Li Shaochen, Zhenyu Liu, Yu Huang, Daxin Liu, Guifang Duan and Jianrong Tan
Assembly action recognition plays an important role in assembly process monitoring and human-robot collaborative assembly. Previous works overlook the interaction relationship…
Abstract
Purpose
Assembly action recognition plays an important role in assembly process monitoring and human-robot collaborative assembly. Previous works overlook the interaction relationship between hands and operated objects and lack the modeling of subtle hand motions, which leads to a decline in accuracy for fine-grained action recognition. This paper aims to model the hand-object interactions and hand movements to realize high-accuracy assembly action recognition.
Design/methodology/approach
In this paper, a novel multi-stream hand-object interaction network (MHOINet) is proposed for assembly action recognition. To learn the hand-object interaction relationship in assembly sequence, an interaction modeling network (IMN) comprising both geometric and visual modeling is exploited in the interaction stream. The former captures the spatial location relation of hand and interacted parts/tools according to their detected bounding boxes, and the latter focuses on mining the visual context of hand and object at pixel level through a position attention model. To model the hand movements, a temporal enhancement module (TEM) with multiple convolution kernels is developed in the hand stream, which captures the temporal dependences of hand sequences in short and long ranges. Finally, assembly action prediction is accomplished by merging the outputs of different streams through a weighted score-level fusion. A robotic arm component assembly dataset is created to evaluate the effectiveness of the proposed method.
Findings
The method can achieve the recognition accuracy of 97.31% and 95.32% for coarse and fine assembly actions, which outperforms other comparative methods. Experiments on human-robot collaboration prove that our method can be applied to industrial production.
Originality/value
The author proposes a novel framework for assembly action recognition, which simultaneously leverages the features of hands, objects and hand-object interactions. The TEM enhances the representation of dynamics of hands and facilitates the recognition of assembly actions with various time spans. The IMN learns the semantic information from hand-object interactions, which is significant for distinguishing fine assembly actions.
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A. Miller, P. Allen, V. Santos and F. Valero‐Cuevas
Robotic hands are still a long way from matching the grasping and manipulation capability of their human counterparts, but computer simulation may help us understand this…
Abstract
Purpose
Robotic hands are still a long way from matching the grasping and manipulation capability of their human counterparts, but computer simulation may help us understand this disparity. We present our publicly available simulator, and describe our research projects involving the system including the development of a human hand model derived from experimental measurements.
Design/methodology/approach
Unlike other simulation systems, our system was built specifically to analyze grasps. It can import a wide variety of robot designs by using standard descriptions of the kinematics and link geometries. Various components support the analysis of grasps, visualization of results, dynamic simulation of grasping tasks, and grasp planning.
Findings
The simulator has been used in several grasping research problems and can be used to plan grasps for an actual robot. With the aid of a vision system, we have shown that these grasps can be executed by a robot.
Research limitations/implications
We are currently developing methods to handle deformable surfaces, tendon driven models, and non‐ideal joints in order to better model human grasping.
Practical implications
This work is part of our current project to create a biomechanically realistic human hand model to better understand what features are most important to mimic in the designs of robotic hands. Such a model will also help clinicians better plan reconstructive hand surgeries.
Originality/value
We describe our publicly available grasping simulator and review experiments performed with it. The paper demonstrates the usefulness of this system as a tool for grasping research.
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Smitkumar Savsani, Shamsher Singh and Harlal Singh Mali
Medical devices are undergoing rapid changes because of the increasing affordability of advanced technologies like additive manufacturing (AM) and three-dimensional scanning. New…
Abstract
Purpose
Medical devices are undergoing rapid changes because of the increasing affordability of advanced technologies like additive manufacturing (AM) and three-dimensional scanning. New avenues are available for providing solutions and comfort that were not previously conceivable. The purpose of this paper is to provide a comprehensive review of the research on developing prostheses using AM to understand the opportunities and challenges in the domain. Various studies on prosthesis development using AM are investigated to explore the scope of integration of AM in prostheses development.
