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There is a method for deterministically detecting a license plate, which is one of the object detections in autonomous driving. It is difficult to determine a luminance threshold value used for binarization. Therefore, the method of predicting the threshold value by machine learning from the combination of surrounding luminances has been improved. First, we constructed an augmentation that extends the objective variable from the structure of the labeled data, and increased the number of the original data by about 50 times. Next, we devised a new method to prevent overestimation of the cross-validation method. After Augmentation, we developed a Leave A Group Out Cross-Validation method that separates training data and test data in groups. By combining the performance improvement by the configured Augmentation and the improvement by the conventional SMOTE, a detection rate of 0.92 was achieved. As a result, the autonomous driving module has been strengthened by one step.
Bewege mich!
(2019)
Application areas of robotic grasping extend to delicate objects like groceries. The intrinsic elasticity offered by variable-stiffness actuators (VSA) appears to be promising in terms of being able to adapt to the object shape, to withstand collisions with the environment during the grasp acquisition, and to resist the weight applied to the fingers by a lifted object during the actual grasp. It is hypothesized that these properties are particularly useful in the absence of high-quality sensory feedback, which would otherwise be able to guide the shape adaptation and collision avoidance, and that in this case, VSA hands perform better than hands with fixed stiffness. This hypothesis is tested in an experiment where small-fruit containers are picked and placed using a newly developed variable-stiffness robotic hand. The grasp performance is measured under different sensory feedback conditions: full or impaired visual feedback, full or impaired force feedback. The hand is switched between a variable-stiffness mode and two fixed-stiffness modes. Strategies for modulating the stiffness and exploiting environmental constraints are observed from human operators that control the robotic hand. The results show consistently successful grasps under all stiffness and feedback conditions. However, the performance is affected by the amount of available visual feedback. Different stiffness modes turn out to be beneficial in different feedback conditions and with respect to different performance criteria, but a general advantage of VSA over fixed stiffness cannot be shown for the present task. Guidance of the fingers along cracks and gaps is observed, which may inspire the programming of autonomously grasping robots.
Rezension zum Buch:
Axel Schulz, Uwe Weithöner, Roman Egger
& Robert Goecke (Hrsg.):
eTourismus: Prozesse und Systeme.
Informationsmanagement im Tourismus.
Lehr- und Handbücher zu Tourismus, Verkehr und Freizeit
De Gruyter, Oldenbourg: München & Wien 2014, 2. Aufl. 586 Seiten
ISBN Print: 978-3-486-75428-5, ISBN eBook: 978-3-11-039901-1
Oxygen scavengers are used in food packaging to protect oxygen-sensitive food products. A mixture of gallic acid (GA) and sodium carbonate was used as an oxygen scavenger (OSc) in bio-based multilayer packaging films produced in a three-step process: compounding, flat film extrusion, and lamination. We investigated the film surface color as well as oxygen absorption at different relative humidities (RHs) and temperatures, and compared the oxygen absorption of OSc powder, monolayer films, and multilayer films. The films were initially brownish-red in color but changed to greenish-black during oxygen absorption under humid conditions. We observed a maximum absorption capacity of 447 mg O2/g GA at 21 °C and 100% RH. The incorporation of GA into a polymer matrix reduced the rate of oxygen absorption compared to the GA powder because the polymer acted as a barrier to oxygen and water vapor diffusion. As expected, the temperature had a significant effect on the initial absorption rate of the multilayer films; the corresponding activation energy was 75.4 kJ/mol. Higher RH significantly increased the oxygen absorption rate. These results demonstrate for the first time the production and the properties of a bio-based multilayer packaging film with GA as the oxygen scavenger. Potential applications include the packaging of food products with high water activity (aw > 0.86).
Water loss, gain or transfer results in a decline in the overall quality of food. The aim of this study was to form a uniform layer of sodium alginate-based edible coating (1.25% sodium alginate, 2% glycerol, 0.2% sunflower oil, 1% span 80, 0.2% tween 80, (w/w)) and investigate the effects on the water barrier characteristics of fresh-cut cantaloupe and strawberries. To this end, a uniform and continuous edible film formation was achieved (0.187 ± 0.076 mm and 0.235 ± 0.077 mm for cantaloupe and strawberries, respectively) with an additional immersion step into a calcium solution at the very beginning of the coating process. The coating application was effective in significantly reducing the water loss (%) of the cantaloupe pieces. However, no significant effect was observed in water vapor resistance results and weight change measurements in a climate chamber (80%→60% relative humidity (RH) at 10 °C). External packaging conditions (i.e., closed, perforated, and open) were not significantly effective on water activity (aw) values of cantaloupe, but were effective for strawberry values. In general, the coating application promoted the water loss of strawberry samples. Additionally, the water vapor transmission rate of stand-alone films was determined (2131 g·100 µm/(m2·d·bar) under constant environmental conditions (23 °C, 100%→50% RH) due to the ability to also evaluate the efficacy in ideal conditions.
