Efficient 3D object recognition via geometric information preservation

© 2019 Elsevier Ltd Accurate 3D object recognition and 6-DOF pose estimation have been pervasively applied to a variety of applications, such as unmanned warehouse, cooperative robots, and manufacturing industry. How to extract a robust and representative feature from the point clouds is an inevitable and important issue. In this paper, an unsupervised feature learning network is introduced to extract 3D keypoint features from point clouds directly, rather than transforming point clouds to voxel grids or projected RGB images, which saves computational time while preserving the object geometric information as well. Specifically, the proposed network features in a stacked point feature encoder, which can stack the local discriminative features within its neighborhoods to the original point-wise feature counterparts. The main framework consists of both offline training phase and online testing phase. In the offline training phase, the stacked point feature encoder is trained first and then generate feature database of all keypoints, which are sampled from synthetic point clouds of multiple model views. In the online testing phase, each feature extracted from the unknown testing scene is matched among the database by using the K-D tree voting strategy. Afterwards, the matching results are achieved by using the hypothesis & verification strategy. The proposed method is extensively evaluated on four public datasets and the results show that ours deliver comparable or even superior performances than the state-of-the-arts in terms of F1-score, Average of the 3D distance (ADD) and Recognition rate

Load transfer mechanism of corroded rockbolt grouted structures under low strain rate: Experimental and theoretical analysis

This paper explores the engineering failure of corroded rockbolt grouted structures under dynamic disturbance. Through indoor testing, the influence of a low strain rate on the load transfer behaviour is examined to elucidate the bond-slip mechanism. The load transfer principle is used to construct the load transfer equation of rockbolt considering the effects of strain rate and corrosion, and the distributions of axial force and shear stress in corroded rockbolt are analysed under low strain rates. The results indicate that, at high temperature, the corrosion rate of the rockbolt accelerates, and the cracks at the grouted interface expand rapidly, which makes the rockbolt change failure mode. Under a given load, a higher corrosion degree accelerates the axial force decay rate and makes the distribution of the interface shear stress more uneven. The axial force and shear stress of the rockbolt tend to increase with the strain rate, which increases the load transfer efficiency of the rockbolt and makes it more likely to enter the softening phase. The established load transfer model realistically expresses the effects of corrosion and low strain rate on the load transfer mechanism during rockbolt pull-out, and the test results verify the veracity of the model.The presentation of the authors' names and (or) special characters in the title of the pdf file of the accepted manuscript may differ slightly from what is displayed on the item page. The information in the pdf file of the accepted manuscript reflects the original submission by the author

Water Oxidation Catalysis by Co(II) Impurities in Co(III)4O4 Cubanes

The observed water oxidation activity of the compound class Co4O4(OAc)4(Py–X)4 emanates from a Co(II) impurity. This impurity is oxidized to produce the well-known Co-OEC heterogeneous cobaltate catalyst, which is an active water oxidation catalyst. We present results from electron paramagnetic resonance spectroscopy, nuclear magnetic resonance line broadening analysis, and electrochemical titrations to establish the existence of the Co(II) impurity as the major source of water oxidation activity that has been reported for Co4O4 molecular cubanes. Differential electrochemical mass spectrometry is used to characterize the fate of glassy carbon at water oxidizing potentials and demonstrate that such electrode materials should be used with caution for the study of water oxidation catalysis

Magnetic resonance imaging of anterior cruciate ligament rupture

BACKGROUND: Magnetic resonance (MR) imaging is a useful diagnostic tool for the assessment of knee joint injury. Anterior cruciate ligament repair is a commonly performed orthopaedic procedure. This paper examines the concordance between MR imaging and arthroscopic findings. METHODS: Between February, 1996 and February, 1998, 48 patients who underwent magnetic resonance (MR) imaging of the knee were reported to have complete tears of the anterior cruciate ligament (ACL). Of the 48 patients, 36 were male, and 12 female. The average age was 27 years (range: 15 to 45). Operative reconstruction using a patellar bone-tendon-bone autograft was arranged for each patient, and an arthroscopic examination was performed to confirm the diagnosis immediately prior to reconstructive surgery. RESULTS: In 16 of the 48 patients, reconstructive surgery was cancelled when incomplete lesions were noted during arthroscopy, making reconstructive surgery unnecessary. The remaining 32 patients were found to have complete tears of the ACL, and therefore underwent reconstructive surgery. Using arthroscopy as an independent, reliable reference standard for ACL tear diagnosis, the reliability of MR imaging was evaluated. The true positive rate for complete ACL tear diagnosis with MR imaging was 67%, making the possibility of a false-positive report of "complete ACL tear" inevitable with MR imaging. CONCLUSIONS: Since conservative treatment is sufficient for incomplete ACL tears, the decision to undertake ACL reconstruction should not be based on MR findings alone