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Briquetting lignite-biomass blends to obtain composite solid fuels for combustion purposes

IOP Conference Series: Earth and Environmental science 2019年第1期214卷

作者： A Janewicz B Kosturkiewicz A Magdziarz AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30 30-059 Krakow Poland AGH University of Science and Technology Faculty of Metals Engineering and Industrial Computing Mickiewicza Av. 30 30-059 Krakow Poland

The main aim of this study was to determine the possibility of briquetting lignite-biomass blends to obtain composite solid fuels (CSF) for combustion purposes. Research was conducted at Department of Manufacturing Systems and Department of Thermal Engineering and Environmental Protection, AGH University of science and technology to develop a technology for briquettes preparation. The briquetting process was carried out in the cylindrical die and in the roll press. The gravity hopper and new asymmetrical layout briquetting system were used in the roll press and briquettes in the shape of the saddle i.e. without the splitting plane were obtained. Effects of the ratio of biomass to lignite (20/80; 30/70;40/60 and 50/50), moisture content (9.9%-31.3%), and briquetting unit pressure (32-210MPa) on the strength of the briquettes were investigated. The obtained results showed possibility of briquetting of lignite-biomass blends in the cylindrical die and in the roll presses and the mechanical strength obtained briquettes was high i.e. shatter index >90% and compressive strength >1MPa. All of the produced briquettes were not water resistant. Based on physical and chemical analysis of prepared briquettes it was confirmed that briquettes have good fuel properties for combustion process. Thermal behavior of studied lignite and prepared mixture was investigated by thermogravimetric analysis (TG). The samples were placed in an alumina crucible. C.a. 15 mg of sample was heated from an ambient temperature up to 1000°C at constant two rates: 10°C/min and 40°C/min in a 40 ml/min flow of air. Finally, basic analysis of ash from burning briquettes were carried out and some of the results are presented.

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Comparative validation of machine learning algorithms for surgical workflow and skill analysis with the heichole benchmark

arXiv

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arXiv 2021年

作者： Wagner, Martin Müller-Stich, Beat-Peter Kisilenko, Anna Tran, Duc Heger, Patrick Mündermann, Lars Lubotsky, David M. Müller, Benjamin Davitashvili, Tornike Capek, Manuela Reinke, Annika Yu, Tong Vardazaryan, Armine Innocent Nwoye, Chinedu Padoy, Nicolas Liu, Xinyang Lee, Eung-Joo Disch, Constantin Meine, Hans Xia, Tong Jia, Fucang Kondo, Satoshi Reiter, Wolfgang Jin, Yueming Long, Yonghao Jiang, Meirui Dou, Qi Heng, Pheng Ann Twick, Isabell Kirtac, Kadir Hosgor, Enes Bolmgren, Jon Lindström Stenzel, Michael von Siemens, Björn Kenngott, Hannes G. Nickel, Felix von Frankenberg, Moritz Mathis-Ullrich, Franziska Maier-Hein, Lena Speidel, Stefanie Bodenstedt, Sebastian Department for General Visceral and Transplantation Surgery Heidelberg University Hospital Im Neuenheimer Feld 420 Heidelberg69120 Germany Heidelberg Im Neuenheimer Feld 460 Heidelberg69120 Germany Data Assisted Solutions Corporate Research & Technology KARL STORZ SE & Co. KG Dr. Karl-Storz-Str. 34 Tuttlingen78332 Germany Im Neuenheimer Feld 223 Heidelberg69120 Germany Im Neuenheimer Feld 223 Heidelberg69120 Germany Faculty of Mathematics and Computer Science Heidelberg University Im Neuenheimer Feld 205 Heidelberg69120 Germany ICube University of Strasbourg CNRS France 300 bd Sébastien Brant - CS 10413 Illkirch CedexF-67412 France IHU Strasbourg France 1 Place de l'hôpital Strasbourg67000 France Sheikh Zayed Institute for Pediatric Surgical Innovation Children's National Hospital 111 Michigan Ave NW WashingtonDC20010 United States University of Maryland College Park 2405 A V Williams Building College ParkMD20742 United States Fraunhofer Institute for Digital Medicine MEVIS Max-von-Laue-Str. 2 Bremen28359 Germany University of Bremen FB3 Medical Image Computing Group ℅ Fraunhofer MEVIS Am Fallturm 1 Bremen28359 Germany Lab for Medical Imaging and Digital Surgery Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Konika Minolta Inc. JP TOWER 2-7-2 Marunouchi Chiyoda-ku Tokyo100-7015 Japan Wintegral GmbH Ehrenbreitsteiner Str. 36 München80993 Germany Department of Computer Science and Engineering Ho Sin-Hang Engineering Building The Chinese University of Hong Kong Sha Tin NT Hong Kong Caresyntax GmbH Komturstr. 18A Berlin12099 Germany Department of Surgery Salem Hospital of the Evangelische Stadtmission Heidelberg Zeppelinstrasse 11-33 Heidelberg69121 Germany Health Robotics and Automation Laboratory Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Geb. 40.28 KIT Campus Süd Engler-Bunte-Ring 8 Karlsruhe76131 Germany Medical Faculty Heidelberg Uni

