Bin-picking with a solid state range camera

In this paper we present new work done on the bin-picking problem. The work was triggered by the advent of a new solid state range camera which enables the economic and robust use of range imagery in industrial robotic automation tasks. The application presented is that of pick-and-place of randomly oriented but known polyhedral objects in an industrial robotic work cell. The algorithms for segmentation, pose estimation, and grasp point determination are presented along with practical results from a real industrial grade work cell.     

Shape-driven segmentation of the arterial wall in intravascular ultrasound images

Segmentation of arterial wall boundaries from intravascular images is an important problem for many applications in the study of plaque characteristics, mechanical properties of the arterial wall, its 3-D reconstruction, and its measurements such as lumen size, lumen radius, and wall radius. We present a shape-driven approach to segmentation of the arterial wall from intravascular ultrasound images in the rectangular domain. In a properly built shape space using training data, we constrain the lumen and media-adventitia contours to a smooth, closed geometry, which increases the segmentation quality without any tradeoff with a regularizer term. In addition to a shape prior, we utilize an intensity prior through a nonparametric probability-density-based image energy, with global image measurements rather than pointwise measurements used in previous methods. Furthermore, a detection step is included to address the challenges introduced to the segmentation process by side branches and calcifications. All these features greatly enhance our segmentation method. The tests of our algorithm on a large dataset demonstrate the effectiveness of our approach.     

Assessment of bottom-up sectoral and regional mitigation potentials

The greenhouse gas mitigation potential of different economic sectors in three world regions are estimated using a bottom-up approach. These estimates provide updates of the numbers reported in the Fourth Assessment Report of the Intergovernmental Panel on Climate Change (IPCC AR4). This study is part of a larger project aimed at comparing greenhouse gas mitigation potentials from bottom-up and top-down approaches. The sectors included in the analysis are energy supply, transport, industry and the residential and service sector. The mitigation potentials range from 11 to 15 GtCO₂eq. This is 26–38% of the baseline in 2030 and 47–68% relative to the year 2000. Potential savings are estimated for different cost levels. The total potential at negative costs is estimated at 5–8% relative to the baseline, with the largest share in the residential and service sector and the highest reduction percentage for the transport and industry sectors. These (negative) costs include investment, operation and maintenance and fuel costs and revenues at moderate discount rates of 3–10%. At costs below 100 US$/tCO₂, the largest potential reductions in absolute terms are estimated in the energy supply sector, while the transport sector has the lowest reduction potential.     

Ultra-Small YPO4-YAG:Ce Composite Nanophosphors with a Photoluminescence Quantum Yield Exceeding 50%

Synthesis of high quality colloidal Cerium(III) doped yttrium aluminum garnet (Y₃Al₅O₁₂:Ce³⁺, “YAG:Ce”) nanoparticles (NPs) meeting simultaneously both ultra-small size and high photoluminescence (PL) performance is challenging, as generally a particle size/PL trade-off has been observed for this type of nanomaterials. The glycothermal route is capable to yield ultra-fine crystalline colloidal YAG:Ce nanoparticles with a particle size as small as 10 nm but with quantum yield (QY) no more than 20%. In this paper, the first ultra-small YPO₄-YAG:Ce nanocomposite phosphor particles having an exceptional QY-to-size performance with an QY up to 53% while maintaining the particle size ≈10 nm is reported. The NPs are produced via a phosphoric acid- and extra yttrium acetate-assisted glycothermal synthesis route. Localization of phosphate and extra yttrium entities with respect to cerium centers in the YAG host has been determined by fine structural analysis techniques such as X-ray diffration (XRD), solid state nuclear magnetic resonance (NMR), and high resolution scanning transmission electron microscopy (HR-STEM), and shows distinct YPO₄ and YAG phases. Finally, a correlation between the additive-induced physico-chemical environment change around cerium centers and the increasing PL performance has been suggested based on electron paramagnetic resonance (EPR), X-ray photoelectron spectrometry (XPS) data, and crystallographic simulation studies.     

Long Distance Enhancement of Nonlinear Optical Properties Using Low Concentration of Plasmonic Nanostructures in Dye Doped Monolithic Sol–Gel Materials

Monolithic sol–gel silica composites incorporating platinum‐based chromophores and various types of gold nanoparticles (AuNPs) are prepared and polished to high optical quality. Their photophysical properties are investigated. The glass materials show well‐defined localized surface plasmon resonance (SPR) absorbance from the visible to NIR. No redshifts of the AuNP plasmon absorption peaks due to the increase in nanoparticle doping concentration are observed in the glasses, proving that no or very small SPR coupling effects occur between the AuNPs. At 600 nm excitation, but not at 532 nm, the AuNPs improve the nonlinear absorption performance of glasses codoped with 50 × 10^?3 m of a Pt‐acetylide chromophore. The glasses doped with lower concentrations of AuNPs (2–5 μm average distance) and 50 × 10^?3 m in chromophore, show a marked improvement in nonlinear absorption, with no or only small improvement for the more highly AuNP doped glasses. This study shows the importance of excitation wavelength and nanoparticle concentration for composite systems employing AuNPs to improve two‐photon absorption of chromophores.     

