Search results for: heuristic approach
2798 Applying Wavelet Entropy Principle in Fault Classification
Authors: S. El Safty, A. El-Zonkoly
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The ability to detect and classify the type of fault plays a great role in the protection of power system. This procedure is required to be precise with no time consumption. In this paper detection of fault type has been implemented using wavelet analysis together with wavelet entropy principle. The simulation of power system is carried out using PSCAD/EMTDC. Different types of faults were studied obtaining various current waveforms. These current waveforms were decomposed using wavelet analysis into different approximation and details. The wavelet entropy of such decompositions is analyzed reaching a successful methodology for fault classification. The suggested approach is tested using different fault types and proven successful identification for the type of fault.Keywords: Fault classification, wavelet transform, waveletentropy.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19342797 Forecasting Malaria Cases in Bujumbura
Authors: Hermenegilde Nkurunziza, Albrecht Gebhardt, Juergen Pilz
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The focus in this work is to assess which method allows a better forecasting of malaria cases in Bujumbura ( Burundi) when taking into account association between climatic factors and the disease. For the period 1996-2007, real monthly data on both malaria epidemiology and climate in Bujumbura are described and analyzed. We propose a hierarchical approach to achieve our objective. We first fit a Generalized Additive Model to malaria cases to obtain an accurate predictor, which is then used to predict future observations. Various well-known forecasting methods are compared leading to different results. Based on in-sample mean average percentage error (MAPE), the multiplicative exponential smoothing state space model with multiplicative error and seasonality performed better.Keywords: Burundi, Forecasting, Malaria, Regressionmodel, State space model.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19832796 Determining Optimal Demand Rate and Production Decisions: A Geometric Programming Approach
Authors: Farnaz G. Nezami, Mir B. Aryanezhad, Seyed J. Sadjadi
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In this paper a nonlinear model is presented to demonstrate the relation between production and marketing departments. By introducing some functions such as pricing cost and market share loss functions it will be tried to show some aspects of market modelling which has not been regarded before. The proposed model will be a constrained signomial geometric programming model. For model solving, after variables- modifications an iterative technique based on the concept of geometric mean will be introduced to solve the resulting non-standard posynomial model which can be applied to a wide variety of models in non-standard posynomial geometric programming form. At the end a numerical analysis will be presented to accredit the validity of the mentioned model.Keywords: Geometric programming, marketing, nonlinear optimization, production.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14342795 Analyzing Multi-Labeled Data Based on the Roll of a Concept against a Semantic Range
Authors: Masahiro Kuzunishi, Tetsuya Furukawa, Ke Lu
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Classifying data hierarchically is an efficient approach to analyze data. Data is usually classified into multiple categories, or annotated with a set of labels. To analyze multi-labeled data, such data must be specified by giving a set of labels as a semantic range. There are some certain purposes to analyze data. This paper shows which multi-labeled data should be the target to be analyzed for those purposes, and discusses the role of a label against a set of labels by investigating the change when a label is added to the set of labels. These discussions give the methods for the advanced analysis of multi-labeled data, which are based on the role of a label against a semantic range.Keywords: Classification Hierarchies, Data Analysis, Multilabeled Data, Orders of Sets of Labels
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12072794 Development of a Quantitative Material Wastage Management Plan for Effective Waste Reduction in the Building Construction Industry
Authors: Kwok Tak Kit
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Combating climate change is becoming a hot topic in various sectors. Building construction and infrastructure sectors contributed a significant proportion of waste and greenhouse gas (GHG) emissions in the environment of different countries and cities. However, there is little research on the micro-level of waste management, “building construction material wastage management,” and fewer reviews about regulatory control in the building construction sector. This paper focuses on the potentialities and importance of material wastage management and reviews the deficiencies of the current standard to take into account the reduction of material wastage in a systematic and quantitative approach.
Keywords: Quantitative measurement, material wastage management plan, waste management, uncalculated waste, circular economy.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 6872793 Artificial Intelligence for Software Quality Improvement
Authors: Martín Agüero, Franco Madou, Gabriela Esperón, Daniela López De Luise
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This paper presents a software quality support tool, a Java source code evaluator and a code profiler based on computational intelligence techniques. It is Java prototype software developed by AI Group [1] from the Research Laboratories at Universidad de Palermo: an Intelligent Java Analyzer (in Spanish: Analizador Java Inteligente, AJI). It represents a new approach to evaluate and identify inaccurate source code usage and transitively, the software product itself. The aim of this project is to provide the software development industry with a new tool to increase software quality by extending the value of source code metrics through computational intelligence.Keywords: Software metrics, artificial intelligence, neuralnetworks, clustering algorithms, expert systems
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28952792 A Novel Approach of Multilevel Inverter with Reduced Power Electronics Devices
Authors: M. Jagabar Sathik, K. Ramani
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In this paper family of multilevel inverter topology with reduced number of power switches is presented. The proposed inverter can generate both even and odd level. The proposed topology is suitable for symmetric structure. The proposed symmetric inverter results in reduction of power switches, power diode and gate driver circuits and also it may further minimize the installation area and cost. To prove the superiority of proposed topology is compared with conventional topologies. The performance of this symmetric multilevel inverter has been tested by computer based simulation and prototype based experimental setup for nine-level inverter is developed and results are verified.
