Applied Mechanics and Materials最新文献_第3页

A Robotic Arm Visual Grasp Detection Algorithm Combining 2D Images and 3D Point Clouds 结合二维图像和三维点云的机械臂视觉抓握检测算法

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/p-vndon1

Nan Mu Hui, Xiao Hui Wu, Xiao Wei Han, Bao Ju Wu

{"title":"A Robotic Arm Visual Grasp Detection Algorithm Combining 2D Images and 3D Point Clouds","authors":"Nan Mu Hui, Xiao Hui Wu, Xiao Wei Han, Bao Ju Wu","doi":"10.4028/p-vndon1","DOIUrl":"https://doi.org/10.4028/p-vndon1","url":null,"abstract":"Robot grasping detection methods are categorized into two-dimension (2D) and three-dimension (3D) approaches. In 2D grasp detection, gripper pose prediction occurs directly on RedGreenBlue (RGB) images, limiting grasp direction. Conversely, 3D grasp detection predicts gripper pose using 3D point clouds, allowing greater grasp flexibility. However, the data volume of 3D point clouds hampers real-time detection. To address this, this paper proposes a novel grasping detection algorithm that combines 2D images and 3D point clouds. Initially, a Single Shot MultiBox Detector (SSD) network generates 2D prediction boxes on RGB images. Through enhancements to the prior box scaling, the accuracy of bounding the target object is improved. Subsequently, 2D boxes are transformed into 3D frustums, and extraneous data points are removed. By utilizing Random Sampling Consistent Segmentation (RANSAC) and Euclidean Clustering Segmentation Algorithm (ECSA), the target point clouds are isolated, and subsequently, the spatial pose of the target is represented using an Oriented Bounding Box (OBB). Processed point clouds enter an enhanced PointNet Grasp Pose Detection (PointNetGPD) algorithm, In contrast to the original approach involving extensive random sampling of grasp candidates, the enhanced PointNetGPD method enables the selective sampling of grasp candidates by incorporating pose constraints between the target and gripper. Following this, the generated grasp candidates are subjected to evaluation through a scoring process conducted by an assessment network. Ultimately, the robotic arm is guided to perform the grasp associated with the highest score. In the experimental phase, the proposed algorithm demonstrated a high success rate in capturing multiple targets, along with a reduced grasping time. These results underscore the algorithm's superior grasping quality and enhanced real-time performance when compared to similar algorithms.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"27 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139805910","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multi-Objective Parametric Optimization of Micro-Electro Discharge Machining of Hastelloy C276 Super Alloy Using Response Surface Methodology and Particle Swarm Optimization 利用响应面法和粒子群优化对哈氏合金 C276 超级合金的微放电加工进行多目标参数优化

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/p-a7elpi

M. Parthiban, M. Harinath, V.S.S. Krishaanth, B. Logesh, Ahamed N.J. Musthak

{"title":"Multi-Objective Parametric Optimization of Micro-Electro Discharge Machining of Hastelloy C276 Super Alloy Using Response Surface Methodology and Particle Swarm Optimization","authors":"M. Parthiban, M. Harinath, V.S.S. Krishaanth, B. Logesh, Ahamed N.J. Musthak","doi":"10.4028/p-a7elpi","DOIUrl":"https://doi.org/10.4028/p-a7elpi","url":null,"abstract":"The need for the application of superalloys in aerospace industries in recent years has increased owing to its benefits such as extensive load-bearing capability under high temperatures. Hastelloy is one such superalloy that is extensively utilized in the aerospace sector because of its good corrosion and heat resistance among the other nickel-based superalloys. In this work, the investigation is conducted to understand the effects of input process parameters such as voltage, pulse off time (Toff), and pulse on time (Ton) on the response variables, namely Material removal rate (MRR), Tool wear rate (TWR), Overcut (OC), and Taper Ratio (TR) during micro-EDM of Hastelloy C276. For micro drilling the Hastelloy C276 material, a copper electrode with a diameter of 0.5 mm is utilized. To investigate the connections between the input and output characteristics, a technique known as the Response Surface Methodology (RSM), which is a collection of mathematical and statistical methodologies, is applied. The experimental runs are carried out with the help of the RSM-based Box-Behnken design (BBD). The experimental outcomes were computed, and ANOVA was used to identify the most influential variables. In addition, particle swarm optimization (PSO) was utilized to optimize the results, which were compared to the Response surface methodology approach. The outcomes of the PSO-optimized results revealed a strong correlation between expected and experimental outcomes over the RSM approach.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"18 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139862221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Preparation and Characterization of Calcium Hydroxide from Cockle Shell Waste via Sol-Gel Method: Effect of HCl Concentration 用溶胶-凝胶法从鸡冠壳废料中制备氢氧化钙并确定其特性：盐酸浓度的影响

