Search results for "POINT"
showing 10 items of 4385 documents
Real-time biomechanical modeling of the liver using Machine Learning models trained on Finite Element Method simulations
2020
[EN] The development of accurate real-time models of the biomechanical behavior of different organs and tissues still poses a challenge in the field of biomechanical engineering. In the case of the liver, specifically, such a model would constitute a great leap forward in the implementation of complex applications such as surgical simulators, computed-assisted surgery or guided tumor irradiation. In this work, a relatively novel approach for developing such a model is presented. It consists in the use of a machine learning algorithm, which provides real-time inference, trained on tens of thousands of simulations of the biomechanical behavior of the liver carried out by the finite element me…
A methodology for evaluating the flexibility potential of domestic air-conditioning systems
2020
The paper presents a methodology for quantifying the electrical flexibility potential of air-conditioning systems (ACS) installed in residential buildings according to the building envelope characteristics and the ACS performance. In order to provide a thorough analysis of the issue, the ACS baseline consumption referred to the indoor temperature of 24°C has been computed for three typical residential buildings built in the South of Italy over different periods. The baseline consumption was used as a reference to estimate the effect of the set point temperature change on the ACS power profile. The results showed that increasing the set-point temperature of ACS by 2°C and 4°C leads to a redu…
Using the Analytic Hierarchy Process (AHP) and fuzzy logic to evaluate the possibility of introducing single point incremental forming on industrial …
2018
Abstract Single point incremental forming (SPIF) is a promising forming process, yet not entirely accepted and implemented on industrial scale, due to several reasons, presented in the paper. The approach presented here develops an evaluation method for the degree of its industrial implementation. Several factors which will favor the industrial implementation of ASPIF are identified and their weights are hierarchized by means of AHP. To assess the robustness of the AHP, a sensitivity analysis was also presented. Furthermore, a fuzzy inference system was built, having as output the degree of industrial implementation of SPIF.
Scalability of GPU-Processed 3D Distance Maps for Industrial Environments
2018
This paper contains a benchmark analysis of the open source library GPU-Voxels together with the Robot Operating System (ROS) in large-scale industrial robotics environment. Six sensor nodes with embedded computing generate real-time point cloud data as ROS topics. The overall data from all sensor nodes is processed by a combination of CPU and GPU on a central ROS node. Experimental results demonstrate that the system is able to handle frame rates of 10 and 20 Hz with voxel sizes of 4, 6, 8 and 12 cm without saturation of the CPU or the GPU used by the GPU-Voxels library. The results in this paper show that ROS, in combination with GPU-Voxels, can be used as a viable solution for real-time …
Simulated 3-axis versus 5-axis Processing Toolpaths for Single Point Incremental Forming
2019
Abstract Accuracy and productivity of the parts manufactured by single point incremental forming (SPIF) are influenced by the proper selection of toolpaths. CAM software packages are often used for generating the toolpaths for the process. Literature survey have revealed that contour curves and spatial spirals are the most used toolpaths for SPIF. These toolpaths are generated using 3-axis approaches, meaning that the tool axis is maintained parallel to the vertical axis. The 3-axis approach was justified using 3-axis CNC milling machines as the main technological equipment for SPIF. However, nowadays, the wide spreading of both 5-axis CNC milling machines and industrial robots, with far su…
Summarizing Large Scale 3D Point Cloud for Navigation Tasks
2017
International audience; Democratization of 3D sensor devices makes 3D maps building easier especially in long term mapping and autonomous navigation. In this paper we present a new method for summarizing a 3D map (dense cloud of 3D points). This method aims to extract a summary map facilitating the use of this map by navigation systems with limited resources (smartphones, cars, robots...). This Vision-based summarizing process is applied in a fully automatic way using the photometric, geometric and semantic information of the studied environment.
Autonomous 3D geometry reconstruction through robot-manipulated optical sensors
2021
Abstract Many industrial sectors face increasing production demands and need to reduce costs, without compromising the quality. Whereas mass production relies on well-established protocols, small production facilities with small lot sizes struggle to update their highly changeable production at reasonable costs. The use of robotics and automation has grown significantly in recent years, but extremely versatile robotic manipulators are still not commonly used in small factories. Beside of the investments required to enable efficient and profitable use of robot technology, the efforts needed to program robots are only economically viable in case of large lot sizes. Generating robot programs f…
Real-time human collision detection for industrial robot cells
2017
A collision detection system triggering on human motion was developed using the Robot Operating System (ROS) and the Point Cloud Library (PCL). ROS was used as the core of the programs and for the communication with an industrial robot. Combining the depths fields from the 3D cameras was accomplished by the use of PCL. The library was also the underlying tool for segmenting the human from the registrated point clouds. Benchmarking of several collision algorithms was done in order to compare the solution. The registration process gave satisfactory results when testing the repetitiveness and the accuracy of the implementation. The segmentation algorithm was able to segment a person represente…
3D Point Cloud Descriptor for Posture Recognition
2018
International audience
Static and Dynamic Objects Analysis as a 3D Vector Field
2017
International audience; In the context of scene modelling, understanding, and landmark-based robot navigation, the knowledge of static scene parts and moving objects with their motion behaviours plays a vital role. We present a complete framework to detect and extract the moving objects to reconstruct a high quality static map. For a moving 3D camera setup, we propose a novel 3D Flow Field Analysis approach which accurately detects the moving objects using only 3D point cloud information. Further, we introduce a Sparse Flow Clustering approach to effectively and robustly group the motion flow vectors. Experiments show that the proposed Flow Field Analysis algorithm and Sparse Flow Clusterin…