Robot grasping detection methods are categorized into two-dimension (2D) and three-dimension (3D) approaches. In 2D grasp detection, gripper pose prediction occurs directly on RedGreenBlue (RGB) images, limiting grasp direction. Conversely, 3D grasp detection predicts gripper pose using 3D point clouds, allowing greater grasp flexibility. However, the data volume of 3D point clouds hampers real-time detection. To address this, this paper proposes a novel grasping detection algorithm that combines 2D images and 3D point clouds. Initially, a Single Shot MultiBox Detector (SSD) network generates 2D prediction boxes on RGB images. Through enhancements to the prior box scaling, the accuracy of bounding the target object is improved. Subsequently, 2D boxes are transformed into 3D frustums, and extraneous data points are removed. By utilizing Random Sampling Consistent Segmentation (RANSAC) and Euclidean Clustering Segmentation Algorithm (ECSA), the target point clouds are isolated, and subsequently, the spatial pose of the target is represented using an Oriented Bounding Box (OBB). Processed point clouds enter an enhanced PointNet Grasp Pose Detection (PointNetGPD) algorithm, In contrast to the original approach involving extensive random sampling of grasp candidates, the enhanced PointNetGPD method enables the selective sampling of grasp candidates by incorporating pose constraints between the target and gripper. Following this, the generated grasp candidates are subjected to evaluation through a scoring process conducted by an assessment network. Ultimately, the robotic arm is guided to perform the grasp associated with the highest score. In the experimental phase, the proposed algorithm demonstrated a high success rate in capturing multiple targets, along with a reduced grasping time. These results underscore the algorithm's superior grasping quality and enhanced real-time performance when compared to similar algorithms.
{"title":"A Robotic Arm Visual Grasp Detection Algorithm Combining 2D Images and 3D Point Clouds","authors":"Nan Mu Hui, Xiao Hui Wu, Xiao Wei Han, Bao Ju Wu","doi":"10.4028/p-vndon1","DOIUrl":"https://doi.org/10.4028/p-vndon1","url":null,"abstract":"Robot grasping detection methods are categorized into two-dimension (2D) and three-dimension (3D) approaches. In 2D grasp detection, gripper pose prediction occurs directly on RedGreenBlue (RGB) images, limiting grasp direction. Conversely, 3D grasp detection predicts gripper pose using 3D point clouds, allowing greater grasp flexibility. However, the data volume of 3D point clouds hampers real-time detection. To address this, this paper proposes a novel grasping detection algorithm that combines 2D images and 3D point clouds. Initially, a Single Shot MultiBox Detector (SSD) network generates 2D prediction boxes on RGB images. Through enhancements to the prior box scaling, the accuracy of bounding the target object is improved. Subsequently, 2D boxes are transformed into 3D frustums, and extraneous data points are removed. By utilizing Random Sampling Consistent Segmentation (RANSAC) and Euclidean Clustering Segmentation Algorithm (ECSA), the target point clouds are isolated, and subsequently, the spatial pose of the target is represented using an Oriented Bounding Box (OBB). Processed point clouds enter an enhanced PointNet Grasp Pose Detection (PointNetGPD) algorithm, In contrast to the original approach involving extensive random sampling of grasp candidates, the enhanced PointNetGPD method enables the selective sampling of grasp candidates by incorporating pose constraints between the target and gripper. Following this, the generated grasp candidates are subjected to evaluation through a scoring process conducted by an assessment network. Ultimately, the robotic arm is guided to perform the grasp associated with the highest score. In the experimental phase, the proposed algorithm demonstrated a high success rate in capturing multiple targets, along with a reduced grasping time. These results underscore the algorithm's superior grasping quality and enhanced real-time performance when compared to similar algorithms.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"27 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139805910","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}
M. Parthiban, M. Harinath, V.S.S. Krishaanth, B. Logesh, Ahamed N.J. Musthak
The need for the application of superalloys in aerospace industries in recent years has increased owing to its benefits such as extensive load-bearing capability under high temperatures. Hastelloy is one such superalloy that is extensively utilized in the aerospace sector because of its good corrosion and heat resistance among the other nickel-based superalloys. In this work, the investigation is conducted to understand the effects of input process parameters such as voltage, pulse off time (Toff), and pulse on time (Ton) on the response variables, namely Material removal rate (MRR), Tool wear rate (TWR), Overcut (OC), and Taper Ratio (TR) during micro-EDM of Hastelloy C276. For micro drilling the Hastelloy C276 material, a copper electrode with a diameter of 0.5 mm is utilized. To investigate the connections between the input and output characteristics, a technique known as the Response Surface Methodology (RSM), which is a collection of mathematical and statistical methodologies, is applied. The experimental runs are carried out with the help of the RSM-based Box-Behnken design (BBD). The experimental outcomes were computed, and ANOVA was used to identify the most influential variables. In addition, particle swarm optimization (PSO) was utilized to optimize the results, which were compared to the Response surface methodology approach. The outcomes of the PSO-optimized results revealed a strong correlation between expected and experimental outcomes over the RSM approach.
