Robotic assembly of complex planar parts: An experimental evaluation

In this paper we present an experimental evaluation of automatic robotic assembly of complex planar parts. The torque-controlled DLR light-weight robot, equipped with an on-board camera (eye-in-hand configuration), is committed with the task of looking for given parts on a table, picking them, and inserting them inside the corresponding holes on a movable plate. Visual servoing techniques are used for fine positioning over the selected part/hole, while insertion is based on active compliance control of the robot and robust assembly planning in order to align the parts automatically with the hole. Execution of the complete task is validated through extensive experiments, and performance of humans and robot are compared in terms of overall execution time

3D Model Retrieval with Spherical Harmonics and Moments

We consider 3D object retrieval in which a polygonal mesh serves as a query and similar objects are retrieved from a collection of 3D objects. Algorithms proceed first by a normalization step in which models are transformed into canonical coordinates. Second, feature vectors are extracted and compared with those derived from normalized models in the search space. In the feature vector space nearest neighbors are computed and ranked. Retrieved objects are displayed for inspection, selection, and processing. Our feature vectors are based on rays cast from the center of mass of the object. For each ray the object extent in the ray direction yields a sample of a function on the sphere. We compared two kinds of representations of this function, namely spherical harmonics and moments. Our empirical comparison using precision-recall diagrams for retrieval results in a data base of 3D models showed that the method using spherical harmonics performed better

Effect of yarn cross-sectional shape on resin flow through inter-yarn gaps in textile reinforcements

Axial flow through gaps between aligned straight yarns with realistic cross-sectional shapes, described by power-ellipses, was analysed numerically. At a given fibre volume fraction, equivalent gap permeabilities have a maximum at minimum size of elongated tapering parts of the gap cross-section and a ratio of gap width to height near 1. When the yarn spacing is given in addition to the fibre volume fraction, calculated maximum and minimum values for the equivalent permeability of inter-yarn gaps, which occur at near-rectangular and lenticular cross-sections, differ by factors of up to 3.3. Novel approximations for the shape factor and the hydraulic diameter in Poiseuille flow were derived as a function of the fibre volume fraction, the yarn cross-sectional aspect ratio and the exponent describing the shape of the power-elliptical yarn cross-section. This allows the equivalent gap permeability to be predicted with good accuracy for any fibre volume fraction and yarn cross-section

Fibre Distribution and the Process-Property Dilemma

The options for the fibre reinforcement of polymer matrix composites cover a range from short-fibre chopped strand mat, through woven fabric to unidirectional pre-impregnated (prepreg) reinforcements. The modelling of such materials may be simplified by assumptions such as perfect regular packing of fibres and the total absence of fibre waviness. However, these and other features such as the crimp or waviness in woven fabrics make real materials more complex than the simplified models. Clustering of fibres creates fibre-rich and resin-rich volumes (FRV and RRV respectively) in the composites. Prior to impregnation, large RRV will be pore-space that can expedite the flow of resin in liquid composite moulding processes (especially resin transfer moulding (RTM) and resin infusion under flexible tooling (RIFT). In the composite, the clustering of fibres tends to reduce the mechanical properties. The use of image processing and analysis can permit micro-/meso-structural characterisation which may correlate to the respective properties. This chapter considers the quantification of microstructure images in the context of the process-property dilemma for woven carbon-fibre reinforced composites with the aim of increasing understanding of the balance between processability and mechanical performance

Experimental determination of the permeability of engineering textiles: Benchmark II

In this second international permeability benchmark, the in-plane permeability values of a carbon fabric were studied by twelve research groups worldwide. One participant also investigated the deformation of the tested carbon fabric. The aim of this work was to obtain comparable results in order to make a step toward standardization of permeability measurements. Unidirectional injections were thus conducted to determine the unsaturated in-plane permeability tensor of the fabric. Procedures used by participants were specified in the guidelines defined for this benchmark. Participants were asked to use the same values for parameters such as fiber volume fraction, injection pressure and fluid viscosity to minimize sources of scatter. The comparison of the results from each participant was encouraging. The scatter between data obtained while respecting the guidelines was below 25%. However, a higher dispersion was observed when some parameters differed from the recommendations of this exercise.The authors are grateful to J.M. Beraud from Hexcel Fabrics for his support that made possible this exercise. The contributions of J.B. Alms, N.C. Correia, S. Advani, E. Ruiz and P.C.T. Goncalves to the preparation of the guidelines document and templates are acknowledged by the participants of this benchmark.Vernet, N.; Ruiz, E.; Advani, S.; Alms, JB.; Aubert, M.; Barburski, M.; Barari, B.... (2014). Experimental determination of the permeability of engineering textiles: Benchmark II. Composites Part A: Applied Science and Manufacturing. 61:172-184. doi:10.1016/j.compositesa.2014.02.010S1721846

Fourier descriptors and handwritten digit recognition

This paper presents the results of a comparative study of various Fourier descriptor representations and their use in recognition of unconstrained handwritten digits. Certain characteristics of five distinct Fourier descriptor representations of handwritten digits are discussed, and illustrations of ambiguous digit classes introduced by use of these Fourier descriptor representations are presented. It is concluded that Fourier descriptors are practically effective only within the framework of an intelligent system, capable of reasoning about digit hypotheses. We describe a hypothesisgenerating algorithm based on Fourier descriptors which allows a classifier to associate more than one digit class with each input. Such hypothesis-generating schemes can be very effective in systems employing multiple classifiers. We compare the performance of the five Fourier descriptor representations based on experiment results produced by a particular hypothesis-generating classifier for a test set of 14000 handwritten digits. It is found that some Fourier descriptor formulations are more successful than others for handwritten digit recognition.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/46057/1/138_2005_Article_BF01212429.pd