PURPOSE: Surgical workflow and skill analysis are key technologies for the next generation of cognitive surgical assistance systems. These systems could increase the safety of the operation through context-sensitive warnings and semi-autonomous robotic assistance or improve training of surgeons via data-driven feedback. In surgical workflow analysis up to 91% average precision has been reported for phase recognition on an open data single-center video dataset. In this work we investigated the generalizability of phase recognition algorithms in a multi-center setting including more difficult recognition tasks such as surgical action and surgical skill. METHODS: To achieve this goal, a dataset with 33 laparoscopic cholecystectomy videos from three surgical centers with a total operation time of 22 hours was created. Labels included framewise annotation of seven surgical phases with 250 phase transitions, 5514 occurences of four surgical actions, 6980 occurences of 21 surgical instruments from seven instrument categories and 495 skill classifications in five skill dimensions. The dataset was used in the 2019 international Endoscopic Vision challenge, sub-challenge for surgical workflow and skill analysis. Here, 12 research teams trained and submitted their machine learning algorithms for recognition of phase, action, instrument and/or skill assessment. RESULTS: F1-scores were achieved for phase recognition between 23.9% and 67.7% (n=9 teams), for instrument presence detection between 38.5% and 63.8% (n=8 teams), but for action recognition only between 21.8% and 23.3% (n=5 teams). The average absolute error for skill assessment was 0.78 (n=1 team). CONCLUSION: Surgical workflow and skill analysis are promising technologies to support the surgical team, but are not solved yet, as shown by our comparison of machine learning algorithms. This novel HeiChole benchmark can be used for comparable evaluation and validation of future work. In future studies, it is of utmost impo

关键词： Learning algorithms

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Strategies of stable grasp and accurate release for dual-finger micromanipulator 29

Strategies of stable grasp and accurate release for dual-fin...

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29th International Symposium on Micro-NanoMechatronics and Human science, MHS 2018

作者： Liu, Xiaoming Chen, Junnan Lin, Yuqing Kojima, Masaru Shi, Qing Huang, Qiang Fukuda, Toshio Arai, Tatsuo School of Mechatronical Engineering Intelligent Robotics Institute Beijing Institute of Technology 5 South Zhongguancun Street. Haidian District Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781538667927

In microscale, adhesion force enables us to grasp targets with only one end-effector. However, due to the vibration of the driving unit and the environmental disturbance, losing target often happens during the grasp. The adhesion also makes releasing the targets from the end-effector difficult, and release accuracy cannot be guaranteed. In this paper, we proposed novel strategies of grasp and release for a dual-finger micromanipulator. The dual-finger micromanipulator includes two micropipettes as the end-effectors. One micropipette is fixed and the other active micropipette is actuated by a piezo-driven 3-DOF parallel mechanism. Tips of the micropipettes are heated to form spherical tips, then the tips are grinded to form hemispherical shapes. The big flat surfaces of the hemispherical end-effectors can increase the success rate of the grasp and avoid the target lose. In the release strategy, the hemispherical tip of the active micropipette is coated with gel to keep the target always sticking on the tip of active micropipette. Then, the active pipette is controlled to vibrate, and release the target adhered on its tip. © 2018 IEEE.

