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Uncertainty Quantification in Material Properties of Additively Manufactured Materials for Application in Topology Optimization 增材制造材料性能的不确定性量化及其在拓扑优化中的应用
Zahra Kazemi, C. Steeves
This research presents an approach to measuring the inherent randomness in properties of materials fabricated by the fused filament fabrication (FFF) method. Defects associated with the layer-by-layer process introduce significant variability in the elastic modulus field of materials printed. To describe the random distribution in Young’s modulus fields, statistical properties of mean, variance, and correlation length must be estimated for bulk regions (the printed filaments) and fusion regions (the thin regions connecting printed filaments). The goal is to estimate the random properties from the surface strain fields calculated by digital image correlation (DIC) analysis. A machine learning algorithm is developed that can estimate the spatial variations in the elastic modulus. The model is trained on a dataset of simulated two-dimensional strain fields with known random distributions in the corresponding elastic modulus fields generated by finite element (FE) simulations. On the test data, we achieved the R2 score of 0.93 and 0.95 for the mean in the bulk and fusion Young’s modulus fields, respectively. Also, for the variance in bulk and fusion areas, the R2 score of 0.74 and 0.83 are achieved, respectively. The results demonstrate the feasibility of the proposed approach in measuring the randomness in material properties of FFF-based printed materials.
本研究提出了一种测量熔丝法(FFF)制备的材料的固有随机性的方法。与逐层工艺相关的缺陷在印刷材料的弹性模量领域中引入了显著的可变性。为了描述杨氏模量场的随机分布,必须估计大块区域(印刷细丝)和融合区域(连接印刷细丝的薄区域)的均值、方差和相关长度的统计特性。目的是从数字图像相关(DIC)分析计算的表面应变场中估计出随机特性。提出了一种可以估计弹性模量空间变化的机器学习算法。该模型是在有限元模拟生成的弹性模量场中已知随机分布的二维应变场数据集上进行训练的。在测试数据上,我们在体和聚变杨氏模量场中分别获得了0.93和0.95的均值R2分数。对于体积和融合区域的方差,R2评分分别为0.74和0.83。结果表明,该方法在测量fff基印刷材料的材料性能随机性方面是可行的。
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引用次数: 1
Effect of Interleaved MWCNTs Buckypaper on the Mechanical Properties of Non-Crimp Carbon Fiber Composites 交织MWCNTs对无卷曲碳纤维复合材料力学性能的影响
V. Jadhav, A. Kelkar
Carbon fiber reinforced with carbon-based nano-fillers is becoming popular for many applications due to its exceptional properties, such as high strength and stiffness. The matrix toughening is another way to improve the interlaminar fracture resistance. Short, micro, and nano-fillers are used for enhancing matrix properties. One of the challenges of using nanomaterials is that they get agglomerated due to the high aspect ratio and strong intermolecular and dipole-dipole interactions. To overcome the agglomeration problem, researchers have used interleaving sheets typically inserted at various locations through the thickness of the laminate. The present work uses 48 layers, symmetrically arranged of Non-Crimp Carbon fibers prepregs which were oven-cured to fabricate the composite laminates, with and without buckypaper at the midplane. Multi-Walled Carbon Nanotubes (MWCNTs) buckypapers with 45 gsm were used to fabricate nanoengineered composite laminate. Double cantilever beam (GIC), short beam shear strength, and flexural strength were performed as per ASTM 5528-13, 2344-M16, and 790-15 standards to analyze static and dynamic properties. Buckypaper incorporated laminates showed degraded mechanical properties; to enhance these, the lattice structures formed on the buckypaper and composite laminates were analyzed. The results indicate that the composite laminates fabricated using lattice buckypaper structure had better interlaminar strength than those without lattice grid buckypaper.
