A Benchmarking Study on Vision-Based Grasp Synthesis Algorithms

In this paper, we present a benchmarking study of vision-based grasp synthesis algorithms, each with distinct approaches, and provide a comparative analysis of their performance under different experimental conditions. In particular, we compare two machine-learning-based and two analytical algorithms to determine their strengths and weaknesses in different scenarios. In addition, we provide an open-source benchmarking tool developed from state-of-the-art benchmarking procedures and protocols to systematically evaluate different grasp synthesis algorithms. Our findings offer insights into the performance of the evaluated algorithms, which can aid in selecting the most appropriate algorithm for different scenarios.Comment: Submitted to International Symposium on Experimental Robotics (ISER) 202

Effect of TEA on the structural and magnetic properties of ferromagnetic ZnFe2O4 nanoparticles

Ferromagnetic ZnFe2O4 nanoparticles were synthesized by surfactant assisted hydrothermal method using different amount of triethylamine (TEA). The synthesized nanoparticles were characterized by powder X-ray diffraction, Fourier transform infrared spectroscopy, field emission scanning electron microscopy, transmission electron microscopy (TEM), high-resolution transmission electron microscopy and vibrating sample magnetometer. The formation of single phase ZnFe2O4 was investigated by addition of different amount of TEA. Regular spinel structure was obtained for all synthesized product except for lower amount of TEA, owing to the less alkaline atmosphere. All the synthesized nanoparticles were spherical in shape with a small aggregation. Observed size of the nanoparticles was 10 nm as determined from TEM measurement for the sample synthesized with a higher amount of TEA. Room temperature ferromagnetic behavior was observed in all the samples

Risk factors for relapse in childhood steroid sensitive nephrotic syndrome

Background: Nephrotic syndrome (NS) generally tends to follow a benign and chronic relapsing course. Relapses are a major problem in children with steroid sensitive NS (SSNS). Objective: To identify the risk factors for frequent relapse (FR) in the first episode childhood SSNS. Methods: This prospective study was conducted in the Government Dharmapuri Medical College Hospital, Tamil Nadu, between July 2013 and January 2016. Children aged 9 months - 12 years with a diagnosis of SSNS (first episode) who came for follow-up for at least 12 months in the pediatric nephrology clinic were included. The enrolled cases were divided into 2 groups: (1) frequent relapser (FR) and (2) infrequent relapser (IFR). 9 factors were studied as possible risk factorsfor relapse. The data collected were analyzed using Chi-square test and Student’s t-test. Results: Of 160 SSNS children, there were 92 (57.5%) cases of IFR and 68 (42.5%) cases of FR. There were 97 males (60.6%) and 63 females (39.4%) with a male to female ratio of 1.5:1. The mean age of presentation was 4.37±2.32 years. The mean time taken to achieve remission during the first episode was 1.94±1.04 weeks. The interval between remission and first relapse was 5.56±4.51 months. Incidence of infection and hypertension was 31.9% and 37.5%, respectively. Risk factors significantly associated with FR were: Time taken to achieveremission during the first episode (>14 days) (p<0.0001), mean duration of interval between remission and first relapse (within 6 months) (p<0.0001), associated infections (p<0.0001) and hypertension (p<0.0001). Age at onset, sex, serum albumin, 24 h urine protein, and azotemia did not influence the FR in our study. Conclusion: More than 14 days to achieve remission during the first episode, relapse within first 6 months, associated infections and hypertension were the factors associated with FRs

Improved Facilities and Methodologies for Regenerating Unadapted and Wild Groundnut Germplasm at ICRISAT Genebank

Germplasm seed accessions require frequent regeneration for continued conservation and utilization. Regeneration of diverse crop germplasm accessions is a challenging task for large genebanks. The problem is severe especially with the wild relatives because of adaptation problems, lack of facilities and seasonal constraints where genebanks are located. Special facilities were created at ICRISAT Genebank for regenerating all the seed producing wild species of genus Arachis and unadapted Arachis hypogaea accessions. A total of 304 accessions represented by 41 wild species and 290 accessions of six botanical varieties of cultivated groundnut were successfully regenerated using these facilities. Much of the problems encountered during field regeneration especially with the wild species were overcome. Regeneration was possible round the year with minimum operational interference. The seedling establishment, plant growth and pod yields per cycle were significantly higher in these facilities. Establishing such facilities by genebanks could be advantages in efficient regeneration of problem accessions on a long-run for conservation and continued availability of diverse germplasm for utilization in crop improvement programs