关键词： End effectors

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Vibroacoustic methods of imaging in selected temporomandibular joint disorders during movement

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Diagnostyka 2018年第3期19卷 109-117页

作者： Lyżwa, Pawel Klaczyński, Maciej Kazana, Piotr AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza 30 Kraków30-059 Poland Piotr Kazana Cabinet of Dental Physiotherapy Friedleina 6/2 Kraków30-009 Poland

Temporomandibular joints are part of the stomatognathic system and play an important role in chewing, swallowing and speech articulating and expressing emotions. Unfortunately, they often do not work properly. Occasional disorder, postural defects, increased muscle tone bearing down due to stress deprivation through such parafunctions as clenching and grinding teeth, long-term chewing gum, nail biting or chewing lips and cheeks can lead to the appearance of dysfunctions in the temporomandibular joints. Analysis of vibrations caused by dysfunctions enables a more accurate diagnosis and an objective way of monitoring the treatment process. The article presents the results of pilot studies carried out in this area by Authors on a group of 13 people (9 women and 4 men) suffering from various diseases within the stomatognathic system. Particular attention was paid to the problems associated with vibroacoustic registration of temporomandibular joint cracks that occurred during the determination of the test methodology. © 2018 Polish Society of Technical Diagnostics. All Rights Reserved.

关键词： Medical imaging

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Online multi-object tracking and segmentation with GMPHD filter and mask-based affinity fusion

arXiv

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arXiv 2020年

作者： Song, Young-Min Yoon, Young-Chul Yoon, Kwangjin Jeon, Moongu Lee, Seong-Whan Pedrycz, Witold The School of Electrical Engineering and Computer Science Gwangju Institute of Technology Gwangju61005 Korea Republic of The Robotics Laboratory Hyundai Motor Company Gyeonggi-do 16082 Korea Republic of SI Analytics Co. Ltd. Daejeon34051 Korea Republic of The Department of Artificial Intelligence Korea University Seoul02841 Korea Republic of The Department of Brain and Cognitive Engineering Korea University Seoul02841 Korea Republic of The Department of Electrical and Computer Engineering University of Alberta EdmontonABT6R 2H5 Canada The Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia The Systems Research Institute Polish Academy of Sciences Warsaw01-447 Poland

In this paper, we propose a highly practical fully online multi-object tracking and segmentation (MOTS) method that uses instance segmentation results as an input. The proposed method is based on the Gaussian mixture probability hypothesis density (GMPHD) filter, a hierarchical data association (HDA), and a mask-based affinity fusion (MAF) model to achieve high-performance online tracking. The HDA consists of two associations: segment-to-track and track-to-track associations. One affinity, for position and motion, is computed by using the GMPHD filter, and the other affinity, for appearance is computed by using the responses from a single object tracker such as a kernalized correlation filter. These two affinities are simply fused by using a score-level fusion method such as min-max normalization referred to as MAF. In addition, to reduce the number of false positive segments, we adopt mask IoU-based merging (mask merging). The proposed MOTS framework with the key modules: HDA, MAF, and mask merging, is easily extensible to simultaneously track multiple types of objects with CPU-only execution in parallel processing. In addition, the developed framework only requires simple parameter tuning unlike many existing MOTS methods that need intensive hyperparameter optimization. In the experiments on the two popular MOTS datasets, the key modules show some improvements. For instance, ID-switch decreases by more than half compared to a baseline method in the training sets. In conclusion, our tracker achieves state-of-the-art MOTS performance in the test sets. Copyright © 2020, The Authors. All rights reserved.

