An open-source multi-DOF articulated robotic educational platform for autonomous object manipulation

This research presents an autonomous robotic framework for academic, vocational and training purpose. The platform is centred on a 6 Degree Of Freedom (DOF) serial robotic arm. The kinematic and dynamic models of the robot have been derived to facilitate controller design. An on-board camera to scan the arm workspace permits autonomous applications development. The sensory system consists of position feedback from each joint of the robot and a force sensor mounted at the arm gripper. External devices can be interfaced with the platform through digital and analog I/O ports of the robot controller. To enhance the learning outcome for beginners, higher level commands have been provided. Advanced users can tailor the platform by exploiting the open-source custom-developed hardware and software architectures. The efficacy of the proposed platform has been demonstrated by implementing two experiments; autonomous sorting of objects and controller design. The proposed platform finds its potential to teach technical courses (like Robotics, Control, Electronics, Image-processing and Computer vision) and to implement and validate advanced algorithms for object manipulation and grasping, trajectory generation, path planning, etc. It can also be employed in an industrial environment to test various strategies prior to their execution on actual manipulators.     

Self and static interference mitigation scheme for coexisting wireless networks

High density of coexisting networks in the Industrial, Scientific and Medical (ISM) band leads to static and self interferences among different communication entities. The inevitability of these interferences demands for interference avoidance schemes to ensure reliability of network operations. This paper proposes a novel Diversified Adaptive Frequency Rolling (DAFR) technique for frequency hopping in Bluetooth piconets. DAFR employs intelligent hopping procedures in order to mitigate self interferences, weeds out the static interferer efficiently and ensures sufficient frequency diversity. We compare the performance of our proposed technique with the widely used existing frequency hopping techniques, namely, Adaptive Frequency Hopping (AFH) and Adaptive Frequency Rolling (AFR). Simulation studies validate the significant improvement in goodput and hopping diversity of our scheme compared to other schemes and demonstrate its potential benefit in real world deployment.     

A Flavanone and Two Phenolic Acids from Chrysanthemum morifolium with Phytotoxic and Insect Growth Regulating Activity

Leaves of Chrysanthemum morifolium cv. Ramat were extracted sequentially with hexane, ethyl acetate, and methanol. The methanol fraction, when incorporated into artificial diet was found to reduce the growth of cabbage looper (Trichoplusia ni Hubner) larvae at concentrations between 500 and 5000 ppm of diet. Fractionation of the methanol extract on a Sephadex column yielded five fractions, three of which reduced the weight of larvae relative to the control. One fraction was analyzed using high performance liquid chromatography (HPLC) and found to contain three main constituents. These compounds were purified using a combination of gel permeation chromatography on Sephadex LH20 and HPLC, and analyzed by 1H and 13CNMR as well as undergoing chemical and physical analyses. The compounds were identified as: 1, chlorogenic acid (5-O-caffeoylquinic acid); 2, 3,5-O-dicaffeoylquinic acid; and 3, 3', 4',5-trihydroxyflavanone7-O-glucuronide (eriodictyol7-O-glucuronide). At concentrations between 100 to 1000 ppm these compounds reduced both growth and photosynthesis of Lemna gibba L. with the order of efficacy being: flavanone > chlorogenic acid > 3,5-O-dicaffeoylquinic acid. Furthermore, when incorporated separately into artificial diet these compounds, at 10 to 1000 ppm, enhanced or reduced growth of the cabbage looper (Trichoplusia ni) and gypsy moth (Lymantria dispar L.).     

Automatic Quality Inspection of Bakery Products Based on Shape and Color Information

基于形状和颜色信息的烘焙产品的自动质量检测

Babar Khan,韩芳*,王直杰,Ather Iqbal

（东华大学 信息科学与技术学院,上海 201620）

创新点说明：

利用支持向量机和基于生物启发式HMAX模型的形状辨识器与RGB对抗颜色通道辨识器集成而形成一种有效的智能分类系统,并将其用于烘焙产品的质量检测。

研究目的：

本文要对烘焙产品进行更有效的质量检测,需要提出一种智能方法。

研究方法：

本文采用了支持向量机、基于生物启发式HMAX模型的形状辨识器与RGB对抗颜色通道辨识器集成,形成一种高级自动分类系统,对烘焙产品根据其形状和颜色（烘焙时间）进行对应分类。

结果：

利用本文方法对烘焙产品进行质量检测的结果与其它方法相比较,发现本文提出的基于生物启发的机器视觉系统运行更加精确和有效,同时发现采用One Versus One支持向量机和Directed Acyclic Graph支持向量机可以得到最大的分类精确率。本文方法对饼干形状和颜色的辨识分别达到了95%和100%的分类精确率。同时,算法稳定。

结论：

本文方法因其更加可靠和精确可用于代替现有的烘焙产品检测方法。

关键词：烘焙产品质量检测,计算机视觉,HMAX, 对抗颜色通道,RGB颜色辨识器,支持向量机

     