{"title":"Multi-Objective Parametric Optimization of Micro-Electro Discharge Machining of Hastelloy C276 Super Alloy Using Response Surface Methodology and Particle Swarm Optimization","authors":"M. Parthiban, M. Harinath, V.S.S. Krishaanth, B. Logesh, Ahamed N.J. Musthak","doi":"10.4028/p-a7elpi","DOIUrl":"https://doi.org/10.4028/p-a7elpi","url":null,"abstract":"The need for the application of superalloys in aerospace industries in recent years has increased owing to its benefits such as extensive load-bearing capability under high temperatures. Hastelloy is one such superalloy that is extensively utilized in the aerospace sector because of its good corrosion and heat resistance among the other nickel-based superalloys. In this work, the investigation is conducted to understand the effects of input process parameters such as voltage, pulse off time (Toff), and pulse on time (Ton) on the response variables, namely Material removal rate (MRR), Tool wear rate (TWR), Overcut (OC), and Taper Ratio (TR) during micro-EDM of Hastelloy C276. For micro drilling the Hastelloy C276 material, a copper electrode with a diameter of 0.5 mm is utilized. To investigate the connections between the input and output characteristics, a technique known as the Response Surface Methodology (RSM), which is a collection of mathematical and statistical methodologies, is applied. The experimental runs are carried out with the help of the RSM-based Box-Behnken design (BBD). The experimental outcomes were computed, and ANOVA was used to identify the most influential variables. In addition, particle swarm optimization (PSO) was utilized to optimize the results, which were compared to the Response surface methodology approach. The outcomes of the PSO-optimized results revealed a strong correlation between expected and experimental outcomes over the RSM approach.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"18 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139862221","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}
Zainatul Sakinah Ramli, N. Salleh, T. K. Abdullah, Suhaina Ismail, S. A. Zubir
Continuous cockle shell dumping in open areas has become a global problem which generate major environmental issues. The conversion of the wastes into value-added products is highly desirable and economic. This work aimed to investigate the influence of sol-gel processing parameter on the properties of the synthesized calcium hydroxide (Ca(OH)2). In this study, cockle shell waste was used as calcium carbonate (CaCO3) precursor in the preparation of Ca(OH)2 via sol-gel method and the processing parameter varied was hydrochloric acid (HCl) concentration (0.5, 1.0 and 2.0 M). The cockle shell based CaCO3 and the prepared Ca(OH)2 powders were characterized by X-ray diffraction (XRD), Fourier transform infra-Red (FTIR), field emission scanning electron microscopy with energy dispersive X-ray (FESEM-EDX), X-ray fluorescent (XRF) and particle size analyzer (PSA). The XRD analysis indicates that the calcium carbonate obtained from cockle shell was mainly in the form of aragonite polymorph. Upon sol-gel processing, the analysis of the sample shows the presence of portlandite and small traces of aragonite in all samples suggesting an incomplete reaction of the hydrolysis process. Ca(OH)2 powder prepared using 1M HCl yields the smallest particle size.