Design/methodology/approach
A review of key publications from the past two decades was conducted. Integration of AM and prostheses development is reviewed from the technologies, materials and functionality point of view to identify challenges, opportunities and future scope.
Findings
AM in prostheses provides superior physical and cognitive ergonomics and reduced cost and delivery time. Patient-specific, lightweight solutions for complex designs improve comfort, functionality and clinical outcomes. Compared to existing procedures and methodologies, using AM technologies in prosthetics could benefit a large population.
Originality/value
This paper helps investigate the impact of AM and related technology in the field of prosthetics and can also be viewed as a collection of relevant medical research and findings.
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Joanna E. Laszczyk and Andrzej J Nowak
The purpose of this paper is to present the computational model of the neonate’s brain cooling process. The main aim of the analysis is to tune the developed computational model…
Abstract
Purpose
The purpose of this paper is to present the computational model of the neonate’s brain cooling process. The main aim of the analysis is to tune the developed computational model, make it convergent and representing the hypothermia therapy reasonably. To find the appropriate model parameters the trial of an inverse analysis, based on the standard least-square method, is performed. Having partially validated model the number of numerical simulations are carried out to compare their results with measurements made during real therapy.
Design Methodology Approach
The geometrical model of the newborn’s body is built using MRI and CT scans utilizing Mimics software and the Design Modeler while Ansys Fluent with its User Defined Function capability was used to implement the whole model and to carry out simulations. To model the bioheat transfer the Pennes bioheat equation is applied. In the mathematical model blood perfusion rate, metabolic heat generation rate as well as the arterial blood temperature are dependent on the tissue temperature. In order to determine the proper values of model parameters of bioheat transport in neonate’s body the attempt to inverse analysis is also performed.
Findings
The performed inverse analysis resulted in the values of model parameters (metabolic heat sources, blood perfusions etc.). Tuned model was then applied to simulate brain cooling process with reasonable accuracy. Obtained model parameters were also compared to the data obtained from neonatologists.
Research limitations implications
The presented numerical model still requires tests and simulations. The results from the inverse analysis based on the real measurements can be very valuable.
Practical implications
The determination of the proper parameters of the bioheat transfer in the neonatal body can finally be used to control the numerical simulations of the brain cooling process. The simulation of the re-warming process after hypothermic therapy can be improved considerably.
Social implications
The performance of the numerical simulations of the brain cooling process in the proper way can finally helps protect newborns’ health and life.
Originality Value
In the paper 3-D real geometrical model of the newborn’s body includes head, torso and limbs and different types of tissues are distinguished in the model. The considered bioheat transfer problem is also fully 3-D. This model is then utilised together with inverse analysis in order to determine the model parameters for the newborn’s body.
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C. Clissman, R. Murray, E. Davidson, J. Hands, O. Sijtsma, A. Noordzij, R. Moulton, S. Shanawa, J. Darzentas and I. Pettman
Provides a brief introduction to the UNIverse Project and its major objectives. Continues the overview of the international standards, softwares and systems which will enable…
Abstract
Provides a brief introduction to the UNIverse Project and its major objectives. Continues the overview of the international standards, softwares and systems which will enable bibliographic searching of multiple distributed library catalogues. Part 2 reviews three further areas: record syntax conversion which covers UNIMARC, SGML and Dublin Core; result set de‐duplication, covering International Standard Book Number (ISBN), International Standard Serial Number (ISSN), the Universal Standard Bibliographic Code (USBC), Serial Item and Contribution Identifier (SICI), Digital Object Identifiers (DOI) and Uniform Resource Names (URN); and multi‐lingual thesauri.
Details
Keywords
C. Clissman, R. Murray, E. Davidson, J. Hands, O. Sijtsma, A. Noordzij, R. Moulton, S. Shanawa, J. Darzentas and I. Pettman
Provides a brief introduction to the UNIverse Project and its major objectives. Continues and completes the overview of the international standards, softwares and systems which…
Abstract
Provides a brief introduction to the UNIverse Project and its major objectives. Continues and completes the overview of the international standards, softwares and systems which will enable bibliographic searching of multiple distributed library catalogues. Part 3 reviews three further areas: ‐ inter library loans protocols; multimedia document delivery and authentication and directory services.