A multi-perspective dynamic feature concept in adaptive NC machining of complex freeform surfaces

This paper presents a new concept of feature for freeform surface machining that defines the changes in feature status during real manufacturing situations which have not been sufficiently addressed by current international standards and previous research in feature technology. These changes are multi-perspective, including (i) changes in depth-of-cut: the geometry of a feature in the depth-of-cut direction changes during different machining operations such as roughing, semi-finishing and finishing; (ii) changes across the surface: a surface may be divided into different machining regions (effectively sub-features) for the selection of appropriate manufacturing methods for each region such as different cutting tools, parameters, set-ups or machine tools; and (iii) changes in resources or manufacturing capabilities may require the re-planning of depth-of-cuts, division of machining regions and manufacturing operations (machines, tools, set-ups and parameters). Adding the above dynamic information to the part information models in current CAD systems (which only represent the final state of parts) would significantly improve the accuracy, efficiency and timeliness of manufacturing planning and optimisation, especially for the integrated NC machining planning for complex freeform surfaces. A case study in an aircraft manufacturing company will be included in this paper

Simplified design equation for web tapered I-sections using finite element modeling

The web-tapered I-columns have the capacity to resist the flexural buckling and lateral torsional buckling at a particular location where as in the rest of the member the capacity is lower. There needs a focusing on the nonprismatic members, to find the buckling capacity and standard procedures are to be framed in Indian Code IS 800:2007. This exploratory research explores simulated finite element models covering a total of 60 web tapered column sections having taper ratios (h2/h1) from 1.0 to 3.0 using FEA software ANSYS17.2. With an elaborate Eigenvalue buckling analysis, this research has come up with newer design equation for calculating the buckling load of web tapered I columns. This novel equation could predict the buckling stress for any taper ratio of web tapered I column of any length

Textile technology

This review discusses cotton textile processing and methods of treating effluent in the textile industry. Several countries, including India, have introduced strict ecological standards for textile industries. With more stringent controls expected in the future, it is essential that control measures be implemented to minimize effluent problems. Industrial textile processing comprises pretreatment, dyeing, printing, and finishing operations. These production processes not only consume large amounts of energy and water, but they also produce substantial waste products. This manuscript combines a discussion of waste production from textile processes, such as desizing, mercerizing, bleaching, dyeing, finishing, and printing, with a discussion of advanced methods of effluent treatment, such as electro-oxidation, bio-treatment, photochemical, and membrane processes

Critical issues in near net shape forming via green machining of ceramics: A case study of alumina dental crown

AbstractGreen machining of ceramics through Computer Numerical Control (CNC) is efficient for near net shape fabrication due to minimum consumption of energy, less tool wear, and high material removal rate. However, there are numerous critical issues need to be addressed while manufacturing customized components through green state machining including fabrication of machinable green ceramics, designing of suitable mold for slurry casting, manufacture of suitable sample holders for mounting the fragile green samples during machining, and designing of machining tools for good surface finishing. This article introspects these critical issues and its possible solutions for efficient fabrication of dental crowns as a case study via green state machining. Highly loaded (55vol%) alumina slurry was prepared for the fabrication of machinable dense alumina compacts by Protein Coagulation Casting (PCC) technique. Cylindrical alumina compacts were fabricated by casting alumina slurry into the polyvinyl chloride (PVC) mold. Metallic cylindrical sample holder was fabricated for mounting the green alumina samples for CNC machining. Diamond impregnated tool (∼3mm diameter) was used for near net shaping of dental crown by grinding/milling. Dental crown (incisor) was successfully fabricated by optimizing different machining parameters