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Investigation of the process of grinding of a char coal obtained from tires waste pyrolysis

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IOP Conference Series: Materials science and Engineering 2019年第1期641卷

作者： J Sidor S Budzyń C Czosnek G Kozub –Budzyń B Tora Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Mickiewicza 30 Av. 30-059 Krakow Poland Faculty of Energy and Fuels AGH University of Science and Technology Mickiewicza 30 Av. 30-059 Krakow Poland Faculty of Geology Geophysics and Environmental Protection AGH University of Science and Technology Mickiewicza 30 Av. 30-059 Krakow Poland Faculty of Mining and Geoengineering AGH University of Science and Technology Mickiewicza 30 Av. 30-059 Krakow Poland

The paper contains results of examinations of grinding of char obtained from waste car tires. The grinding of the char was conducted in a laboratory vibratory mill of low vibration frequency. The examinations concerned the possibility of using a char as raw material in industry, particularly as a substitute for carbon black applied for the production of rubber. One of the basic parameters characterizing carbon black is particle size distribution as well as specific surface area. In the examinations, the char was obtained with following characteristic sizes of particles: d50 = 2.5 ÷ 9.3 µm, d90 = 13.3 ÷ 35.0 µm and specific surface area 74 ÷ 163 m2/g matching the particle size distribution and specific surface area characteristic of carbon black, which means that in order to grind a char, the vibratory mill can be used. Komentarz [D1]: This terminology is not clear to use in the paper.

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Analysis of the Acoustic Parameters of the Maria Zankovetska Theatre in the Lviv Before and After Modernisation of the Audience

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IOP Conference Series: Materials science and Engineering 2019年第8期471卷

作者： Jaroslaw Rubacha Roman Kinasz Tadeusz Kamisinski Wojciech Binek Katarzyna Baruch Bartłomiej Chojnacki Adam Pilch Mykhaylo Melnyk AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics al. Mickiewicza 30 Krakow Poland AGH University of Science and Technology Faculty of Mining and Geoengineering al. Mickiewicza 30 Krakow Poland Lviv Polytechnic National University 12 Bandera street Lviv Ukraine

The building of the Maria Zankovetska Theatre in Lviv was founded in 1837-1842. In the years 1941-1944, as a result of damage to the building structure, the building was partially reconstructed. In place of four balconies with boxes, two balconies with amphitheatre arrangements of the audience were built. Currently, the audience has 799 seats, including 531 on the ground floor and 268 on two balconies. Renovation work carried out in 2017 included the replacement of worn-out armchairs and the renovation of the floor. Previous chairs were covered with thick upholstery made of seagrass and velour. Newly mounted seats also have thick layers of upholstery made of PU foam covered with velour. The aim of the research was to analyse the acoustic parameters of the theatre's historic interior before and after changing the armchairs. The article presents the results of acoustic parameters measurement of the hall without spectators before and after modernisation. The measured parameters were used to calibrate the numerical model of the hall. Next, the acoustic analysis was carried out. The reverberation time T20 and the speech transmission index STI were calculated and used to assess the hall acoustics with spectators. A comparison of the results showed that after installing new seats in the theatre the reverberation time values for medium and high frequencies decreased, while for low frequencies they increased. In turn, after replacing the seats, the STI values increased. The obtained results showed that the most important impact on the acoustic parameters of the theatre is provided by upholstered armchairs with high sound absorption, which is related to their construction, thickness of the upholstery as well as their quantity and arrangement in the room.

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Measurements of parameters useful in noise rating of selected industrial noise sources 46

Measurements of parameters useful in noise rating of selecte...

