Suction-based Grasp Point Estimation in Cluttered Environment for Robotic Manipulator Using Deep Learning-based Affordance Map

Machine Intelligence Research - Perception and manipulation tasks for robotic manipulators involving highly-cluttered objects have become increasingly in-demand for achieving a more efficient...     

Fuzzy geographically weighted clustering using artificial bee colony: An efficient geo-demographic analysis algorithm and applications to the analysis of crime behavior in population

Geo-demographic analysis is an essential part of a geographical information system (GIS) for predicting people’s behavior based on statistical models and their residential location. Fuzzy Geographically Weighted Clustering (FGWC) serves as one of the most efficient algorithms in geo-demographic analysis. Despite being an effective algorithm, FGWC is sensitive to initialize when the random selection of cluster centers makes the iterative process falling into the local optimal solution easily. Artificial Bee Colony (ABC), one of the most popular meta-heuristic algorithms, can be regarded as the tool to achieve global optimization solutions. This research aims to propose a novel geo-demographic analysis algorithm that integrates FGWC to the optimization scheme of ABC for improving geo-demographic clustering accuracy. Experimental results on various datasets show that the clustering quality of the proposed algorithm called FGWC-ABC is better than those of other relevant methods. The proposed algorithm is also applied to a decision-making application for analyzing crime behavior problem in the population using the US communities and crime dataset. It provides fuzzy rules to determine the violent crime rate in terms of linguistic labels from socioeconomic variables. These results are significant to make predictions of further US violent crime rate and to facilitate appropriate decisions on prevention such the situations in the future.     

The influence of calcination temperature on catalytic activities in a Co based catalyst for CO2 dry reforming

The carbon dioxide dry reforming of methane (CDR) reaction could be thermodynamically favored in the range of 800 to 1,000 °C. However, the catalyst in this reaction should be avoided at the calcination temperature over 800 °C since strong metal support interaction (SMSI) in this temperature range can decrease activity due to loss of active sites. Therefore, we focused on optimizing the temperature of pretreatment and a comparison of surface characterization results for CDR. Results related to metal sintering over support, re-dispersion by changing of particle size of metal-support, and strong metal support interaction were observed and confirmed in this work. In our conclusion, optimum calcination temperature for a preparation of catalyst was proposed that 400 °C showed a higher and more stable catalytic activity without changing of support characteristics.     

The nature of polymer grafts and substrate shape on the surface degradation of poly(l‐lactide)

Surface grafting of functional polymers is an effective method to alter material properties and degradation behavior. Two different substrate shapes of poly(l ‐lactide) (PLLA), i.e., films and microparticles, were surface‐grafted with hydrophilic monomers, and their surface degradation was monitored. Surface grafting with a hydrophilic and acidic polymer graft [acrylic acid (AA)] induced large alterations in the surface morphology and topography of the films. In contrast, hydrophilic and neutral polymer grafts [acrylamide (AAm)] had no significant effect on the surface degradation behavior, while the PLLA reference and co‐monomeric (AA/AAm) polymer‐grafted samples exhibited intermediate surface degradation rates. The grafted PAA chains induced a local acidic environment on the surface of the substrates, which in turn catalyzed the surface degradation process. This effect was more pronounced in the films than in the microparticles. Thus, the nature of the grafted chains and substrate geometry were shown to affect the surface degradation behavior of PLLA substrates. © 2015 The Authors Journal of Applied Polymer Science Published by Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2015 , 132, 42736.     

Evaluation of Effective Width and Distribution Factors for GFRP Bridge Decks Supported on Steel Girders

Glass fiber-reinforced polymer (GFRP) bridge deck systems offer an attractive alternative to concrete decks, particularly for bridge rehabilitation projects. Current design practice treats GFRP deck systems in a manner similar to concrete decks, but the results of this study indicate that this approach may lead to nonconservative bridge girder designs. Results from a number of in situ load tests of three steel girder bridges having the same GFRP deck system are used to determine the degree of composite action that may be developed and the transverse distribution of wheel loads that may be assumed for such structures. Results from this work indicate that appropriately conservative design values may be found by assuming no composite action between a GFRP deck and steel girder and using the lever rule to determine transverse load distribution. Additionally, when used to replace an existing concrete deck, the lighter GFRP deck will likely result in lower total stresses in the supporting girders, although, due to the decreased effective width and increased distribution factors, the live-load-induced stress range is likely to be increased. Thus, existing fatigue-prone details may become a concern and require additional attention in design.     

Gas–Surface Interactions on Quasicrystals

To commemorate the awarding of the Nobel Prize for Chemistry to Daniel Shechtman for his discovery of quasicrystals, this paper reviews our recent studies of the interaction of rare gases and hydrocarbon gases with the tenfold surface of quasicrystalline decagonal Al-Co-Ni.     

Loading,draining and hold-up in periodically operated trickle-bed reactors

Periodic interruption of liquid flow in co-current trickle beds appears to be an attractive mode of operation. For modelling these intermittent-flow reactors, loading and draining times must be known. Experiments were undertaken using beds of activated carbon with water and air as the fluid phases. Loading time was taken as the time to water breakthrough. The gas flow was continuous while the time between the end of drainage and the start of filling was varied to simulate different periods. Drainage experiments followed the liquid flow leaving the bed as a function time. Liquid hold-ups were determined after the filling and draining measurements. Variables considered were particle size, gas and liquid velocity. Loading closely follows the plug flow model; drainage shows tailing but does not follow literature models. Static and dynamic hold-ups at zero gas flow agree with literature correlations for the larger particle size used. A gas velocity effect on both static and dynamic hold-up was observed.     

Interfacial Reaction Between Cu Substrates and Zn-Al Base High-Temperature Pb-Free Solders

Chemical reactions between Cu substrates and Zn-Al high-temperature solder alloys, Zn-4Al and Zn-4Al-1Cu (mass%), at temperatures ranging from 420°C to 530°C were experimentally investigated by a scanning electron microscope using backscattered electrons (SEM-BSE) and an electron probe microanalyzer (EPMA). Intermediate phases (IMPs), β(A2) or β′(B2), γ(D8₂), and ε(A3) phases formed and grew during the soldering and aging treatments. The consumption rate of the IMP for Cu substrates is described by the square root of t in both the alloys, while the additional Cu in the molten Zn-Al alloy slightly suppresses the consumption of Cu substrates. The growth of IMPs during soldering treatment is controlled by the volume diffusion of constituent elements, and its activation energy increases in the order of Q _ε < Q _γ < Q _β. In view of the aging process, the growth of IMPs is considered to be controlled by the volume diffusion. In particular, the layer thickness of γ rapidly grows over 200°C, although the thickness of the β layer grows very slowly.