用碳基纳米填料增强的碳纤维由于其优异的性能,如高强度和刚度,在许多应用中越来越受欢迎。基体增韧是提高层间抗断裂性能的另一途径。短、微、纳米填料用于增强基体性能。使用纳米材料的挑战之一是由于其高宽高比和强烈的分子间和偶极子-偶极子相互作用而导致团聚。为了克服团聚问题,研究人员使用了交错片,通常通过层压板的厚度在不同位置插入。目前的工作使用48层对称排列的无卷曲碳纤维预浸料,这些预浸料经过烘箱固化,在中间有或没有巴克纸来制造复合层压板。采用45 gsm的多壁碳纳米管(MWCNTs)厚纸制备纳米工程复合材料层压板。双悬臂梁(GIC)、短梁抗剪强度和抗弯强度按照ASTM 5528-13、2344-M16和790-15标准进行静、动态性能分析。含巴克纸的层压板力学性能下降;为了提高这些性能,分析了在纸和复合层压板上形成的晶格结构。结果表明,采用格子纸结构的复合材料层压板层间强度优于不采用格子纸结构的层压板。
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引用次数: 0
A Green and Sustainable Approach for Carbon Steel Acidic Corrosion Inhibition Using Agricultural Waste: Experimental and Theoretical Studies 农业废弃物对碳钢酸性缓蚀的绿色可持续方法:实验与理论研究
O. Sanni, J. Ren, T. Jen
Carbon steel corrosion in hydrochloric acid media is a huge challenge in the chemical industry; hence, creating green and more efficient inhibitors is an urgent task. Furthermore, the increasing amount of solid wastes arising from the municipality and other sources and its disposal consequence has been a major economic and environmental problem. Hence, in this research, the effect of agricultural waste as a natural inhibitor on the carbon steel dissolution in one molar hydrochloric acid solution was studied using electrochemical and surface techniques. The obtained results showed that the corrosion protection potential of the agricultural waste increases with the agricultural waste concentration and an optimum value of 95.92% was achieved at 500 ppm concentration. The waste adsorption on the metallic surface followed the Langmuir adsorption isotherm. The electrochemical impedance spectroscopy test shows that the inhibitor inhibits the metal against corrosion by getting adhered to the carbon steel surface. The scanning electron microscopy analysis proves that in the presence of the inhibitor, the surface of the carbon steel becomes smooth owing to the inhibitive films formed on the metal surface. The results demonstrated that the agricultural waste extract is an excellent green and eco-friendly corrosion inhibitor.
碳钢在盐酸介质中的腐蚀是化工行业面临的一个巨大挑战;因此,创造绿色和更有效的抑制剂是一个紧迫的任务。此外,城市和其他来源产生的固体废物数量日益增加及其处理后果已成为一个重大的经济和环境问题。因此,本研究采用电化学和表面技术研究了农业废弃物作为天然缓蚀剂对碳钢在一摩尔盐酸溶液中溶解的影响。结果表明,随着农业废弃物浓度的增加,农业废弃物的防腐电位增大,在500 ppm浓度时达到95.92%的最优值。废物在金属表面的吸附遵循Langmuir吸附等温线。电化学阻抗谱测试表明,缓蚀剂通过附着在碳钢表面来抑制金属的腐蚀。扫描电镜分析表明,在缓蚀剂存在的情况下,由于金属表面形成了抑制膜,使碳钢表面变得光滑。结果表明,农业废弃物提取物是一种优良的绿色环保缓蚀剂。
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引用次数: 0
Model Order Reduction of Scramjet Isolator Shock Dynamics During Unstart 超燃冲压发动机隔离器未启动时冲击动力学模型降阶
Jack Sullivan, D. Gaitonde
The unsteady shock dynamics occurring in a numerically simulated unstarting scramjet isolator are examined using a novel model order reduction technique. The key challenges associated with the non-stationary nature of the phenomenon are overcome by leveraging a combination of Empirical Mode Decomposition (EMD) followed by time dependent snapshot shifting. The EMD method serves two purposes: to identify the oscillation modes of the unstarting shock train and to subsequently use the calculated non-stationary residual function to invoke a translating frame of reference that is co-moving with the unstarting shock system. Each snapshot is then shifted into the determined reference frame and subsequently windowed in space, creating a smaller, subset of snapshots from the original database. The windowing is informed by the physics of pseudo-shocks, and has the benefits of ensuring that each new snapshot contains the entire unstarting shock train, while simultaneously preventing the effects of circular shifting that have plagued other model order reduction techniques based on shift operators. When applied to the unstart problem, the shifting and windowing technique presents a more statistically stationary view of the unstarting shock dynamics in the frame of reference of the moving shock train. Dynamically relevant modes associated with upstream and downstream propagating pressure waves at the peak shock oscillation frequency in the boundary layers and separation regions are further extracted from the shifted and windowed snapshots using the sparsity promoting Dynamic Mode Decomposition algorithm.