Keywords: Cascaded H- Bridge (CHB), Multilevel Inverter (MLI), Nearest Level Modulation (NLM), Total Harmonic Distortion (THD).
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 31462791 Digital filters for Hot-Mix Asphalt Complex Modulus Test Data Using Genetic Algorithm Strategies
Authors: Madhav V. Chitturi, Anshu Manik, Kasthurirangan Gopalakrishnan
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The dynamic or complex modulus test is considered to be a mechanistically based laboratory test to reliably characterize the strength and load-resistance of Hot-Mix Asphalt (HMA) mixes used in the construction of roads. The most common observation is that the data collected from these tests are often noisy and somewhat non-sinusoidal. This hampers accurate analysis of the data to obtain engineering insight. The goal of the work presented in this paper is to develop and compare automated evolutionary computational techniques to filter test noise in the collection of data for the HMA complex modulus test. The results showed that the Covariance Matrix Adaptation-Evolutionary Strategy (CMA-ES) approach is computationally efficient for filtering data obtained from the HMA complex modulus test.Keywords: HMA, dynamic modulus, GA, evolutionarycomputation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15692790 Design Optimization of a Double Stator Cup- Rotor Machine
Authors: E. Diryak, P. Lefley, L. Petkovska, G. Cvetkovski
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This paper presents the optimum design for a double stator, cup rotor machine; a novel type of BLDC PM Machine. The optimization approach is divided into two stages: the first stage is calculating the machine configuration using Matlab, and the second stage is the optimization of the machine using Finite Element Modeling (FEM). Under the design specifications, the machine model will be selected from three pole numbers, namely, 8, 10 and 12 with an appropriate slot number. A double stator brushless DC permanent magnet machine is designed to achieve low cogging torque; high electromagnetic torque and low ripple torque.Keywords: Permanent magnet machine, low- cogging torque, low- ripple torque, high- electromagnetic torque, design optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21652789 An Approach for the Prediction of Cardiovascular Diseases
Authors: Nebi Gedik
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Regardless of age or gender, cardiovascular illnesses are a serious health concern because of things like poor eating habits, stress, a sedentary lifestyle, hard work schedules, alcohol use, and weight. It tends to happen suddenly and has a high rate of recurrence. Machine learning models can be implemented to assist healthcare systems in the accurate detection and diagnosis of cardiovascular disease (CVD) in patients. Improved heart failure prediction is one of the primary goals of researchers using the heart disease dataset. The purpose of this study is to identify the feature or features that offer the best classification prediction for CVD detection. The support vector machine classifier is used to compare each feature's performance. It has been determined which feature produces the best results.
Keywords: Cardiovascular disease, feature extraction, supervised learning, support vector machine.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1662788 Artificial Neural Network Approach for Short Term Load Forecasting for Illam Region
Authors: Mohsen Hayati, Yazdan Shirvany
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In this paper, the application of neural networks to study the design of short-term load forecasting (STLF) Systems for Illam state located in west of Iran was explored. One important architecture of neural networks named Multi-Layer Perceptron (MLP) to model STLF systems was used. Our study based on MLP was trained and tested using three years (2004-2006) data. The results show that MLP network has the minimum forecasting error and can be considered as a good method to model the STLF systems.Keywords: Artificial neural networks, Forecasting, Multi-layer perceptron.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27762787 Teaching Speaking Skills to Adult English Language Learners through ALM
Authors: Wichuda Kunnu, Aungkana Sukwises
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Audio-lingual Method (ALM) is a teaching approach that is claimed that ineffective for teaching second/foreign languages. Because some linguists and second/foreign language teachers believe that ALM is a rote learning style. However, this study is done on a belief that ALM will be able to solve Thais’ English speaking problem. This paper aims to report the findings on teaching English speaking to adult learners with an “adapted ALM”, one distinction of which is to use Thai as the medium language of instruction. The participants are consisted of 9 adult learners. They were allowed to speak English more freely using both the materials presented in the class and their background knowledge of English. At the end of the course, they spoke English more fluently, more confidently, to the extent that they applied what they learnt both in and outside the class.
