) ◽  
pp. 116-125
Author(s):  
Indah Purwitasari Ihsan ◽  
Sukriyah Buwarda ◽  
Hilda Novianty ◽  
Ifsan Aditya Putra
Keyword(s):  
Success Rate ◽  
Voice Recognition ◽  
Black Box ◽  
Training Data ◽  
Testing Data ◽  
Door Lock ◽  
Average Success Rate ◽  
Different Characteristics ◽  
The Voice ◽  
Function Testing

Penggunaan kunci manual sebagai pembuka dan pengunci pintu masih belum optimal. Masalah yang sering terjadi adalah pemilik kunci sering kali lupa dimana menyimpan kunci bahkan hingga terjadi kehilangan kunci. Sistem biometrik pola suara memiliki ciri khas dan karakteristik yang berbeda pada setiap manusia, maka suara dapat dijadikan salah satu alternatif solusi, yaitu suara sebagai kunci untuk membuka pintu secara otomatis sehingga lebih efisien. Otomatisasi sistem pengunci pintu dibuat menggunakan Elechouse v3 yang berfungsi sebagai voice recognition serta Solenoid lock door sebagai pengunci otomatis pada pintu. Hasil pengujian fungsional menggunakan black box menunjukkan bahwa seluruh alat yang dirangkai berfungsi sesuai fungsinya. Pengujian tingkat keberhasilan sistem dilakukan menggunakan variable derau, non derau dan jarak. Pada data training tingkat keberhasilan sistem ini jika tanpa derau adalah 100%, sedangkan dengan derau 50.0 dB hingga 70 dB rata-rata tingkat keberhasilannya adalah 56,2%. Untuk jarak 30 cm sampai 180 cm rata-rata keberhasilannya sebesar 40,51%. Jarak terjauh adalah pada jarak 150 cm dengan presentase keberhasilan 5%. Pada data testing tingkat keberhasilannya jika tanpa derau adalah 0%, sedangkan dengan derau 50.0 dB hingga 70 dB rata-rata tingkat keberhasilannya adalah 1,9%. Untuk jarak 30 cm sampai 180 cm rata-rata keberhasilannya sebesar 0%.The use of manual locks as door openers and locks is still not optimal. The problem that often occurs is that the key owner often forgets where to store the key and even loses the key. The voice pattern biometric system has different characteristics for each human, so sound can be an alternative solution, namely voice as a key to open doors automatically so that it is more efficient. Door lock system automation is made using Elechouse v3 which functions as voice recognition and Solenoid door lock as automatic locking of doors. The results of functional testing using a black box show that all the tools assembled function according to their function. Testing the success rate of the system is carried out using noise, non-noise and distance variables. In the training data, the success rate of this system without noise is 100%, while with a noise of 50.0 dB to 70 dB the average success rate is 56.2%. For a distance of 30 cm to 180 cm the success rate is 40.51%. The farthest distance is at a distance of 150 cm with a success percentage of 5%. In the testing data, the success rate without noise is 0%, while with a noise of 50.0 dB to 70 dB the average success rate is 1.9%. For a distance of 30 cm to 180 cm the success rate is 0%. 

An Empirical Study of Perspective-Based Usability Inspection

1998 ◽  
Vol 42 (19) ◽  
pp. 1346-1350 ◽  
Author(s):  
Zhijun Zhang ◽  
Victor Basili ◽  
Ben Shneiderman
Keyword(s):  
Experimental Design ◽  
Empirical Study ◽  
Success Rate ◽  
Past Research ◽  
Control Group ◽  
Heuristic Evaluation ◽  
Software Usability ◽  
Usability Problems ◽  
Post Test ◽  
Average Success Rate

Inspection is a fundamental means of achieving software usability. Past research showed that during usability inspection the success rate (percentage of problems detected) of each individual inspector was rather low. We developed perspective-based usability inspection, which divides the large variety of usability issues along different perspectives and focuses each inspection session on one perspective. We conducted a controlled experiment to study its effectiveness, using a post-test only control group experimental design, with 24 professionals as subjects. The control group used heuristic evaluation, which is the most popular technique for usability inspection. The experimental results are that 1) for usability problems covered by each perspective, the inspectors using that perspective had higher success rate than others; 2) for all usability problems, perspective inspectors had higher average success rate than heuristic inspectors; 3) for all usability problems, the union of three perspective inspectors (with one from each perspective) had higher average success rate than the union of three heuristic inspectors.

scholarly journals The Impact of Mobile Application Support on the Quality of Care of Kidney Patients

2018 ◽  
Vol 11 (2) ◽  
pp. 99
Author(s):  
Arwa A. Jamjoom
Keyword(s):  
Quality Of Care ◽  
Software Architecture ◽  
Success Rate ◽  
Kidney Failure ◽  
Mobile Application ◽  
Early Stage ◽  
Average Success Rate ◽  
The Impact

The adaptation of mobile application is supportive for the discharge patients in less amount of time. The use of mobile application enables physicians to detect the possible implications of treatment at an early stage. The study aims to provide a support and prevention application for kidney failure patients to monitor their diet, receive notifications for taking medicines, get a reminder of dialysis, and conduct easy communication between the doctors and patients. For this purpose, the study has supported the implementation and usage of Kidney Failure Care Application (KFCA). The software architecture of this application aids in the understanding of how the system would behave. The results have shown that the application has eased the communication with their respective doctors, and their diet was also monitored effectively. An average success rate of 80% was observed as a result of testing KFCA application.

scholarly journals A Review of Cancer Electromagnetic Frequency Therapy: Towards Physics of Cancer

2015 ◽  
Vol 4 ◽  
pp. 7-10
Author(s):  
Victor Christianto
Keyword(s):  
Cell Growth ◽  
Cancer Treatment ◽  
Success Rate ◽  
Tumor Cells ◽  
Cancer Chemotherapy ◽  
Low Frequency ◽  
Conventional Chemotherapy ◽  
Novel Approach ◽  
Homeostatic Function ◽  
Average Success Rate

It is known that conventional chemotherapy has average success rate of less than 25%, which seems to suggest that we need a better therapy for cancer. Chemotherapy and radiation employ non-specific toxic effects to inhibit the proliferation of both normal and tumor cells. In this regard, specific low frequency EMT has been reported to restore the homeostatic function of genes involved with controlling cell growth. Here I discuss possibility of a novel approach of cancer treatment using various applications of electromagnetic frequency.

scholarly journals Development of Word Game Algorithm for Learning Javanese Script

2018 ◽  
Vol 12 (2) ◽  
pp. 73
Author(s):  
Ozzi Suria
Keyword(s):  
Success Rate ◽  
Data Model ◽  
Web Application ◽  
Development Process ◽  
Use Case ◽  
Web Browser ◽  
Activity Diagram ◽  
Word Game ◽  
Average Success Rate ◽  
The Web

The students consider learning Javanese script to be difficult particularly in distinguishing and memorizing Carakan, and memorizing Sandangan and Pasangan with its writing rules. This work intends to develop a supporting medium for learning Javanese script. The development process is started by defining the game functionalities by using the use-case diagrams, and then, the activity diagram is created to describe the workflow of the game algorithm. The database to support the game is also created and displayed by using the physical data model. Afterward, the game algorithm script is created using JavaScript so that the game can be played through a web browser. There are 27 respondents requested to test the game and to fill in questionnaires about the web application. The results suggest that 100%of respondents agree that the web application is necessary and useful to learn Javanese script. The application provides positive benefit to the users such as students who still need to learn Javanese script in schools with 97% average success rate to run the game 

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