Refrigerated cooling air cutting of difficult-to-cut materials

One approach to enhance machining performance is to apply cutting fluids during cutting process. However, the use of cutting fluids in machining process has caused some problems such as high cost, pollution, and hazards to operator's health. All the problems related to the use of cutting fluids have urged researchers to search for some alternatives to minimize or even avoid the use of cutting fluids in machining operations. Cooling gas cutting is one of these alternatives. This paper investigates the effect of cooling air cutting on tool wear, surface finish and chip shape in finish turning of Inconel 718 nickel-base super alloy and high-speed milling of AISI D2 cold work tool steel. Comparative experiments were conducted under different cooling/lubrication conditions, i.e. dry cutting, minimal quantity lubrication (MQL), cooling air, and cooling air and minimal quantity lubrication (CAMQL). For this research, composite refrigeration method was adopted to develop a new cooling gas equipment which was used to lower the temperature of compressed gas. The significant experimental results were: (i) application of cooing air and CAMQL resulted in drastic reduction in tool wear and surface roughness, and significant improvement in chip shape in finish turning of Inconel 718, (ii) in the high-speed milling of AISI D2, cooling air cutting presented longer tool life and slightly higher surface roughness than dry cutting and MQL. Therefore, it appears that cooling air cutting can provide not only environment friendliness but also great improvement in machinability of difficult-to-cut materials.     

DCT statistics-based digital dropout detection in degraded archived media

With the rapid development of visual digital media, the demand for better quality of service has increased the pressure on broadcasters to automate their error detection and restoration activities for preserving their archives. Digital dropout is one of the defects that affect archived visual materials and tends to occur in block by block basis (size of 8 × 8). It is well established that human visual system (HVS) is highly adapted to the statistics of its visual natural environment. Consequently, in this paper, we have formulated digital dropout detection as a classification problem which predicts block label based on statistical features. These statistical features are indicative of perceptual quality relevant to human visual perception, and allow pristine images to be distinguished from distorted ones. Here, the idea is to extract discriminant block statistical features based on discrete cosine transform (DCT) coefficients and determine an optimal neighborhood sampling strategy to enhance the discrimination ability of block representation. Since this spatial frame based approach is free from any motion computation dependency, it works perfectly in the presence of fast moving objects. Experiments are performed on video archives to evaluate the efficacy of the proposed technique.     

Delay-dependent anti-windup synthesis for stability of constrained state delay systems using pole-constraints

This paper proposes the design of anti-windup compensator gain for stability of actuator input constrained state delay systems using constrained pole-position of the closed-loop. Based on Delay-Dependent Lyapunov-Krasovskii functionals and local sector conditions, a new LMI characterization is derived that ensures closed-loop asymptotic stability of constrained state delay systems while accounting upper bound fixed state delay and largest lower bound of the system’s pole-position in the formulation of anti-windup gain. Besides, at saturation, the method significantly nullifies the inherent slow dynamics present in the system. It is shown in the comparative numerical examples that the LMI formulation draws stability with improved time-domain performance.     

Your comments matter: incorporating viewers’ comments for ranking online video content using bibliometrics

ABSTRACT

The quality of user-generated content over World Wide Web media is a matter of serious concern for both creators and users. To measure the quality of content, webometric techniques are commonly used. In recent times, bibliometric techniques have been introduced to good effect for evaluation of the quality of user-generated content, which were originally used for scholarly data. However, the application of bibliometric techniques to evaluate the quality of YouTube content is limited to h-index and g-index considering only views. This paper advocates for and demonstrates the adaptation of existing Bibliometric indices including h-index, g-index and M-index exploiting both views and comments and proposes three indices h_vc, g_vc and m_vc for YouTube video channel ranking. The empirical results prove that the proposed indices using views along with the comments outperform the existing approaches on a real-world dataset of YouTube.     

An improved formalism for quantum computation based on geometric algebra—case study: Grover’s search algorithm

The Grover search algorithm is one of the two key algorithms in the field of quantum computing, and hence it is desirable to represent it in the simplest and most intuitive formalism possible. We show firstly, that Clifford’s geometric algebra, provides a significantly simpler representation than the conventional bra-ket notation, and secondly, that the basis defined by the states of maximum and minimum weight in the Grover search space, allows a simple visualization of the Grover search analogous to the precession of a spin- ${\frac{1}{2}}$ particle. Using this formalism we efficiently solve the exact search problem, as well as easily representing more general search situations. We do not claim the development of an improved algorithm, but show in a tutorial paper that geometric algebra provides extremely compact and elegant expressions with improved clarity for the Grover search algorithm. Being a key algorithm in quantum computing and one of the most studied, it forms an ideal basis for a tutorial on how to elucidate quantum operations in terms of geometric algebra—this is then of interest in extending the applicability of geometric algebra to more complicated problems in fields of quantum computing, quantum decision theory, and quantum information.     

Architecture of Integrated Data Clustering Machine

Data clustering is a significant information retrieval technique in today’s data intensive society. Over the last few decades a vast variety of huge number of data clustering algorithms have been designed and implemented for all most all data types. The quality of results of cluster analysis mainly depends on the clustering algorithm used in the analysis. Architecture of a versatile, less user dependent, dynamic and scalable data clustering machine is presented. The machine selects for analysis, the best av...