采用一种新的模型降阶技术,对超燃冲压发动机非启动隔离器的非定常激波动力学进行了数值模拟。通过利用经验模态分解(EMD)和时间相关的快照移位的组合来克服与该现象的非平稳性质相关的关键挑战。EMD方法有两个目的:识别起动冲击系的振荡模式,随后使用计算的非平稳残差函数调用与起动冲击系统共同运动的平移参照系。然后将每个快照转移到确定的参考帧中,随后在空间中打开窗口,从原始数据库创建更小的快照子集。窗口是由伪冲击的物理特性通知的,并且具有确保每个新快照包含整个未启动的冲击序列的好处,同时防止已经困扰其他基于移位算子的模型降阶技术的循环移位的影响。当应用于起动问题时,移位加窗技术在运动的激波系的参照系中提供了一种统计上更平稳的起动激波动力学视图。利用稀疏度提升的动态模态分解算法,进一步从移位和加窗的快照中提取出边界层和分离区激波峰值频率下上下游传播压力波的动态相关模态。
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引用次数: 0
Heterogeneous Beam Element Based on Timoshenko Beam Model 基于Timoshenko梁模型的非均质梁单元
R. Chiu, Wenbin Yu
Traditional multiscale methods homogenize a beam-like structure into a material point in 1-D continuum with effective properties computed over a structure gene in terms of a cross-section or a 3D segment with spanwise periodicity. Such methods lose accuracy when dealing with real world beam-like structures usually not uniform or periodic along the spanwise direction. Thus, traditional multiscale methods cannot be rigorously applied to these cases. In our previous work, a new multiscale method was proposed based on a novel application of the recently developed Mechanics of Structure Genome (MSG) to analyze beam-like structures. Beam-like structures were homogenized into a series of 3-node Heterogeneous Beam Elements (HBE) with 18 × 18 effective beam element stiffness matrices, which were used as input for one-dimensional beam analyses. However, due to the shape function limitations, HBE could not handle transverse shear loads. In this work, the shape functions and the MSG theory are further modified to enable capabilities of HBE for transverse shear loads. Using the macroscopic behavior of the beam elements as input, dehomogenization can be performed to predict the local stresses and strains in the original structure. Two examples are used (a periodic composite beam and a tapered beam) to demonstrate the capability of this improved HBE.
传统的多尺度方法将类梁结构均匀化为一维连续体中的物质点,并根据结构基因的横截面或具有展向周期性的三维段计算有效性质。这种方法在处理现实世界的类梁结构时失去了准确性,通常沿展向不是均匀的或周期性的。因此,传统的多尺度方法不能严格适用于这些情况。在我们之前的工作中,基于最近发展的结构基因组力学(MSG)的新应用,提出了一种新的多尺度方法来分析梁状结构。将类梁结构均质为一系列具有18 × 18有效梁单元刚度矩阵的3节点非均质梁单元(HBE),作为一维梁分析的输入。然而,由于形状函数的限制,HBE不能处理横向剪切载荷。在这项工作中,进一步修改了形状函数和MSG理论,使HBE能够承受横向剪切载荷。利用梁单元的宏观行为作为输入,可以进行去均质化来预测原始结构中的局部应力和应变。用两个例子(周期性复合梁和锥形梁)来证明这种改进的HBE的能力。
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引用次数: 0
Effects of Surface Finish and Molecular Structure on the Lubricating Ability of Borate-Based Protic Ionic Liquids 表面光洁度和分子结构对硼酸基质子离子液体润滑性能的影响
A. Sierra, H. Scott, Darwin Pray, Z. Polus, P. Iglesias
Friction and wear are inherent problems in mechanical systems, leading to about 23% world’s total energy usage. However, energy losses could be reduced by up to 40% using high-performance lubricants. In order to meet these objectives, Ionic liquids have been studied for more than two decades. Ionic liquids are a class of synthetic salts with melting points below 100 °C due to their asymmetric chemical structure. This feature confers them remarkably interesting physicochemical properties. Moreover, the delocalized charge in their functional groups enables them to react with metal surfaces through the formation of protective layers that prevent them against contact. Ionic liquids are generally categorized based on the nature of their cation into aprotic ionic liquids and protic ionic liquids. Even though aprotic ionic liquids have been proved as neat lubricants and additives with great performance, their applicability is limited as a consequence of the complexity of their synthesis. On the contrary, protic ionic liquids can be easily obtained through proton transfer from a Brønsted acid to a Brønsted base. In this study, two borate-based PILs, N-methylethanolamine 1,2-dodecanediolborate and N’N-dimethylethanolamine 1,2-dodecanediolborate, were synthesized, with same anion and different ammonium cation. Their lubricating abilities were investigated as neat lubricants on steel-steel contact at room temperature, using a custom-designed ball-on-flat reciprocating tribometer. Each protic ionic liquid was tested using ground and polished steel disks and two levels of normal force and frequency. Results showed that the surface finish have an important influence on the lubricating performance of these ordered fluids. In addition, frequency was found to have an influence on the wear mechanisms on steel surfaces.