{"title":"Preparation and Characterization of Calcium Hydroxide from Cockle Shell Waste via Sol-Gel Method: Effect of HCl Concentration","authors":"Zainatul Sakinah Ramli, N. Salleh, T. K. Abdullah, Suhaina Ismail, S. A. Zubir","doi":"10.4028/p-e23p8p","DOIUrl":"https://doi.org/10.4028/p-e23p8p","url":null,"abstract":"Continuous cockle shell dumping in open areas has become a global problem which generate major environmental issues. The conversion of the wastes into value-added products is highly desirable and economic. This work aimed to investigate the influence of sol-gel processing parameter on the properties of the synthesized calcium hydroxide (Ca(OH)2). In this study, cockle shell waste was used as calcium carbonate (CaCO3) precursor in the preparation of Ca(OH)2 via sol-gel method and the processing parameter varied was hydrochloric acid (HCl) concentration (0.5, 1.0 and 2.0 M). The cockle shell based CaCO3 and the prepared Ca(OH)2 powders were characterized by X-ray diffraction (XRD), Fourier transform infra-Red (FTIR), field emission scanning electron microscopy with energy dispersive X-ray (FESEM-EDX), X-ray fluorescent (XRF) and particle size analyzer (PSA). The XRD analysis indicates that the calcium carbonate obtained from cockle shell was mainly in the form of aragonite polymorph. Upon sol-gel processing, the analysis of the sample shows the presence of portlandite and small traces of aragonite in all samples suggesting an incomplete reaction of the hydrolysis process. Ca(OH)2 powder prepared using 1M HCl yields the smallest particle size.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"15 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139862567","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}
J. Boopalamani, P. Ayswariya, S. P. Raj, P. Yagnitha, N. Sarrvesh, Abhishek Jha
With the increasing population, the demand for food products is increasing day by day. The agriculture sector is adapting to technological reforms of traditional processes to maintain a proper balance between the demand-supply relationship. The intervention of the technology is resulting in the enhanced productivity of the agricultural process, and at the same time, it is also helping in the workload management of the farmers. In the last two decades, unmanned aerial vehicles (UAVs) or drones have emerged as indispensable tools in modern agricultural processes. Drones and allied smart technologies are being used for a variety of applications in this sector. This work presents a comprehensive survey of drones in the agriculture sector. The latest trends in the usage of drones from agricultural viewpoints are discussed. The work emphasizes the drone’s architectures, sensor integration, and availability in the open market. Furthermore, the challenges associated with this technology are also outlined.
{"title":"A Survey of Drones in Agriculture Sector","authors":"J. Boopalamani, P. Ayswariya, S. P. Raj, P. Yagnitha, N. Sarrvesh, Abhishek Jha","doi":"10.4028/p-xcmkl4","DOIUrl":"https://doi.org/10.4028/p-xcmkl4","url":null,"abstract":"With the increasing population, the demand for food products is increasing day by day. The agriculture sector is adapting to technological reforms of traditional processes to maintain a proper balance between the demand-supply relationship. The intervention of the technology is resulting in the enhanced productivity of the agricultural process, and at the same time, it is also helping in the workload management of the farmers. In the last two decades, unmanned aerial vehicles (UAVs) or drones have emerged as indispensable tools in modern agricultural processes. Drones and allied smart technologies are being used for a variety of applications in this sector. This work presents a comprehensive survey of drones in the agriculture sector. The latest trends in the usage of drones from agricultural viewpoints are discussed. The work emphasizes the drone’s architectures, sensor integration, and availability in the open market. Furthermore, the challenges associated with this technology are also outlined.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"84 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139863023","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}
{"title":"Engineering Systems, Equipment and Robotics","authors":"V. Jayakumar, K. A. Razak","doi":"10.4028/b-5jmwpe","DOIUrl":"https://doi.org/10.4028/b-5jmwpe","url":null,"abstract":"","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"42 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139864335","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}
A large amount of dust is formed as one of the primary by-products during the blast furnace ironmaking process. Iron and carbon are mainly compositions in the dust. Blast furnace dust (BFD) is cycled to protect the environment and recover valuable components. In this study, BFD is used pelletization process with iron ore concentration for raw materials charging to the iron-making furnace. The mixture of BFD and iron ore (30; 40; 50 by mass %) with 2 % bentonite as a binder was used for making pellets. The produced pellets were tested drop strength and fired at 1200 °C for 30 minutes in the atmosphere environment. Fired pellets were examined compressive strength and reduced at 900; 1000; 1100 °C in 30 minutes. Mechanical, porosity and reduction degree properties of reduced pellets were analysed. The results show that green strength and compressive strength are acceptable values. Good porosity is observed when using a high amount of BFD so that it gives a high degree of reduction. XRD, SEM were used for characterization. Iron whiskers were observed in the sample, which was reduced at 1000 °C. It is clearly shown that the pellets using BFD are appropriated for charging to blast furnace as raw materials.