Keywords: Teaching English, Audio Lingual Method.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 39492786 Currency Exchange Rate Forecasts Using Quantile Regression
Authors: Yuzhi Cai
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In this paper, we discuss a Bayesian approach to quantile autoregressive (QAR) time series model estimation and forecasting. Together with a combining forecasts technique, we then predict USD to GBP currency exchange rates. Combined forecasts contain all the information captured by the fitted QAR models at different quantile levels and are therefore better than those obtained from individual models. Our results show that an unequally weighted combining method performs better than other forecasting methodology. We found that a median AR model can perform well in point forecasting when the predictive density functions are symmetric. However, in practice, using the median AR model alone may involve the loss of information about the data captured by other QAR models. We recommend that combined forecasts should be used whenever possible.Keywords: Exchange rate, quantile regression, combining forecasts.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17762785 Finite-time Stability Analysis of Fractional-order with Multi-state Time Delay
Authors: Liqiong Liu, Shouming Zhong
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In this paper, the finite-time stabilization of a class of multi-state time delay of fractional-order system is proposed. First, we define finite-time stability with the fractional-order system. Second, by using Generalized Gronwall's approach and the methods of the inequality, we get some conditions of finite-time stability for the fractional system with multi-state delay. Finally, a numerical example is given to illustrate the result.
Keywords: Finite-time stabilization, fractional-order system, Gronwall inequality.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 19012784 Two Day Ahead Short Term Load Forecasting Neural Network Based
Authors: Firas M. Tuaimah
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This paper presents an Artificial Neural Network based approach for short-term load forecasting and exactly for two days ahead. Two seasons have been discussed for Iraqi power system, namely summer and winter; the hourly load demand is the most important input variables for ANN based load forecasting. The recorded daily load profile with a lead time of 1-48 hours for July and December of the year 2012 was obtained from the operation and control center that belongs to the Ministry of Iraqi electricity.
The results of the comparison show that the neural network gives a good prediction for the load forecasting and for two days ahead.
Keywords: Short-Term Load Forecasting, Artificial Neural Networks, Back propagation learning.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15592783 Application of Method of Symmetries at a Calculation and Planning of Circular Plate with Variable Thickness
Authors: Kirill Trapezon, Alexandr Trapezon
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A problem is formulated for the natural oscillations of a circular plate of linearly variable thickness on the basis of the symmetry method. The equations of natural frequencies and forms for a plate are obtained, providing that it is rigidly fixed along the inner contour. The first three eigenfrequencies are calculated, and the eigenmodes of the oscillations of the acoustic element are constructed. An algorithm for applying the symmetry method and the factorization method for solving problems in the theory of oscillations for plates of variable thickness is shown. The effectiveness of the approach is demonstrated on the basis of comparison of known results and those obtained in the article. It is shown that the results are more accurate and reliable.
Keywords: Vibrations, plate, thickness, symmetry, factorization, approximation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 7952782 Multiple Regression based Graphical Modeling for Images
Authors: Pavan S., Sridhar G., Sridhar V.
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Super resolution is one of the commonly referred inference problems in computer vision. In the case of images, this problem is generally addressed using a graphical model framework wherein each node represents a portion of the image and the edges between the nodes represent the statistical dependencies. However, the large dimensionality of images along with the large number of possible states for a node makes the inference problem computationally intractable. In this paper, we propose a representation wherein each node can be represented as acombination of multiple regression functions. The proposed approach achieves a tradeoff between the computational complexity and inference accuracy by varying the number of regression functions for a node.
Keywords: Belief propagation, Graphical model, Regression, Super resolution.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15452781 Slip Limit Prediction of High-Strength Bolt Joints Based on Local Approach
Authors: Chang He, Hiroshi Tamura, Hiroshi Katsuchi, Jiaqi Wang
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In this study, the aim is to infer the slip limit (static friction limit) of contact interfaces in bolt friction joints by analyzing other bolt friction joints with the same contact surface but in a different shape. By using the Weibull distribution to deal with microelements on the contact surface statistically, the slip limit of a certain type of bolt joint was predicted from other types of bolt joint with the same contact surface. As a result, this research succeeded in predicting the slip limit of bolt joins with different numbers of contact surfaces and with different numbers of bolt rows.