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Reshma Kumari Tiwari and Jasojit Debnath
The purpose of this paper is to develop an insight into the skill sets that forensic accounting practitioners need to possess to succeed in the practice of forensic accounting.
Abstract
Purpose
The purpose of this paper is to develop an insight into the skill sets that forensic accounting practitioners need to possess to succeed in the practice of forensic accounting.
Design/methodology/approach
The present paper is based on a literature review.
Findings
Forensic accounting education is multi-disciplinary. It encompasses auditing, accounting, statistics, information technology (IT), legal rules and human skills. It is similar to auditing, yet different. Hands-on statistical tools act like an additional equipment for quick delivery of the output when data are large. Proficiency in using IT tools is a must to detect cybercrimes. Human skills are gaining importance because of social engineering attacks. Forensic accountants must be acquainted and updated with the relevant laws. Various investigative skills and knowledge are also essential in forensic accounting.
Practical implications
Forensic accounting education can be developed as a separate discipline for proper regulation of forensic accounting profession. In that case, the need for development of separate forensic accounting standards may arise. This issue needs to be dwelt upon by the academia and professional bodies.
Originality/value
The paper will enable the universities/institutes to design the appropriate curricula, assigning due consideration to the required knowledge and skill sets in forensic accounting education.
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The purpose of this paper is to examine the state of the art of theory and theorizing in educational administration. The author investigates in what ways and why theory and…
Abstract
The purpose of this paper is to examine the state of the art of theory and theorizing in educational administration. The author investigates in what ways and why theory and practice have been disconnected and how they could be better conjoined. Although progress in the development of theory has been slow, it has been tangible. More recent work has displayed a greater degree of scientism in approach; more people have been involved; the extent of conceptual orientation has broadened; and the number of empirical studies has also increased. Whilst acknowledging the full‐fledged field study as the preferred mode, the author suggests a number of other strategies that may profitably be utilized to provide field data with theoretical utility. An experience audit, log or diary, instruments to function as operational definitions for certain kinds of behavior or attitudes, and devices to measure concepts central to explanation in a given area are examples.
Rune Dall Jensen, Sissel Ravn and Mette Krogh Christensen
Education of the surgeon and development of surgical expertise have been debated for centuries. Today, research in surgical education applies terms and methods from other…
Abstract
Purpose
Education of the surgeon and development of surgical expertise have been debated for centuries. Today, research in surgical education applies terms and methods from other performance domains such as sport and music. However, there still seems to be a lack of consensus as to how talent may be brought into the discourse about surgical education. Especially, when it comes to identifying and developing trainees who in the future will perform better than the average surgeon.
Design/methodology/approach
This five-step scoping study aims to map existing literature about talent identification, talent development and development of expertise in the domains of surgery, sport and music in the period of 1985-2014.
Findings
A total of 242 studies, divided in the four domains of surgery (69 studies), sport (115 studies), music (34 studies) and cross-disciplinary studies (24 studies) published in the period 1985-2014 were included.
Originality/value
Informed by the performance domains of sports and music and their inclusion of a holistic, ecological approach to research, this study suggests that research in surgical education may benefit from broadening its view on talent by including psychosocial variables and environmental, demographic and structural influencers when considering how surgical talent may be identified and developed.
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N. Boubekri and Pinaki Chakraborty
The application of robots to industrial problems often requires grasping and manipulation of the work piece. The robot is able to perform a task adequately only when it is…
Abstract
The application of robots to industrial problems often requires grasping and manipulation of the work piece. The robot is able to perform a task adequately only when it is assigned proper tooling and adequate methods of grasping and handling work pieces. The design of such a task requires an in‐depth knowledge of several interrelated subjects including: gripper design, force, position, stiffness and compliance control and grasp configurations. In this paper, we review the research finding on these subjects in order to present in a concise manner, which can be easily accessed by the designers of robot task, the information reported by the researchers, and identify based on the review, future research directions in these areas.