Achieving high quality of a coated food product is mostly dependent on the characteristics of the food material to be coated, the properties of the components in the coating solution, and the obtained coating material. In the present study, usability and effectiveness of various components as well as their concentrations were assessed to produce an effective coating material. For this purpose, different concentrations of gelling agent (sodium alginate 0–3.5%, w/w), plasticizers (glycerol and sorbitol (0–20%, w/w), surfactants (tween 40, tween 80, span 60, span 80, lecithin (0–5%, w/w), and vegetable oils (sunflower oil, olive oil, rapeseed oil (0–5%, w/w) were used to prepare edible coating solutions. Formulations were built gradually, and characteristics of coatings were evaluated by analyzing surface tension values and its polar and dispersive components, emulsion droplet size, and optical appearance in microscopic scale. The results obtained showed that 1.25% sodium alginate, 2% glycerol, 0.2% sunflower oil, 1% span 80, and 0.2% tween 40 or tween 80 can be used in formulation to obtain an effective coating for hydrophobic food surfaces. Three formulations were designed, and their stability (emulsion droplet size, optical characteristics, and creaming index) and wettability tests on strawberry showed that they could be successfully used in coating applications
Alginate is a naturally occurring polysaccharide used in the bio industry. It is mainly derived from brown algae species. Alginate-based edible coatings and films attract interest for improving/maintaining quality and extending the shelf-life of fruit, vegetable, meat, poultry, seafood, and cheese by reducing dehydration (as sacrificial moisture agent), controlling respiration, enhancing product appearance, improving mechanical properties, etc. This paper reviews the most recent essential information about alginate-based edible coatings. The categorization of alginate-based coatings/film in food packaging concept is formed gradually with the explanation of the most important titles. Emphasis will be placed on active ingredients incorporated into alginate-based formulations, edible coating/film application methods, research and development studies of coated food products and mass transfer and barrier characteristics of the alginate-based coatings/films. Future trends are also reviewed to identify research gaps and recommend new research areas. The summarized information presented in this article will enable researchers to thoroughly understand the fundamentals of the coating process and to develop alginate-based edible films and coatings more readily.
Friction surfacing offers a means of producing coatings between dissimilar materials through a solid state process; a union that would otherwise be classed as incompatible for liquid state coating processes. A method of using a rotating consumable friction rod supplemented by inductive heating was employed to produce conditions necessary for a sound bond between a stainless steel coating and an aluminium substrate. The rotational speed of and load on the coating rod influenced the bond strength significantly with low rotational speeds and high load values producing a good bond quality; however, cavitations at the coating-substrate interface showed a detrimental effect on the bond quality. Mechanical interlocking could be identified from images of longitudinal cross-sectional slices which were recorded using optical microscopy. An image recognition software tool was used to generate an interfacial roughness profile graph which described the coating-substrate interface. Additional filtering of the profile graph showed the depth of mechanical interlocking of the stainless steel coating into the aluminium substrate with the degree of this interlocking quantified by roughness values calculated from the profile graph. Large roughness values can be related to high coating push-off strengths (up to 107 MPa), and also were a result of low rotational speeds and high load values during friction surfacing. Dovetail shaped mechanical interlocks identified in the profile produced both high push-off and shear strength when compared with wedge-shaped interlocks; which, overall, provided good shear strengths up to 126 MPa.
Die vorliegende Expertise beschäftigt sich mit den veränderten personellen Ressourcen in der Kinder- und Jugendarbeit und insbesondere mit den personal-strukturellen Entwicklungen im Arbeitsfeld. Hierzu wir der Fokus auf das gesamte Arbeitsfeld der Kinder- und Jugendarbeit gerichtet - mit besonderem Blick auf Bayern - und zudem Kontexte der Offenen Kinder- und Jugendarbeit näher betrachtet. Ziel der Expertise ist es, mittels eines empirischen Zugangs insbesondere in Form einer Analyse der Ergebnisse der amtlichen Kinder- und Jugendhilfestatistik (KJH-Statisitk), aber auch mit Hilfe weiterer empirischer Erkenntnisse die Fragestellungen zu bearbeiten, wie sich die Beschäftigungsentwicklung für die Kinder- und Jugendarbeit darstellt, wie sich das Personal nach Alter und Geschlecht sowie nach formaler Qualifikation, befristeten Beschäftigungsverhältnissen und Formen der Teilzeitbeschäftigung zusammensetzt und welche Hinweise sich aus den Analysen der amtlichen Kinder- und Jugendhilfestatistik für den Teilarbeitsmarkt Kinder- und Jugendarbeit ergeben.