Keywords: Bolt joints, slip coefficient, finite element method, Weibull distribution.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3212780 Stock Movement Prediction Using Price Factor and Deep Learning
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The development of machine learning methods and techniques has opened doors for investigation in many areas such as medicines, economics, finance, etc. One active research area involving machine learning is stock market prediction. This research paper tries to consider multiple techniques and methods for stock movement prediction using historical price or price factors. The paper explores the effectiveness of some deep learning frameworks for forecasting stock. Moreover, an architecture (TimeStock) is proposed which takes the representation of time into account apart from the price information itself. Our model achieves a promising result that shows a potential approach for the stock movement prediction problem.
Keywords: Classification, machine learning, time representation, stock prediction.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11522779 Fabrication of ZnO Nanorods Based Biosensor via Hydrothermal Method
Authors: Muhammad Tariq, Jafar Khan Kasi, Samiullah, Ajab Khan Kasi
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Biosensors are playing vital role in industrial, clinical, and chemical analysis applications. Among other techniques, ZnO based biosensor is an easy approach due to its exceptional chemical and electrical properties. ZnO nanorods have positively charged isoelectric point which helps immobilize the negative charge glucose oxides (GOx). Here, we report ZnO nanorods based biosensors for the immobilization of GOx. The ZnO nanorods were grown by hydrothermal method on indium tin oxide substrate (ITO). The fabrication of biosensors was carried through batch processing using conventional photolithography. The buffer solutions of GOx were prepared in phosphate with a pH value of around 7.3. The biosensors effectively immobilized the GOx and result was analyzed by calculation of voltage and current on nanostructures.Keywords: Hydrothermal growth, zinc dioxide, biosensors.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 10522778 Robust Adaptive Observer Design for Lipschitz Class of Nonlinear Systems
Authors: M. Pourgholi, V.J.Majd
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This paper addresses parameter and state estimation problem in the presence of the perturbation of observer gain bounded input disturbances for the Lipschitz systems that are linear in unknown parameters and nonlinear in states. A new nonlinear adaptive resilient observer is designed, and its stability conditions based on Lyapunov technique are derived. The gain for this observer is derived systematically using linear matrix inequality approach. A numerical example is provided in which the nonlinear terms depend on unmeasured states. The simulation results are presented to show the effectiveness of the proposed method.
Keywords: Adaptive observer, linear matrix inequality, nonlinear systems, nonlinear observer, resilient observer, robust estimation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 26122777 A Competitive Replica Placement Methodology for Ad Hoc Networks
Authors: Samee Ullah Khan, C. Ardil
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In this paper, a mathematical model for data object replication in ad hoc networks is formulated. The derived model is general, flexible and adaptable to cater for various applications in ad hoc networks. We propose a game theoretical technique in which players (mobile hosts) continuously compete in a non-cooperative environment to improve data accessibility by replicating data objects. The technique incorporates the access frequency from mobile hosts to each data object, the status of the network connectivity, and communication costs. The proposed technique is extensively evaluated against four well-known ad hoc network replica allocation methods. The experimental results reveal that the proposed approach outperforms the four techniques in both the execution time and solution qualityKeywords: Data replication, auctions, static allocation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14002776 Analysis of Control by Flattening of the Welded Tubes
Authors: Hannachi Med Tahar, H. Djebaili, B. Daheche
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In this approach, we have tried to describe the flattening of welded tubes, and its experimental application. The test is carried out at the (National product processing company dishes and tubes production). Usually, the final products (tubes) undergo a series of non-destructive inspection online and offline welding, and obviously destructive mechanical testing (bending, flattening, flaring, etc.). For this and for the purpose of implementing the flattening test, which applies to the processing of round tubes in other forms, it took four sections of welded tubes draft (before stretching hot) and welded tubes finished (after drawing hot and annealing), it was also noted the report 'health' flattened tubes must not show or crack or tear. The test is considered poor if it reveals a lack of ductility of the metal.
Keywords: Flattening, destructive testing, tube drafts, finished tube, Castem 2001.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12742775 A New Analytic Solution for the Heat Conduction with Time-Dependent Heat Transfer Coefficient
Authors: Te Wen Tu, Sen Yung Lee
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An alternative approach is proposed to develop the analytic solution for one dimensional heat conduction with one mixed type boundary condition and general time-dependent heat transfer coefficient. In this study, the physic meaning of the solution procedure is revealed. It is shown that the shifting function takes the physic meaning of the reciprocal of Biot function in the initial time. Numerical results show the accuracy of this study. Comparing with those given in the existing literature, the difference is less than 0.3%.