摩擦和磨损是机械系统固有的问题,导致全球约23%的能源消耗。然而,使用高性能润滑剂可以减少高达40%的能量损失。为了达到这些目标,离子液体的研究已经进行了二十多年。离子液体是一类合成盐,由于其化学结构不对称,熔点低于100℃。这一特性赋予了它们非常有趣的物理化学性质。此外,它们官能团中的离域电荷使它们能够通过形成保护层与金属表面反应,防止它们接触。根据阳离子的性质,离子液体一般分为非质子离子液体和质子离子液体。尽管非质子离子液体已被证明是一种性能优异的纯润滑剂和添加剂,但由于其合成的复杂性,其适用性受到限制。相反,通过质子从Brønsted酸转移到Brønsted碱,可以很容易地获得质子离子液体。本研究合成了N-甲基乙醇胺1,2-十二烷基二硼酸盐和N- N-二甲基乙醇胺1,2-十二烷基二硼酸盐两种硼酸盐基的pil,它们具有相同的阴离子和不同的铵离子。在室温下,使用定制的平球往复摩擦计,研究了它们作为纯润滑剂在钢与钢接触时的润滑性能。每种质子离子液体都使用研磨和抛光的钢盘进行测试,并使用两种水平的法向力和频率。结果表明,表面光洁度对有序流体的润滑性能有重要影响。此外,频率对钢表面的磨损机制也有影响。
{"title":"Effects of Surface Finish and Molecular Structure on the Lubricating Ability of Borate-Based Protic Ionic Liquids","authors":"A. Sierra, H. Scott, Darwin Pray, Z. Polus, P. Iglesias","doi":"10.1115/imece2022-95163","DOIUrl":"https://doi.org/10.1115/imece2022-95163","url":null,"abstract":"\u0000 Friction and wear are inherent problems in mechanical systems, leading to about 23% world’s total energy usage. However, energy losses could be reduced by up to 40% using high-performance lubricants.\u0000 In order to meet these objectives, Ionic liquids have been studied for more than two decades. Ionic liquids are a class of synthetic salts with melting points below 100 °C due to their asymmetric chemical structure. This feature confers them remarkably interesting physicochemical properties. Moreover, the delocalized charge in their functional groups enables them to react with metal surfaces through the formation of protective layers that prevent them against contact. Ionic liquids are generally categorized based on the nature of their cation into aprotic ionic liquids and protic ionic liquids. Even though aprotic ionic liquids have been proved as neat lubricants and additives with great performance, their applicability is limited as a consequence of the complexity of their synthesis. On the contrary, protic ionic liquids can be easily obtained through proton transfer from a Brønsted acid to a Brønsted base.\u0000 In this study, two borate-based PILs, N-methylethanolamine 1,2-dodecanediolborate and N’N-dimethylethanolamine 1,2-dodecanediolborate, were synthesized, with same anion and different ammonium cation. Their lubricating abilities were investigated as neat lubricants on steel-steel contact at room temperature, using a custom-designed ball-on-flat reciprocating tribometer. Each protic ionic liquid was tested using ground and polished steel disks and two levels of normal force and frequency.\u0000 Results showed that the surface finish have an important influence on the lubricating performance of these ordered fluids. In addition, frequency was found to have an influence on the wear mechanisms on steel surfaces.","PeriodicalId":146276,"journal":{"name":"Volume 3: Advanced Materials: Design, Processing, Characterization and Applications; Advances in Aerospace Technology","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125614209","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of an Artificial Neural Network (ANN) Constitutive Model for Mechanical Metamaterials 机械超材料人工神经网络(ANN)本构模型的建立
Arif Hussain, A. Sakhaei, M. Shafiee
Metamaterials are a group of materials with artificial engineered structures that exhibits customized properties which are not naturally available in other materials. To accelerate the computational analysis of components made from metamaterials that helps novel engineering product design process, it is crucial to develop an accurate and robust model for these materials in macroscale. The classical approach to drive a material model in continuum level is based on development of a phenomenological model to represent the physical behaviour of the material. However, this approach has specific limitations in including the effect of tailoring design parameters in the model which is a key element for metamaterials. In this study, we have proposed an artificial neural network (ANN) constitutive model to represent the macroscale mechanical behaviour of metamaterials in three-dimensional domain. Because of its extraordinary capabilities to stimulate computational performance in identifying and constructing prospective microstructure model for mechanical metamaterials, the proposed ANN constitutive model provides intriguing advantages over conventional models. The ANN constitutive model has been trained based on strain-stress data which is obtained from microscale simulation of 3D cubic lattice structure under various loading conditions. The trained material model is then validated by measuring the accuracy of material behaviour prediction.
