Guidance of robot arms using depth data from RGB-D camera

Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision. This scheme uses only the visual information obtained from a camera to guide a robot from any robot pose to a desired one. However, IBVS requires the estimation of different parameters that cannot be obtained directly from the image. These parameters range from the intrinsic camera parameters (which can be obtained from a previous camera calibration), to the measured distance on the optical axis between the camera and visual features, it is the depth. This paper presents a comparative study of the performance of D-IBVS estimating the depth from three different ways using a low cost RGB-D sensor like Kinect. The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots. The experiments prove that the computation of the depth value for each visual feature improves the system performance.

Fluid-Fluid Reactions: Study of the Surface Renewal Theory in Chemical Engineering Courses

The Surface Renewal Theory (SRT) is one of the most unfamiliar models in order to characterize fluid-fluid and fluid-fluid-solid reactions, which are of considerable industrial and academicals importance. In the present work, an approach to the resolution of the SRT model by numerical methods is presented, enabling the visualization of the influence of different variables which control the heterogeneous overall process. Its use in a classroom allowed the students to reach a great understanding of the process.

Control of the spatial homogeneity of pore surface chemistry in particulate activated carbon

We show here that a physical activation process that is diffusion-controlled yields an activated carbon whose chemistry – both elemental and functional – varies radially through the particles. For the ∼100 μm particles considered here, diffusion-controlled activation in CO2 at 800 °C saw a halving in the oxygen concentration from the particle periphery to its center. It was also observed that this activation process leads to an increase in keto and quinone groups from the particle periphery towards the center and the inverse for other carbonyls as well as ether and hydroxyl groups, suggesting the two are formed under CO2-poor and -rich environments, respectively. In contrast to these observations, use of physical activation processes where diffusion-control is absent are shown to yield carbons whose chemistry is radially invariant. This suggests that a non-diffusion limited activation processes should be used if the performance of a carbon is dependent on having a specific optimal pore surface chemical composition.