Interactive Perception for Cluttered Environments

Robotics research tends to focus upon either non-contact sensing or machine manipulation, but not both. This paper explores the benefits of combining the two by addressing the problem of extracting and classifying unknown objects within a cluttered environment, such as found in recycling and service robot applications. In the proposed approach, a pile of objects lies on a flat background, and the goal of the robot is to sift through the pile and classify each object so that it can be studied further. One object should be removed at a time with minimal disturbance to the other objects. We propose an algorithm, based upon graph-based segmentation and stereo matching, that automatically computes a desired grasp point that enables the objects to be removed one at a time. The algorithm then isolates each object to be classified by color, shape and flexibility. Experiments on a number of different objects demonstrate the ability of classifying each item through interaction and labeling them for further use and study

Sensing Highly Non-Rigid Objects with RGBD Sensors for Robotic Systems

The goal of this research is to enable a robotic system to manipulate clothing and other highly non-rigid objects using an RGBD sensor. The focus of this thesis is to define and test various algorithms / models that are used to solve parts of the laundry process (i.e. handling, classifying, sorting, unfolding, and folding). First, a system is presented for automatically extracting and classifying items in a pile of laundry. Using only visual sensors, the robot identifies and extracts items sequentially from the pile. When an item is removed and isolated, a model is captured of the shape and appearance of the object, which is then compared against a dataset of known items. The contributions of this part of the laundry process are a novel method for extracting articles of clothing from a pile of laundry, a novel method of classifying clothing using interactive perception, and a multi-layer approach termed L-M-H, more specifically L-C-S-H for clothing classification. This thesis describes two different approaches to classify clothing into categories. The first approach relies upon silhouettes, edges, and other low-level image measurements of the articles of clothing. Experiments from the first approach demonstrate the ability of the system to efficiently classify and label into one of six categories (pants, shorts, short-sleeve shirt, long-sleeve shirt, socks, or underwear). These results show that, on average, classification rates using robot interaction are 59% higher than those that do not use interaction. The second approach relies upon color, texture, shape, and edge information from 2D and 3D data within a local and global perspective. The multi-layer approach compartmentalizes the problem into a high (H) layer, multiple mid-level (characteristics(C), selection masks(S)) layers, and a low (L) layer. This approach produces \u27local\u27 solutions to solve the global classification problem. Experiments demonstrate the ability of the system to efficiently classify each article of clothing into one of seven categories (pants, shorts, shirts, socks, dresses, cloths, or jackets). The results presented in this paper show that, on average, the classification rates improve by +27.47% for three categories, +17.90% for four categories, and +10.35% for seven categories over the baseline system, using support vector machines. Second, an algorithm is presented for automatically unfolding a piece of clothing. A piece of cloth is pulled in different directions at various points of the cloth in order to flatten the cloth. The features of the cloth are extracted and calculated to determine a valid location and orientation in which to interact with it. The features include the peak region, corner locations, and continuity / discontinuity of the cloth. In this thesis, a two-stage algorithm is presented, introducing a novel solution to the unfolding / flattening problem using interactive perception. Simulations using 3D simulation software, and experiments with robot hardware demonstrate the ability of the algorithm to flatten pieces of laundry using different starting configurations. These results show that, at most, the algorithm flattens out a piece of cloth from 11.1% to 95.6% of the canonical configuration. Third, an energy minimization algorithm is presented that is designed to estimate the configuration of a deformable object. This approach utilizes an RGBD image to calculate feature correspondence (using SURF features), depth values, and boundary locations. Input from a Kinect sensor is used to segment the deformable surface from the background using an alpha-beta swap algorithm. Using this segmentation, the system creates an initial mesh model without prior information of the surface geometry, and it reinitializes the configuration of the mesh model after a loss of input data. This approach is able to handle in-plane rotation, out-of-plane rotation, and varying changes in translation and scale. Results display the proposed algorithm over a dataset consisting of seven shirts, two pairs of shorts, two posters, and a pair of pants. The current approach is compared using a simulated shirt model in order to calculate the mean square error of the distance from the vertices on the mesh model to the ground truth, provided by the simulation model

The Evolution of the Annual Report to Shareholders

This exploratory study examines the evolution of the annual report to shareholders between 2005 and 2014. Several typical yet elective elements of annual reports are examined, specifically looking at the elements of sustainability, interactive interface, and length as it changed year to year. Additionally, I examined changes in independent auditor and classified companies according to Global Industry Classification Standards sectors

The utilization of forensic corpora in validation of data carving on sata drives/

The field of digital forensics has become more prevalent in the court of law due to the increase of availability of technology. With digital evidence coming up in court consistently, digital forensics and its tools are coming under scrutiny and being held against disciplines that are more standardized. Validation and Verification of tools is vital to maintaining the integrity of the evidence received by them. Utilizing standardized data sets, or forensic corpora, as a part of validation and verification techniques has shown to be effective. The goal of the study is to assess the use of forensic corpora in the validation and verification of one of the most commonly used digital tools

Complicaciones en artroscopia de cadera. Artroscopia fallida de cadera y artroscopia de revisión