大量粉尘是高炉炼铁过程中形成的主要副产品之一。粉尘中的主要成分是铁和碳。高炉粉尘（BFD）被循环利用，以保护环境并回收有价值的成分。在本研究中，高炉粉尘与铁矿石浓缩一起用于球团工艺，作为原料装入炼铁炉。BFD 和铁矿石（质量百分比为 30；40；50）的混合物与 2% 的膨润土作为粘合剂被用于制造球团。生产出的球团在 1200 °C 的大气环境中进行了 30 分钟的落锤强度测试和焙烧。在 900、1000 和 1100 °C 温度下，分别在 30 分钟内对烧成的球团进行抗压强度和还原度测试。对还原颗粒的机械性能、孔隙率和还原度进行了分析。结果表明，生坯强度和抗压强度均为可接受值。当使用大量 BFD 时，可观察到良好的孔隙率，因此它能提供较高的还原度。XRD 和 SEM 被用于表征。在 1000 °C 下还原的样品中观察到了铁须。这清楚地表明，使用 BFD 的球团适合作为原材料装入高炉。
{"title":"Recycling Blast Furnace Dust as Raw Material in Iron-Making","authors":"Tran Thi Thu Hien, Pham Ngoc Hai, Tran Trung Hai","doi":"10.4028/p-za7paa","DOIUrl":"https://doi.org/10.4028/p-za7paa","url":null,"abstract":"A large amount of dust is formed as one of the primary by-products during the blast furnace ironmaking process. Iron and carbon are mainly compositions in the dust. Blast furnace dust (BFD) is cycled to protect the environment and recover valuable components. In this study, BFD is used pelletization process with iron ore concentration for raw materials charging to the iron-making furnace. The mixture of BFD and iron ore (30; 40; 50 by mass %) with 2 % bentonite as a binder was used for making pellets. The produced pellets were tested drop strength and fired at 1200 °C for 30 minutes in the atmosphere environment. Fired pellets were examined compressive strength and reduced at 900; 1000; 1100 °C in 30 minutes. Mechanical, porosity and reduction degree properties of reduced pellets were analysed. The results show that green strength and compressive strength are acceptable values. Good porosity is observed when using a high amount of BFD so that it gives a high degree of reduction. XRD, SEM were used for characterization. Iron whiskers were observed in the sample, which was reduced at 1000 °C. It is clearly shown that the pellets using BFD are appropriated for charging to blast furnace as raw materials.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"46 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139865744","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}
Zainatul Sakinah Ramli, N. Salleh, T. K. Abdullah, Suhaina Ismail, S. A. Zubir
Continuous cockle shell dumping in open areas has become a global problem which generate major environmental issues. The conversion of the wastes into value-added products is highly desirable and economic. This work aimed to investigate the influence of sol-gel processing parameter on the properties of the synthesized calcium hydroxide (Ca(OH)2). In this study, cockle shell waste was used as calcium carbonate (CaCO3) precursor in the preparation of Ca(OH)2 via sol-gel method and the processing parameter varied was hydrochloric acid (HCl) concentration (0.5, 1.0 and 2.0 M). The cockle shell based CaCO3 and the prepared Ca(OH)2 powders were characterized by X-ray diffraction (XRD), Fourier transform infra-Red (FTIR), field emission scanning electron microscopy with energy dispersive X-ray (FESEM-EDX), X-ray fluorescent (XRF) and particle size analyzer (PSA). The XRD analysis indicates that the calcium carbonate obtained from cockle shell was mainly in the form of aragonite polymorph. Upon sol-gel processing, the analysis of the sample shows the presence of portlandite and small traces of aragonite in all samples suggesting an incomplete reaction of the hydrolysis process. Ca(OH)2 powder prepared using 1M HCl yields the smallest particle size.