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46th International Congress and Exposition on Noise Control Engineering: Taming Noise and Moving Quiet, INTER-NOISE 2017

作者： Wszolek, Tadeusz Kukulski, Bartlomiej AGH University of Science and Technology Department of Mechanics and Vibroacoustics Faculty of Mechanical Engineering and Robotics Al. Mickiewicza 30 Kraków30-059 Poland

Among the adjustments used in the rating of industrial noise the least doubt makes measurement of the tonal components and then, determination of the appropriate adjustment. In practice, the problem may be in the fluctuation of low frequency tonal components in time and space. Much more difficult task is to measure and to apply of impulsive adjustment, especially for highly impulsive and high-energy impulsive examples. In such cases the main problem is to measure the objective parameters that underpin such a qualification of the impulses. Among the annoying noise features there are also the low frequency components and the modulation of sound. In both cases, there are no generally accepted methods. The work presents metrological conditions and difficulties in the calculation of tonal and impulse adjustments with the indication of measured parameters useful in increasing the effectiveness of measurement under continuous monitoring conditions. Experimental results show the results of the test with highly impulsive noise qualification test, which is the source of the collisions of the wagon, while the wind turbine noise test was the basis for the evaluation of low-frequency noise and components with amplitude modulation. Identification of low frequency (100 Hz and higher harmonics) tonal components in a continuous monitoring system is shown by the example of the corona audible noise from overhead AC power lines. © 2017 Institute of Noise Control Engineering. All rights reserved.

关键词： Impulse noise

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The research on objective parameters dedicated to differentiate impulsive noise events 46

The research on objective parameters dedicated to differenti...

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46th International Congress and Exposition on Noise Control Engineering: Taming Noise and Moving Quiet, INTER-NOISE 2017

作者： Kukulski, Bartlomiej Department of Mechanics and Vibroacoustics Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Kraków30-059 Poland

One example of noise with increased annoyance, which is difficult to measure and quantify, is impulsive noise. Subjective perception, which in the case of impulsive sound is especially important, can be the additional metrological obstacle. The commonly used approach only imposes an arbitrary matching of measured signal to the patterns included in the ISO 1996-1, and then applying the fixed value of adjustment. However, there are no objective criteria to determine when a given sound is still impulsive, which leads to applying proper adjustment, and when this correction can no longer be made. The significance of the problem is reflected in the growing number of publications dealing with this subject. On the other hand, there is still no generally accepted methodology, which is indicated in the last draft version of ISO 1996-2 (2016). The paper deals with the problem of lack of objective algorithms for the classification of impulsive sounds in terms of applying appropriate value of adjustment and influence of such situation on the ambiguity of the annoyance assessment of such noise. The main focus of the work was on the development of distinctive characteristics of impulsive noise, especially highly impulsive noise, and on the assessment of the suitability of these parameters in the differentiation and objective classification of impulses in terms of annoyance to the environment. © 2017 Institute of Noise Control Engineering. All rights reserved.

关键词： Impulse noise

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Validation of the robot rendezvous and grasping manoeuvre using microgravity simulators

Validation of the robot rendezvous and grasping manoeuvre us...

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IEEE International Conference on robotics and Automation

作者： Karol Seweryn Tomasz Rybus Pablo Colmenarejo Gabriele Novelli Jakub Oles Markus Pietras Jurek Z. Sasiadek Marc Scheper Kamil Tarenko Space Research Centre (CBK PAN) Warsaw Poland Chair of Cybernetics and Robotics Electronics Faculty Wroclaw University of Science and Technology Wroclaw Poland GMV company Madrid Spain OHB System AG Bremen Germany

Robots mounted on an unmanned chaser satellite could be used for performing rendezvous and grasping manoeuvres in order to repair satellites or remove space debris from orbit. Use of manipulators for such purposes is challenging, since the performed task need to be done autonomously, accurately and with high level of robustness. During manoeuvres high disturbances might appear e.g. due to contact between the manipulator arm end-effector and the target spacecraft. In this paper an approach for validation of the robotic subsystem during chaser rendezvous and grasping manoeuvre has been shown. Two type of testbed systems were used: planar air-bearing microgravity simulators and a test-bed system with industrial robots. The proposed approach took advantage of possible replacement of particular subsystem in reference model or reference hardware in specified test-bed system. The list of tests performed are included in the paper.

关键词： Manipulators Satellites Orbits Space vehicles Service robots Control systems

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