超材料是一组具有人工工程结构的材料,具有其他材料所不具备的自定义特性。为了加速对超材料部件的计算分析,从而帮助新型工程产品的设计过程,在宏观尺度上建立一个准确而稳健的超材料模型至关重要。在连续体水平上驱动材料模型的经典方法是基于表征材料物理行为的现象学模型的发展。然而,这种方法在包括裁剪设计参数在模型中的影响方面有特定的局限性,而裁剪设计参数是超材料的关键因素。在这项研究中,我们提出了一个人工神经网络(ANN)本构模型来表示超材料在三维领域的宏观力学行为。由于其在识别和构建机械超材料的未来微观结构模型方面的非凡能力,所提出的人工神经网络本构模型比传统模型具有有趣的优势。基于三维立方晶格结构在不同载荷条件下的微尺度模拟得到的应变-应力数据,对人工神经网络的本构模型进行了训练。然后通过测量材料行为预测的准确性来验证训练的材料模型。
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引用次数: 0
Evaluation of Weld Quality Through Non-Destructive Testing and Weld Property Analysis of Friction Stir Welded AA2014 Under Submerged Condition 水下搅拌摩擦焊AA2014焊缝质量无损检测评价及焊缝性能分析
Senthil Kumar Velukkudi Santhanam, Harinivas Selvaraju, Mystica Augustine Michael Duke
Aluminum Alloy2014 is one of the strongest aluminum alloys and is a copper-based alloy that has a high strength-to-weight ratio. Poor corrosion resistance, porosity, cracking, and element loss makes the alloy difficult to weld in gas and arc welding techniques. To overcome these difficulties, the most suitable method for joining aluminum alloy2014 is Friction Stir Welding. Due to its high strength, aluminum alloy2014 is joined using Friction Stir Welding in aerospace industries in fuel tanks of spaceships and other automotive industries in making complex shapes. In the current study, aluminum alloy2014 alloy is friction stir welded under submerged conditions employing graphene nanofluid. The welding was carried out under the optimized process parameter of tool rotational speed 1200 rpm and a transverse speed of 72 mm/min. A hardened square pin tool of length 5.5 mm and diameter of 4 mm is used for joining the aluminum alloy2014. The graphene nanofluid is developed using the two-step method constituting water as the base fluid. Water is suspended with 0.5 wt% of graphene nanoparticles. In this investigation, Radiography analysis, surface roughness, microhardness, tensile behavior and Facture analysis under two different conditions, normal welding and submerged welding was determined.
铝合金2014是最强的铝合金之一,是一种铜基合金,具有高强度重量比。耐腐蚀性差、气孔、开裂和元素损失使该合金在气焊和电弧焊技术中难以焊接。为了克服这些困难,最适合铝合金2014的连接方法是搅拌摩擦焊。由于其高强度,铝合金2014在航空航天工业中使用搅拌摩擦焊接连接在宇宙飞船的燃料箱和其他汽车工业中,以制造复杂的形状。在本研究中,采用石墨烯纳米流体在水下条件下搅拌摩擦焊接铝合金2014合金。在刀具转速为1200 rpm、横向速度为72 mm/min的优化工艺参数下进行焊接。使用长5.5 mm,直径4mm的硬化方销工具连接铝合金2014。石墨烯纳米流体采用以水为基液的两步法制备。水悬浮在0.5 wt%的石墨烯纳米颗粒中。在本研究中,测定了正常焊接和埋焊两种不同条件下的射线照相分析、表面粗糙度、显微硬度、拉伸性能和断裂分析。
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引用次数: 0
Material Behavior of Hydrophobic Yb2O3 and Photocatalytic TiO2 Coatings in HVAC Water Cooling Towers: A Case Study HVAC水冷塔中疏水性Yb2O3和光催化TiO2涂层的材料行为研究
K. Al-Athel, Turky M. Aldossary, S. S. Akhtar
An HVAC water cooling tower utilizes water in the heat transfer process. Occupational Safety and Health Administration (OSHA) mandates that HVAC systems must be cleaned twice a year to prevent pneumatic diseases, which is a costly process. In this work, hydrophobic coatings of Yb2O3, and coatings of TiO2 and TiO2+Cu are tested as potential coatings for water cooling towers. The samples were placed in water splash zones to ensure exposure to sufficient water effects. The samples were placed for 6 months in. One sample of each set was placed in the shade, while another sample was placed in sunlight to examine the different effects. For the TiO2, all samples were placed in sun-exposed areas. During the test, the sample with the prime coating of YSZ and top coating of 50 μm Yb2O3 exhibited the best behavior compared with the rest of the samples coated with bond coating of Cr2O3. As expected, sunlight adversely affected all samples, with an increase in the number of locations with dark stains due to algae formation. In addition, the top coating of Yb2O3 improved the result. For the TiO2 coating, the addition of copper rendered better results, whereas low concentrations of several elements, such as slats, are observed in the samples with the added copper. The results are in a preliminary stage, and a complete antimicrobial analysis is needed.