{"title":"Preparation and Characterization of Calcium Hydroxide from Cockle Shell Waste via Sol-Gel Method: Effect of HCl Concentration","authors":"Zainatul Sakinah Ramli, N. Salleh, T. K. Abdullah, Suhaina Ismail, S. A. Zubir","doi":"10.4028/p-e23p8p","DOIUrl":"https://doi.org/10.4028/p-e23p8p","url":null,"abstract":"Continuous cockle shell dumping in open areas has become a global problem which generate major environmental issues. The conversion of the wastes into value-added products is highly desirable and economic. This work aimed to investigate the influence of sol-gel processing parameter on the properties of the synthesized calcium hydroxide (Ca(OH)2). In this study, cockle shell waste was used as calcium carbonate (CaCO3) precursor in the preparation of Ca(OH)2 via sol-gel method and the processing parameter varied was hydrochloric acid (HCl) concentration (0.5, 1.0 and 2.0 M). The cockle shell based CaCO3 and the prepared Ca(OH)2 powders were characterized by X-ray diffraction (XRD), Fourier transform infra-Red (FTIR), field emission scanning electron microscopy with energy dispersive X-ray (FESEM-EDX), X-ray fluorescent (XRF) and particle size analyzer (PSA). The XRD analysis indicates that the calcium carbonate obtained from cockle shell was mainly in the form of aragonite polymorph. Upon sol-gel processing, the analysis of the sample shows the presence of portlandite and small traces of aragonite in all samples suggesting an incomplete reaction of the hydrolysis process. Ca(OH)2 powder prepared using 1M HCl yields the smallest particle size.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"49 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139802335","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}
A large amount of dust is formed as one of the primary by-products during the blast furnace ironmaking process. Iron and carbon are mainly compositions in the dust. Blast furnace dust (BFD) is cycled to protect the environment and recover valuable components. In this study, BFD is used pelletization process with iron ore concentration for raw materials charging to the iron-making furnace. The mixture of BFD and iron ore (30; 40; 50 by mass %) with 2 % bentonite as a binder was used for making pellets. The produced pellets were tested drop strength and fired at 1200 °C for 30 minutes in the atmosphere environment. Fired pellets were examined compressive strength and reduced at 900; 1000; 1100 °C in 30 minutes. Mechanical, porosity and reduction degree properties of reduced pellets were analysed. The results show that green strength and compressive strength are acceptable values. Good porosity is observed when using a high amount of BFD so that it gives a high degree of reduction. XRD, SEM were used for characterization. Iron whiskers were observed in the sample, which was reduced at 1000 °C. It is clearly shown that the pellets using BFD are appropriated for charging to blast furnace as raw materials.