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/p-e23p8p

Zainatul Sakinah Ramli, N. Salleh, T. K. Abdullah, Suhaina Ismail, S. A. Zubir

{"title":"Preparation and Characterization of Calcium Hydroxide from Cockle Shell Waste via Sol-Gel Method: Effect of HCl Concentration","authors":"Zainatul Sakinah Ramli, N. Salleh, T. K. Abdullah, Suhaina Ismail, S. A. Zubir","doi":"10.4028/p-e23p8p","DOIUrl":"https://doi.org/10.4028/p-e23p8p","url":null,"abstract":"Continuous cockle shell dumping in open areas has become a global problem which generate major environmental issues. The conversion of the wastes into value-added products is highly desirable and economic. This work aimed to investigate the influence of sol-gel processing parameter on the properties of the synthesized calcium hydroxide (Ca(OH)2). In this study, cockle shell waste was used as calcium carbonate (CaCO3) precursor in the preparation of Ca(OH)2 via sol-gel method and the processing parameter varied was hydrochloric acid (HCl) concentration (0.5, 1.0 and 2.0 M). The cockle shell based CaCO3 and the prepared Ca(OH)2 powders were characterized by X-ray diffraction (XRD), Fourier transform infra-Red (FTIR), field emission scanning electron microscopy with energy dispersive X-ray (FESEM-EDX), X-ray fluorescent (XRF) and particle size analyzer (PSA). The XRD analysis indicates that the calcium carbonate obtained from cockle shell was mainly in the form of aragonite polymorph. Upon sol-gel processing, the analysis of the sample shows the presence of portlandite and small traces of aragonite in all samples suggesting an incomplete reaction of the hydrolysis process. Ca(OH)2 powder prepared using 1M HCl yields the smallest particle size.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"15 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139862567","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Survey of Drones in Agriculture Sector 农业领域无人机调查

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/p-xcmkl4

J. Boopalamani, P. Ayswariya, S. P. Raj, P. Yagnitha, N. Sarrvesh, Abhishek Jha

引用次数: 0

Engineering Systems, Equipment and Robotics 工程系统、设备和机器人技术

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/b-5jmwpe

V. Jayakumar, K. A. Razak

引用次数: 0

Recycling Blast Furnace Dust as Raw Material in Iron-Making 回收高炉粉尘作为炼铁原料

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/p-za7paa

Tran Thi Thu Hien, Pham Ngoc Hai, Tran Trung Hai

{"title":"Recycling Blast Furnace Dust as Raw Material in Iron-Making","authors":"Tran Thi Thu Hien, Pham Ngoc Hai, Tran Trung Hai","doi":"10.4028/p-za7paa","DOIUrl":"https://doi.org/10.4028/p-za7paa","url":null,"abstract":"A large amount of dust is formed as one of the primary by-products during the blast furnace ironmaking process. Iron and carbon are mainly compositions in the dust. Blast furnace dust (BFD) is cycled to protect the environment and recover valuable components. In this study, BFD is used pelletization process with iron ore concentration for raw materials charging to the iron-making furnace. The mixture of BFD and iron ore (30; 40; 50 by mass %) with 2 % bentonite as a binder was used for making pellets. The produced pellets were tested drop strength and fired at 1200 °C for 30 minutes in the atmosphere environment. Fired pellets were examined compressive strength and reduced at 900; 1000; 1100 °C in 30 minutes. Mechanical, porosity and reduction degree properties of reduced pellets were analysed. The results show that green strength and compressive strength are acceptable values. Good porosity is observed when using a high amount of BFD so that it gives a high degree of reduction. XRD, SEM were used for characterization. Iron whiskers were observed in the sample, which was reduced at 1000 °C. It is clearly shown that the pellets using BFD are appropriated for charging to blast furnace as raw materials.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"46 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139865744","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Robotic Arm Visual Grasp Detection Algorithm Combining 2D Images and 3D Point Clouds 结合二维图像和三维点云的机械臂视觉抓握检测算法

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/p-vndon1

Nan Mu Hui, Xiao Hui Wu, Xiao Wei Han, Bao Ju Wu

{"title":"A Robotic Arm Visual Grasp Detection Algorithm Combining 2D Images and 3D Point Clouds","authors":"Nan Mu Hui, Xiao Hui Wu, Xiao Wei Han, Bao Ju Wu","doi":"10.4028/p-vndon1","DOIUrl":"https://doi.org/10.4028/p-vndon1","url":null,"abstract":"Robot grasping detection methods are categorized into two-dimension (2D) and three-dimension (3D) approaches. In 2D grasp detection, gripper pose prediction occurs directly on RedGreenBlue (RGB) images, limiting grasp direction. Conversely, 3D grasp detection predicts gripper pose using 3D point clouds, allowing greater grasp flexibility. However, the data volume of 3D point clouds hampers real-time detection. To address this, this paper proposes a novel grasping detection algorithm that combines 2D images and 3D point clouds. Initially, a Single Shot MultiBox Detector (SSD) network generates 2D prediction boxes on RGB images. Through enhancements to the prior box scaling, the accuracy of bounding the target object is improved. Subsequently, 2D boxes are transformed into 3D frustums, and extraneous data points are removed. By utilizing Random Sampling Consistent Segmentation (RANSAC) and Euclidean Clustering Segmentation Algorithm (ECSA), the target point clouds are isolated, and subsequently, the spatial pose of the target is represented using an Oriented Bounding Box (OBB). Processed point clouds enter an enhanced PointNet Grasp Pose Detection (PointNetGPD) algorithm, In contrast to the original approach involving extensive random sampling of grasp candidates, the enhanced PointNetGPD method enables the selective sampling of grasp candidates by incorporating pose constraints between the target and gripper. Following this, the generated grasp candidates are subjected to evaluation through a scoring process conducted by an assessment network. Ultimately, the robotic arm is guided to perform the grasp associated with the highest score. In the experimental phase, the proposed algorithm demonstrated a high success rate in capturing multiple targets, along with a reduced grasping time. These results underscore the algorithm's superior grasping quality and enhanced real-time performance when compared to similar algorithms.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"52 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139865858","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Review on Performance and Emissions Characteristics of Compression Ignition Engine Fueling Non-Edible Vegetable Oil 以非食用植物油为燃料的压燃式发动机性能和排放特性评述