Microscopic and spectroscopic characterization of paintbrush-like single-walled carbon nanotubes

Understanding and controlling the chemical reactivity of carbon nanotubes (CNTs) is a fundamental requisite to prepare novel nanoscopic structures with practical uses in materials applications. Here, we present a comprehensive microscopic and spectroscopic characterization of carbon nanotubes which have been chemically modified. Specifically, scanning tunneling microscopy (STM) investigations of short-oxidized single-walled carbon nanotubes (SWNTs) functionalized with aliphatic chains via amide reaction reveal the presence of bright lumps both on the sidewalls and at the tips. The functionalization pattern is consistent with the oxidation reaction which mainly occurs at the nanotube tips. Thermogravimetric analysis (TGA), steady-state electronic absorption (UV-vis-NIR), and Raman spectroscopic studies confirm the STM observations.     

Prevalence and predictors of posttraumatic stress in women undergoing an ovarian cancer investigation.

This study assessed posttraumatic stress disorder (PTSD) in women being investigated for an ovarian cancer diagnosis to determine prevalence and factors predicting PTSD in these patients. Participants (N = 75) were recruited from the Princess Margaret Hospital in Toronto, Ontario, after their initial clinic appointment and given a prediagnostic assessment that included measures of PTSD, depression, stress and pain. One month later, patients received an identical postdiagnostic assessment. No cases of clinical PTSD were detected, although 13.6% of participants were identified with subsyndromal PTSD. Multiple regression analyses showed that those participants reporting significant baseline depressive symptoms, definitively diagnosed with ovarian cancer, and with shorter treatment wait times were more likely to have a significant increase in PTSD symptoms. Supportive interventions aimed at reducing PTSD symptoms, launched prior to an ovarian cancer diagnosis, might optimally be directed at patients with baseline depressive symptoms and those with shorter treatment wait times. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

AN ENERGY ANALYSIS OF BELT POLISHING PROCESS AND ITS APPLICATIONS TO TIME CYCLE AND TRACKING EFFECTS

Belt polishing is a fine machining process widely used to improve surface texture and to increase wear resistance and fatigue life. Despite the basics of this manufacturing process are not yet well understood, the cycle-time and the belt oscillations frequency are considered as fundamental process variables. In this article, their effects on the surface characterization and on the form aspects are investigated in connection with the principal physical mechanisms activated during the superfinishing operations (cutting, ploughing and sliding). With this aim, an energy approach of the belt polishing process, coupled with SEM observations of the abrasive belt, is introduced. Two belt polishing energetic regimes are identified and then discussed.     

Tailoring the microstructure and surface morphology of metal thin films for nano-electro-mechanical systems applications

Metallic structural components for micro-electro-mechanical/nano-electro-mechanical systems (MEMS/NEMS) are promising alternatives to silicon-based materials since they are electrically conductive, optically reflective and ductile. Polycrystalline mono-metallic films typically exhibit low strength and hardness, high surface roughness, and significant residual stress, making them unusable for NEMS. In this study we demonstrate how to overcome these limitations by co-sputtering Ni-Mo. Detailed investigation of the Ni-Mo system using transmission electron microscopy and high-resolution transmission electron microscopy (TEM/HRTEM), x-ray diffraction (XRD), nanoindentation, and atomic force microscopy (AFM) reveals the presence of an amorphous-nanocrystalline microstructure which exhibits enhanced hardness, metallic conductivity, and sub-nanometer root mean square (RMS) roughness. Uncurled NEMS cantilevers with MHz resonant frequencies and quality factors ranging from 200-900 are fabricated from amorphous Ni-Mo. Using a sub-regular solution model it is shown that the electrical conductivity of Ni-Mo is in excellent agreement with Bhatia's structural model of electrical resistivity in binary alloys. Using a Langevin-type stochastic rate equation the structural evolution of amorphous Ni-Mo is modeled; it is shown that the growth instability due to the competing processes of surface diffusion and self-shadowing is heavily damped out due to the high thermal energies of sputtering, resulting in extremely smooth films.