Keywords: Analytic solution, heat transfer coefficient, shifting function method, time-dependent boundary condition.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 30102774 Approach to Design of Composition of Current Concrete with Respect to Strength and Static Elasticity Modulus
Authors: Klara Krizova, Rudolf Hela
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The paper reflects current state of popularization of static elasticity modulus of concrete. This parameter is undoubtedly very important for designing of concrete structures, and very often neglected and rarely determined before designing concrete technology itself. The paper describes assessment and comparison of four mix designs with almost constant dosage of individual components. The only difference is area of origin of small size fraction of aggregate 0/4. Development of compressive strength and static elasticity modulus at the age of 7, 28 and 180 days were observed. As the experiment showed, designing of individual components and their quality are the basic factor influencing elasticity modulus of current concrete.Keywords: Concrete, Aggregate, Strength, Elasticity Modulus, Quality
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14522773 Solving the Economic Dispatch Problem using Novel Particle Swarm Optimization
Authors: S. Khamsawang, S. Jiriwibhakorn
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This paper proposes an improved approach based on conventional particle swarm optimization (PSO) for solving an economic dispatch(ED) problem with considering the generator constraints. The mutation operators of the differential evolution (DE) are used for improving diversity exploration of PSO, which called particle swarm optimization with mutation operators (PSOM). The mutation operators are activated if velocity values of PSO nearly to zero or violated from the boundaries. Four scenarios of mutation operators are implemented for PSOM. The simulation results of all scenarios of the PSOM outperform over the PSO and other existing approaches which appeared in literatures.Keywords: Novel particle swarm optimization, Economic dispatch problem, Mutation operator, Prohibited operating zones, Differential Evolution.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23172772 Wireless Neural Stimulator with Adjustable Electrical Quantity
Authors: Young-Seok Choi
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The neural stimulation has been gaining much interest in neuromodulation research and clinical trials. For efficiency, there is a need for variable electrical stimulation such as current and voltage stimuli as well as wireless framework. In this regard, we develop the wireless neural stimulator capable of voltage and current stimuli. The system consists of ZigBee which is a wireless communication module and stimulus generator. The stimulus generator with 8-bits resolution enable both mono-polar and bi-polar waveform in voltage (-3.3~3.3V) and current(-330~330µA) stimulus mode which is controllable. The experimental results suggest that the proposed neural stimulator can play a role as an effective approach for neuromodulation.
Keywords: Neural stimulator, current stimulation, voltage stimulation, neuromodulation
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21672771 Total Quality Management: The Socio- Demographic and Operational-Financial Determinants for Users- Perception of the Services Quality
Authors: H. Silvestre
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The aim of this paper is to know the sociodemographic and operational-financial determinants of the services quality perceived by users of the national health services. Through the use of an inquiry conducted by the Ministry of Health, comprehending 16.936 interviews in 2006, we intend to find out if there is any characteristic that determines the 2006 inquiry results. With the revision of the literature we also want to know if the operational-financial results have implications in hospitals users- perception on the quality of the received services. In order to achieve our main goals we will make use of the regression analysis to find out the possible dimensions that determine those results.Keywords: Management by Results, Quality Approach, Tableau de Bord, Total Quality Management, Services quality.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 14082770 Tourist Satisfaction and Repeat Visitation; Toward a New Comprehensive Model
Authors: Ahmad Puad Mat Som, Mohammad Bader Badarneh
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Tourism researchers have recently focused on repeat visitation as a part of destination loyalty. Different models have also considered satisfaction as the main determinant of revisit intention, while findings in many studies show it as a continuous issue. This conceptual paper attempts at evaluating recent empirical studies on satisfaction and revisit intention. Based on limitations and gaps in recent studies, the current paper suggests a new model that would be more comprehensive than those in previous studies. The new model offers new relationships between antecedents (destination image, perceived value, specific novelty seeking, and distance to destination) and both of satisfaction and revisit intention. Revisit intention in turn is suggested to be measured in a temporal approach.
Keywords: Satisfaction, revisit intention, a new model.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 71162769 Deep Learning Based 6D Pose Estimation for Bin-Picking Using 3D Point Clouds
Authors: Hesheng Wang, Haoyu Wang, Chungang Zhuang
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Estimating the 6D pose of objects is a core step for robot bin-picking tasks. The problem is that various objects are usually randomly stacked with heavy occlusion in real applications. In this work, we propose a method to regress 6D poses by predicting three points for each object in the 3D point cloud through deep learning. To solve the ambiguity of symmetric pose, we propose a labeling method to help the network converge better. Based on the predicted pose, an iterative method is employed for pose optimization. In real-world experiments, our method outperforms the classical approach in both precision and recall.
Keywords: Pose estimation, deep learning, point cloud, bin-picking, 3D computer vision.
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