ResumenLa artroscopia de cadera es una técnica quirúrgica poco invasiva y bastante segura. Si bien las complicaciones severas son infrecuentes (infecciones, fracturas, luxaciones, necrosis avascular entre otras) existe una alta frecuencia de complicaciones menores como son los daños condrales, las lesiones del labrum y las parestesias del nervio pudendo. Estas están relacionadas preferentemente con el posicionamiento del paciente y la técnica quirúrgica. Pese a que las consecuencias clínicas son poco relevantes debe darse especial énfasis en la prevención de estas complicaciones optimizando al máximo los detalles de un posicionamiento seguro y una depurada técnica quirúrgica.Los fallos o malos resultados postartroscopia de cadera están provocados sobre todo por la inadecuada selección de los pacientes, la progresión de daños condrales (evolución hacia artrosis de cadera) o la resección inadecuada de la deformidad ósea en el pinzamiento femoroacetabular. La resección insuficiente es causa de un pinzamiento persistente con el riesgo de generar nuevas lesiones articulares. La resección no anatómica o excesiva es causa de inestabilidad de cadera o fractura de cuello femoral. Como prevención deberá hacerse especial énfasis en planificar detalladamente la cuantía de la resección ósea y realizar esta en forma completa y con una depurada técnica quirúrgica.AbstractHip arthroscopy is a safe and less invasive surgical technique. Mayor complications such as infections, fractures, dislocations or avascular necrosis are exceptional. Minor complications are more frequent, such as pudendal paraesthesias, labral damage, or chondral lesions. These complications are mostly related with the positioning of the patient and the surgical technique. Even if the clinical consequences are not so significant, emphasis must be made on preventing these iatrogenic lesions by optimising the details for a safe positioning of the patient, as well as the optimal surgical technique.Failure or unsatisfactory results after hip arthroscopy can be a consequence of poor patient selection, progression of chondral damage, or failure to correct the bony alteration causing femoroacetabular impingement. The insufficient resection either at the acetabular or femoral side leads to a persistent impingement. It is one of the main causes for revision hip arthroscopy. The excessive or non-anatomical resection at the acetabular or femoral side can cause hip instability or femoral neck fractures. Essential to prevent these complications are the detailed planning of the amount of bony resection, as well as the correct surgical technique

Functional outcomes following non-operative versus operative treatment of clavicle fractures in adolescents

PURPOSE: Superiority of non-operative versus operative treatment of clavicle shaft fractures remains unclear. We aimed to assess shoulder function in adolescents following shortened clavicle fracture and compare operative versus non-operative treatment. METHODS: Patients aged 12 to 18 years at the time of fracture and minimum 1.5 years post injury were identified for this institutional review board (IRB)-approved study. For this retrospective cohort study, patients were frequency-matched for age, gender, shortening of the clavicle fracture and activity level. The dominant arm was controlled in the statistical model. Initial radiographs were used to measure clavicle shortening. At follow-up, isokinetic testing of both shoulders was performed in flexion, external rotation and the plane of scapular motion. Maximum number of isotonic repetitions and average isometric torque were recorded, as were ASES and DASH scores. Data were analysed comparing non-operative and operative groups and involved and uninvolved shoulders. RESULTS: Twenty patients were recruited (18 male, 2 female), with ten in each group. Median clavicle shortening was 17.5 mm (11.4 to 23.6). There was no statistical difference in average ASES (100 vs 99; p = 0.84) or DASH (0.0 vs 1.7; p = 0.08) between non-operative and operative groups, respectively. Results of isokinetic testing comparison between non-operative and operative groups showed no statistical difference for any individual association, controlling for the dominant arm. Among the non-operative group, the involved arm had decreased functional measures compared with the uninvolved arm on all measures, when controlling for dominant arm, and there was increased variability of the functional estimate. CONCLUSIONS: The increased variability in functional measures for the non-operative group suggests some patients may have dysfunction

IMPACT SHOULDER ANGLES CORRELATE WITH IMPACT WRIST ANGLES IN STANDING BACK HANDSPRINGS IN PREADOLESCENT AND ADOLESCENT FEMALE GYMNASTS.

BACKGROUND AND PURPOSE: In gymnastics, the wrist is exposed to many different stresses including increased extension, especially during back handsprings. Currently a wrist extension angle during impact that places the wrist in danger has not been established. The purpose of this study was to: (1) determine the mean impact wrist angle during a standing back handspring in female preadolescent and adolescent gymnasts and (2) determine which factors predict impact wrist angles. METHODS: Fifty female gymnasts from six facilities, ages 8-15 were included in this study. Each gymnast completed a questionnaire about gymnastics participation and history of wrist pain. Active range of motion of the shoulder, elbow, wrist, hip, and ankle was measured. Each gymnast was asked to perform a standard back handspring, which was videotaped. The wrist and shoulder flexion angles, at maximum impact, were recorded and measured using motion analysis software. Two-sample t-test was used to assess the relationship between impact wrist angle and wrist pain. Multiple linear regression was used to determine the association between related variables and impact wrist angle. RESULTS: The mean back handspring impact wrist angle was 95°. Fifteen subjects (30%) reported wrist pain. Years of participation (p=0.02) and impact shoulder angle (p=0.04) were predictive of impact wrist angles. CONCLUSION: Shoulder angles and years of participation correlate with impact wrist angles during the performance of a standing back handspring. Future studies are necessary to determine if addressing these factors can affect the impact wrist angles. LEVEL OF EVIDENCE: 3

Koinonia

Spotlight on SpeakersHeeding the Call of the Ministry of the Towel, Siang-Yang Tan Being Honest About Why We Can\u27t All Just Get Along, William H. Willimon Perspectives on PracticesA Christian Philosophy of Student Development: The Ongoing Discussion and Debate, Carolyn Arthur A Life Worth Living, Damon Seacott The State of Our Seniors Address, Melanie Sunukjian ACSD MattersExecutive Committee Elections New Professionals Retreat ACSD 2002 at Lee University Regular FeaturesPresident\u27s Corner Editor\u27s Diskhttps://pillars.taylor.edu/acsd_koinonia/1019/thumbnail.jp

Theology, News and Notes - Vol. 35, No. 03

Theology News & Notes was a theological journal published by Fuller Theological Seminary from 1954 through 2014.https://digitalcommons.fuller.edu/tnn/1200/thumbnail.jp