Rearrangement Planning for General Part Assembly

Most successes in autonomous robotic assembly have been restricted to single target or category. We propose to investigate general part assembly, the task of creating novel target assemblies with unseen part shapes. As a fundamental step to a general part assembly system, we tackle the task of determining the precise poses of the parts in the target assembly, which we we term ``rearrangement planning''. We present General Part Assembly Transformer (GPAT), a transformer-based model architecture that accurately predicts part poses by inferring how each part shape corresponds to the target shape. Our experiments on both 3D CAD models and real-world scans demonstrate GPAT's generalization abilities to novel and diverse target and part shapes.Comment: Project website: https://general-part-assembly.github.io

Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots

Comparison of perceptual learning of real and virtual line orientations: An event-related potential study

AbstractWhen investigating perceptual learning (PL), most researchers use real figures as stimuli, but PL can occur when subjects are trained with virtual stimuli or even without any visual stimuli at all. Here, we first demonstrated that virtual lines have the same perceptual attributes as real lines by confirming that there is also an oblique effect in virtual lines (formed by a pair of circles) in an orientation discrimination task. Then, our ERP study showed that orientation discrimination learning and its transfer across real and virtual lines were associated with more negative parietal–occipital P1–N1 (reduced P1 and enhanced N1), which indicated the involvement of high-level stages of visual information processing or the involvement of top-down influences. At the same time, the specific ERP changes in the frontal ERP components were differently associated with real versus virtual line orientation learning. That is, real line learning was characterized by an early and short-lasting frontal N1 (120–140ms) reduction, in contrast to a much later, widespread, and long-lasting P150–300 decrease in virtual line learning. These results contribute to the understanding of the neural basis of perceptual learning and the distinction between real and virtual stimulus learning

Reanalysis of global terrestrial vegetation trends from MODIS products: Browning or greening?

Accurately monitoring global vegetation dynamics with modern remote sensing is critical for understanding the functions and processes of the biosphere and its interactions with the planetary climate. The MODerate resolution Imaging Spectroradiometer (MODIS) vegetation index (VI) product has been a primary data source for this purpose. To date, the MODIS team had released several versions of VI products that have widely used in global change studies and practical applications. In this study, we re-examined the global vegetation activity by comparing the recent MODIS Collection 6 (C6) VIs with Collection 5 (C5) VIs including Normalized Difference Vegetation Index (NDVI) and Enhanced Vegetation Index (EVI) from Terra (2001â2015) and Aqua Satellites (2003â2015). We found substantial differences in global vegetation trends betweenTerra-C5 and -C6 VIs, especially EVI. From 2001 to 2015, global vegetation showed a remarkable greening trend in annual EVI from the Terra-C6 (0.28% yearâ1; P<0.001), in contrast to the decreasing EVI trend from the Terra-C5 (â0.14% yearâ1, P<0.01). Spatially, large portions of the browning areas in tropical regions identified by Terra-C5 VIs were not evident in Terra-C6 VIs. In contrast, the widespread greening areas in Terra-C6 VIs were consistent with Aqua-C6 VIs and GIMMS3g NDVI. Our finding of a greening Earth supports the recent studies suggesting an enhanced land carbon sink. Our study suggests that most of the vegeta

Security-reliability tradeoff analysis of artificial noise aided two-way opportunistic relay selection

In this paper, we investigate the physical-layer security of cooperative communications relying on multiple twoway relays using the decode-and-forward (DF) protocol in the presence of an eavesdropper, where the eavesdropper appears to tap the transmissions of both the source and of the relay. The design-tradeoff to be resolved is that the throughput is improved by invoking two-way relaying, but the secrecy of wireless transmissions may be degraded, since the eavesdropper may overhear the signals transmitted by both the source and relay nodes. We conceive an artificial noise aided two-way opportunistic relay selection (ANaTWORS) scheme for enhancing the security of the pair of source nodes communicating with the assistance of multiple two-way relays. Furthermore, we analyze both the outage probability and intercept probability of the proposed ANaTWORS scheme, where the security and reliability are characterized in terms of the intercept probability and the security outage probability. For comparison, we also provide the security-reliability tradeoff (SRT) analysis of both the traditional direct transmission and of the one-way relaying schemes. It is shown that the proposed ANaTWORS scheme outperforms both the conventional direct transmission and the one-way relay methods in terms of its SRTs. More specifically, in the low main-userto- eavesdropper ratio (MUER) region, the proposed ANaTWORS scheme is capable of guaranteeing secure transmissions, whereas no SRT gain is achieved by the conventional one-way relaying. In fact, the one-way relaying scheme may even be inferior to the traditional direct transmission scheme in terms of its SRT

Thermal management performances of PCM/water cooling-plate using for lithium-ion battery module based on non-uniform internal heat source

In order to improve the working performance of the lithium-ion battery, the battery module with Phase change material/water cooling-plate was designed and numerically analyzed based on the energy conservation and fluid dynamics. The non-uniform internal heat source based on 2D electro-thermal model for battery LiFePO4/C was used to simulate the heat generation of each battery. Then factors such as height of water cooling-plate, space between adjacent batteries, inlet mass flow rate, flow direction, thermal conductivity and melting point of PCM were discussed to research their influences on the cooling performance of module. And the 5 continuous charge-discharge cycles was used to research the effect of PCM/water cooling plate on preventing thermal runaway. The results showed that the water cooling plate set close to the near-electrode area of battery removed the majority of heat generated during discharging and decreased the maximum temperature efficiently. The PCM between the adjacent batteries could improve the uniformity of temperature field. In addition, the PCM/water cooling plate could limit the maximum temperature effectively and improve the uniformity of temperature field during the 5 continuous charge-discharge cycles. As a result, it prevented the emergence of thermal runaway and increased the safety of module. (C) 2017 Elsevier Ltd. All rights reserved

Design and modelling of mobile thermal energy storage (M−TES) using structured composite phase change material modules

This study concerns with a modelling led-design of a novel mobile thermal energy storage (M−TES) device aimed to address off-site industrial waste heat recovery and reuse in the UK. For the first time, salt-based composite phase change material (CPCM) modules were employed as the M−TES medium, utilizing air for charging and discharging. Two-dimensional (2D) and three-dimensional (3D) computational fluid dynamics (CFD) models were initially developed and validated against experimental data. The 2D model was used for parametric study to determine critical M−TES dimensions, followed by the 3D model for a comprehensive evaluation of thermal performance of the M−TES device. Key parameters examined included temperature uniformity within CPCM modules, evolution of air temperatures at the inlet and outlet, thermal storage capacities, charging/discharging rates, and specific efficiencies defined as heat transfer efficiencies and charging/discharging efficiencies throughout a complete cycle. The results under baseline conditions demonstrated that the M−TES device stored nearly 400 MJ of heat with a TES density of 560 kJ/kg after 10 h of charging, achieving an average CPCM temperature of 662 K. Approximately 97 % of the stored heat was released with the average outlet air temperature exceeding 468 K during the subsequent 10-hour discharging period. This work preliminarily verified the feasibility of the novel M−TES concept for integrating industrial thermal processing decarbonization with domestic heat supply