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/p-cykid1

Kamta Prasad Tiwari, Ram Narayan Singh

{"title":"Review on Performance and Emissions Characteristics of Compression Ignition Engine Fueling Non-Edible Vegetable Oil","authors":"Kamta Prasad Tiwari, Ram Narayan Singh","doi":"10.4028/p-cykid1","DOIUrl":"https://doi.org/10.4028/p-cykid1","url":null,"abstract":"The tremendous exhaustion of resources, a surprising price increase of petroleum fuel and worldwide ecological issues implement to find renewable fuel for compression ignition engine. Non-edible vegetable oils have proven consensus to opt as a replacement for diesel fuel due to comparable properties and less-pollutant characteristics. Using Unmixed Untreated Non-edible Vegetable Oil (UUNVO) in the CI engine matches the needs of a sustainable future and restricts the intensifying cost involved in biodiesel production. This paper aims to review the influence of various UUNVO (Karanja, Jatropha, Neem, Linseed, Mahua and Rubber Seed etc.) on the important performance parameters and emission level of diesel engine. UUNVO can be fuelled to the unmodified CI engine. However, the viscosity of UUNVO is reasonably higher compare to diesel fuel at room temperature, which deteriorates the engine performance and exhaust emission. Minor changes in the injection line for preheating the UUNVO and operating parameters are the way to improve it. It can clearly understand here that preheated UUNVOs typically increase NOx emissions and decrease PM, HC, and CO emissions level compared to standard diesel. UUNVO can substitute diesel fuel completely for short-duration operation. With the long-duration operation, UUNVO produces problems like poor engine performance, injector chocking, and erosion of piston crown, rings, cylinder liner, and other internal parts, and degradation of the lubricant. Problems raised due to durability can be minimized by controlling operational parameters.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"52 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139865968","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Preparation and Characterization of Calcium Hydroxide from Cockle Shell Waste via Sol-Gel Method: Effect of HCl Concentration 用溶胶-凝胶法从鸡冠壳废料中制备氢氧化钙并确定其特性：盐酸浓度的影响

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/p-e23p8p

Zainatul Sakinah Ramli, N. Salleh, T. K. Abdullah, Suhaina Ismail, S. A. Zubir

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引用次数: 0

Recycling Blast Furnace Dust as Raw Material in Iron-Making 回收高炉粉尘作为炼铁原料

Applied Mechanics and Materials Pub Date : 2024-02-05 DOI: 10.4028/p-za7paa

Tran Thi Thu Hien, Pham Ngoc Hai, Tran Trung Hai

{"title":"Recycling Blast Furnace Dust as Raw Material in Iron-Making","authors":"Tran Thi Thu Hien, Pham Ngoc Hai, Tran Trung Hai","doi":"10.4028/p-za7paa","DOIUrl":"https://doi.org/10.4028/p-za7paa","url":null,"abstract":"A large amount of dust is formed as one of the primary by-products during the blast furnace ironmaking process. Iron and carbon are mainly compositions in the dust. Blast furnace dust (BFD) is cycled to protect the environment and recover valuable components. In this study, BFD is used pelletization process with iron ore concentration for raw materials charging to the iron-making furnace. The mixture of BFD and iron ore (30; 40; 50 by mass %) with 2 % bentonite as a binder was used for making pellets. The produced pellets were tested drop strength and fired at 1200 °C for 30 minutes in the atmosphere environment. Fired pellets were examined compressive strength and reduced at 900; 1000; 1100 °C in 30 minutes. Mechanical, porosity and reduction degree properties of reduced pellets were analysed. The results show that green strength and compressive strength are acceptable values. Good porosity is observed when using a high amount of BFD so that it gives a high degree of reduction. XRD, SEM were used for characterization. Iron whiskers were observed in the sample, which was reduced at 1000 °C. It is clearly shown that the pellets using BFD are appropriated for charging to blast furnace as raw materials.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"24 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139805843","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0