大量粉尘是高炉炼铁过程中形成的主要副产品之一。粉尘中的主要成分是铁和碳。高炉粉尘（BFD）被循环利用，以保护环境并回收有价值的成分。在本研究中，高炉粉尘与铁矿石浓缩一起用于球团工艺，作为原料装入炼铁炉。BFD 和铁矿石（质量百分比为 30；40；50）的混合物与 2% 的膨润土作为粘合剂被用于制造球团。生产出的球团在 1200 °C 的大气环境中进行了 30 分钟的落锤强度测试和焙烧。在 900、1000 和 1100 °C 温度下，分别在 30 分钟内对烧成的球团进行抗压强度和还原度测试。对还原颗粒的机械性能、孔隙率和还原度进行了分析。结果表明，生坯强度和抗压强度均为可接受值。当使用大量 BFD 时，可观察到良好的孔隙率，因此它能提供较高的还原度。XRD 和 SEM 被用于表征。在 1000 °C 下还原的样品中观察到了铁须。这清楚地表明，使用 BFD 的球团适合作为原材料装入高炉。
{"title":"Recycling Blast Furnace Dust as Raw Material in Iron-Making","authors":"Tran Thi Thu Hien, Pham Ngoc Hai, Tran Trung Hai","doi":"10.4028/p-za7paa","DOIUrl":"https://doi.org/10.4028/p-za7paa","url":null,"abstract":"A large amount of dust is formed as one of the primary by-products during the blast furnace ironmaking process. Iron and carbon are mainly compositions in the dust. Blast furnace dust (BFD) is cycled to protect the environment and recover valuable components. In this study, BFD is used pelletization process with iron ore concentration for raw materials charging to the iron-making furnace. The mixture of BFD and iron ore (30; 40; 50 by mass %) with 2 % bentonite as a binder was used for making pellets. The produced pellets were tested drop strength and fired at 1200 °C for 30 minutes in the atmosphere environment. Fired pellets were examined compressive strength and reduced at 900; 1000; 1100 °C in 30 minutes. Mechanical, porosity and reduction degree properties of reduced pellets were analysed. The results show that green strength and compressive strength are acceptable values. Good porosity is observed when using a high amount of BFD so that it gives a high degree of reduction. XRD, SEM were used for characterization. Iron whiskers were observed in the sample, which was reduced at 1000 °C. It is clearly shown that the pellets using BFD are appropriated for charging to blast furnace as raw materials.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"24 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139805843","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}
This study presents an analytical investigation of the vibration of fluid-conveying pipes on viscoelastic foundations using the differential transform method. The effects of a new time dependent viscosity parameter in the modified Winkler viscoelastic foundation is studied and analyzed. The governing equation is a fourth-order partial differential equation with pinned-pinned boundary conditions, which required a special analytical method for solution. The differential transform method was applied to obtain the solution of the governing partial differential equation for the fluid-conveying pipes on viscoelastic foundations. The time-dependent viscosity parameter in the modified Winkler viscoelastic model was implemented and simulated to determine the behavior of the viscoelastic foundation. The obtained analytical solution was validated with Runge-Kutta order four numerical method. The effects of foundation stiffness , coefficient of foundation damping and the frequency mass ratio on the governing model equation were investigated. In addition, the bending and deflection of the pipe on a viscoelastic foundation are compared with those on an elastic foundation. The analytical and the numerical solutions are in good agreement. From the study, it is observed that an increase in the foundation stiffness results in increase in the pipe inherent frequencies. Furthermore, the vibration of the pipe on a viscoelastic foundation shows better control and reduction compared with its vibration on an elastic foundation.
{"title":"Analytical Studies of Fluid Conveying Pipes on Viscoelastic Foundation Using Differential Transforms Method","authors":"O. Adeleye, A. Yinusa, Ihuoma V. Diwe","doi":"10.4028/p-ts7pbd","DOIUrl":"https://doi.org/10.4028/p-ts7pbd","url":null,"abstract":"This study presents an analytical investigation of the vibration of fluid-conveying pipes on viscoelastic foundations using the differential transform method. The effects of a new time dependent viscosity parameter in the modified Winkler viscoelastic foundation is studied and analyzed. The governing equation is a fourth-order partial differential equation with pinned-pinned boundary conditions, which required a special analytical method for solution. The differential transform method was applied to obtain the solution of the governing partial differential equation for the fluid-conveying pipes on viscoelastic foundations. The time-dependent viscosity parameter in the modified Winkler viscoelastic model was implemented and simulated to determine the behavior of the viscoelastic foundation. The obtained analytical solution was validated with Runge-Kutta order four numerical method. The effects of foundation stiffness , coefficient of foundation damping and the frequency mass ratio on the governing model equation were investigated. In addition, the bending and deflection of the pipe on a viscoelastic foundation are compared with those on an elastic foundation. The analytical and the numerical solutions are in good agreement. From the study, it is observed that an increase in the foundation stiffness results in increase in the pipe inherent frequencies. Furthermore, the vibration of the pipe on a viscoelastic foundation shows better control and reduction compared with its vibration on an elastic foundation.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"32 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139805984","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}
