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.     

Effect of Organic Surface Load on Process Performance of Pilot-Scale Algae and Duckweed-Based Waste Stabilization Ponds

Removal efficiencies in pilot scale algae-based ponds (ABPs) and duckweed-based ponds (DBPs) were assessed during two periods of 4 months each. During Periods 1 and 2, the effect of low and high organic loading was studied. A linear correlation between ponds organic surface loading rates and the corresponding biochemical oxygen demand (BOD) removal rates was observed in both systems. For both periods, higher BOD and total suspended solids (TSS) removal efficiencies were found in DBPs compared to ABPs. Nitrogen removal rates (λr) in ABPs were linearly correlated with BOD surface loading rates (λs,BOD) and nitrogen loading rates (λs,N), while in DBPs, N removal rates were almost constant irrespective of λs,BOD or λs,N. Overall N removal rate in the algae system was significantly higher than that in duckweed system. Organic loading had no effect on total phosphorus removal efficiency in both systems. Higher P removal efficiency was achieved in the duckweed system than in the algae system. In ABPs as well as DBPs, fecal coliforms were better removed during low organic loading in comparison with high organic loading. During the two operational periods, higher fecal coliform removal efficiency in the algae system than in the duckweed system was observed.     

Arrow’s theorem, multi-criteria decision problems and multi-attribute preferences in engineering design

Arrow’s theorem poses limits to the translation of the different preference orders on a set of options into a single preference order. In this paper, I argue, against opinions to the contrary, that Arrow’s theorem applies fully to multi-criteria decision problems as they occur in engineering design, making solution methods to such problems subject to the theorem’s negative result. Discussing the meaning and consequences for engineering design, I review the solution methods to such problems presented in the engineering design literature in the light of the theorem. It appears that underlying such methods is a mix-up of two fundamentally different problem definitions, as the theory of multi-attribute preferences, which is often presented as an adequate approach for engineering design, in fact fails to address the Arrowian multi-criteria problem. Finally, I suggest ways how engineering design might adopt results from discussions of Arrow’s theorem elsewhere in resolving its multi-criteria decision problems.     

The effect of silicide on ESD performance of transistors

In this paper a new model for localized breakdown in NMOSTs under ESD stress is developed, which accounts for the reduced ESD strength in silicided devices. The model explains the impact of a stabilizing drain resistance on second breakdown current for both silicided and unsilicided protections.     

On the heat transfer to the wheel in planar-flow melt spinning

Differences in the minimum heat-transfer requirements of the chill wheel for the planar-flow and chill-block casting methods are outlined. A minimum constraint on the chill-wheel heat-transfer oefficient in the planar-flow melt-spinning system is obtained through an elementary heat-balance analysis. The results of this analysis are compared with experimental measurements of the heat-transfer coefficient. Formerly with Cornell University, is with Rohm and Haas Company, Bristol, PA, 19007.     

Appropriation of a shared workspace: Organizing principles and their application

The use and effects of a CSCL-tool are not always predictable from the properties of the tool alone, but depend on how that tool is appropriated. This paper presents the findings from a case study about the appropriation of a graphical shared workspace. When students are presented with a new tool they may encounter competing constraints and multiple possibilities for interacting with it. We argue that during critical events the students make choices, and in order to collaborate, coordinate these choices as a group. We study appropriation by looking into the ways in which small groups organize their contributions during a computer-mediated argumentative discussion. The results of our study illustrate how certain principles for organization emerge from an implicit negotiation of conventions, with mutual influence between the students and the tool.     

Intrinsic instability of flame–acoustic coupling

This paper shows that a flame can be an intrinsically unstable acoustic element. The finding is clarified in the framework of an acoustic network model, where the flame is described by an acoustic scattering matrix. The instability of the flame acoustic coupling is shown to become dominating in the limit of no acoustic reflections. This is in contrast to classical standing-wave thermoacoustic modes, which originate from the positive feedback loop between system acoustics and the flame. These findings imply that the effectiveness of passive thermoacoustic damping devices is limited by the intrinsic stability properties of the flame.     

Wind power and the NIMBY-myth: institutional capacity and the limited significance of public support

In many countries, the development of wind power capacity has proceeded more slowly than expected. Levels of public acceptance are usually considered primary indicators of support for wind power within society. Surveys generally show strong overall public support for wind power, while concrete projects are felt to suffer from the Not-In-My-Backyard (NIMBY) syndrome. This paper questions the significance of these outcomes. It argues that other barriers to wind power implementation exist beyond attitudes among the population. The argument is made that institutional factors have a greater impact on wind energy facility siting. We will discuss two examples of how institutional factors shape the level of support when implementing wind power.