HVAC水冷却塔在传热过程中利用水。职业安全与健康管理局(OSHA)规定,暖通空调系统必须每年清洗两次,以防止气动疾病,这是一个昂贵的过程。在这项工作中,测试了Yb2O3的疏水涂层,以及TiO2和TiO2+Cu涂层作为水冷却塔的潜在涂层。样品被放置在水溅区,以确保暴露在足够的水的影响。这些样本被放置了6个月。每组的一个样本放在阴凉处,而另一个样本放在阳光下,以检查不同的效果。对于TiO2,所有样品都放置在阳光照射的区域。在试验中,与涂有Cr2O3结合层的样品相比,涂有YSZ层和50 μm Yb2O3层的样品表现出最好的性能。正如预期的那样,阳光对所有样本都产生了不利影响,由于藻类的形成,深色污渍的位置增加了。此外,Yb2O3的表面涂层改善了结果。对于TiO2涂层,添加铜的效果更好,而添加铜的样品中存在低浓度的元素,如板条。结果处于初步阶段,需要进行完整的抗菌分析。
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引用次数: 0
Supervised and Unsupervised Deep Learning Applications for Visual SLAM: A Review 有监督和无监督深度学习在视觉SLAM中的应用综述
U. Ukaegbu, L. Tartibu, Chee Wah Lim
Visual Simultaneous Localization and Mapping (V-SLAM) is a trending robotics research concept as well as the basis for autonomous and smart navigation. It is an integral part of vision-based applications which include virtual reality, unmanned aerial vehicles, augmented reality, and unmanned ground vehicles. V-SLAM carries out localization and mapping by learning relevant feature points from images and estimating their pose based on the correlation between the camera and the feature points. It also represents the ability of a robot to effectively navigate itself, employing visual sensors and prior information of the given location, in an uncharted environment while updating and constructing a coordinated map of the scene. However, due to the challenges of data association triggered by illumination, different viewpoints and environment dynamics, there has been rapid adoption of deep learning in the area of feature extraction/description, pose/depth estimation, mapping, loop closure detection and global optimization as it concerns visual SLAM. This paper sets out to elucidate diverse applications of supervised and unsupervised deep learning methods in all aspects of visual SLAM. It also briefly explains a case study regarding the application of both deep learning and SLAM for underground mining applications. It highlights recent research developments in addition to limitations hindering their effective application and investigates how a combination of deep learning with other methods offers a promising direction for visual SLAM research.
视觉同步定位与映射(V-SLAM)是机器人技术研究的一个趋势,也是实现自主和智能导航的基础。它是基于视觉的应用的一个组成部分,包括虚拟现实、无人机、增强现实和无人驾驶地面车辆。V-SLAM通过从图像中学习相关特征点,并根据相机与特征点之间的相关性估计其姿态,进行定位和映射。它还代表了机器人在未知环境中利用视觉传感器和给定位置的先验信息有效导航的能力,同时更新和构建场景的协调地图。然而,由于光照、不同视角和环境动态引发的数据关联挑战,深度学习在涉及视觉SLAM的特征提取/描述、姿态/深度估计、映射、闭环检测和全局优化等领域得到了迅速的应用。本文旨在阐明有监督和无监督深度学习方法在视觉SLAM各个方面的不同应用。它还简要解释了一个关于深度学习和SLAM在地下采矿应用中的应用的案例研究。它强调了最近的研究进展以及阻碍其有效应用的局限性,并研究了深度学习与其他方法的结合如何为视觉SLAM研究提供了一个有前途的方向。
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引用次数: 0
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