Robot grasping detection methods are categorized into two-dimension (2D) and three-dimension (3D) approaches. In 2D grasp detection, gripper pose prediction occurs directly on RedGreenBlue (RGB) images, limiting grasp direction. Conversely, 3D grasp detection predicts gripper pose using 3D point clouds, allowing greater grasp flexibility. However, the data volume of 3D point clouds hampers real-time detection. To address this, this paper proposes a novel grasping detection algorithm that combines 2D images and 3D point clouds. Initially, a Single Shot MultiBox Detector (SSD) network generates 2D prediction boxes on RGB images. Through enhancements to the prior box scaling, the accuracy of bounding the target object is improved. Subsequently, 2D boxes are transformed into 3D frustums, and extraneous data points are removed. By utilizing Random Sampling Consistent Segmentation (RANSAC) and Euclidean Clustering Segmentation Algorithm (ECSA), the target point clouds are isolated, and subsequently, the spatial pose of the target is represented using an Oriented Bounding Box (OBB). Processed point clouds enter an enhanced PointNet Grasp Pose Detection (PointNetGPD) algorithm, In contrast to the original approach involving extensive random sampling of grasp candidates, the enhanced PointNetGPD method enables the selective sampling of grasp candidates by incorporating pose constraints between the target and gripper. Following this, the generated grasp candidates are subjected to evaluation through a scoring process conducted by an assessment network. Ultimately, the robotic arm is guided to perform the grasp associated with the highest score. In the experimental phase, the proposed algorithm demonstrated a high success rate in capturing multiple targets, along with a reduced grasping time. These results underscore the algorithm's superior grasping quality and enhanced real-time performance when compared to similar algorithms.
{"title":"A Robotic Arm Visual Grasp Detection Algorithm Combining 2D Images and 3D Point Clouds","authors":"Nan Mu Hui, Xiao Hui Wu, Xiao Wei Han, Bao Ju Wu","doi":"10.4028/p-vndon1","DOIUrl":"https://doi.org/10.4028/p-vndon1","url":null,"abstract":"Robot grasping detection methods are categorized into two-dimension (2D) and three-dimension (3D) approaches. In 2D grasp detection, gripper pose prediction occurs directly on RedGreenBlue (RGB) images, limiting grasp direction. Conversely, 3D grasp detection predicts gripper pose using 3D point clouds, allowing greater grasp flexibility. However, the data volume of 3D point clouds hampers real-time detection. To address this, this paper proposes a novel grasping detection algorithm that combines 2D images and 3D point clouds. Initially, a Single Shot MultiBox Detector (SSD) network generates 2D prediction boxes on RGB images. Through enhancements to the prior box scaling, the accuracy of bounding the target object is improved. Subsequently, 2D boxes are transformed into 3D frustums, and extraneous data points are removed. By utilizing Random Sampling Consistent Segmentation (RANSAC) and Euclidean Clustering Segmentation Algorithm (ECSA), the target point clouds are isolated, and subsequently, the spatial pose of the target is represented using an Oriented Bounding Box (OBB). Processed point clouds enter an enhanced PointNet Grasp Pose Detection (PointNetGPD) algorithm, In contrast to the original approach involving extensive random sampling of grasp candidates, the enhanced PointNetGPD method enables the selective sampling of grasp candidates by incorporating pose constraints between the target and gripper. Following this, the generated grasp candidates are subjected to evaluation through a scoring process conducted by an assessment network. Ultimately, the robotic arm is guided to perform the grasp associated with the highest score. In the experimental phase, the proposed algorithm demonstrated a high success rate in capturing multiple targets, along with a reduced grasping time. These results underscore the algorithm's superior grasping quality and enhanced real-time performance when compared to similar algorithms.","PeriodicalId":8039,"journal":{"name":"Applied Mechanics and Materials","volume":"52 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139865858","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}
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