No abstract

Nowadays, robots are dominating the manufacturing, entertainment, and healthcare industries. Robot vision aims to equip robots with the capabilities to discover information, understand it, and interact with the environment, which require an agent to effectively understand object affordances and functions in complex visual domains. In this literature survey, first, “visual affordances” are focused on and current state-of-the-art approaches for solving relevant problems as well as open problems and research gaps are summarized. Then, sub-problems, such as affordance detection, categorization, segmentation, and high-level affordance reasoning, are specifically discussed. Furthermore, functional scene understanding and its prevalent descriptors used in the literature are covered. This survey also provides the necessary background to the problem, sheds light on its significance, and highlights the existing challenges for affordance and functionality learning.

Delamination is a common damage in fibre reinforced composite laminates, usually hidden from external view, that can substantially reduce the structural stiffness which changes the dynamic response of the structures such as natural frequencies. Natural frequencies are the most reliable parameters for detecting damage while they do not directly provide information regarding its location and severity. To determine the location and severity of damage, it is necessary to solve the inverse problem using frequency shifts in multiple modes. In this paper, the graphical approach, which was previously employed for estimating two variables of crack (location and size) in isotropic beams, is extended in the current work to estimate the three variables of delamination (interface, span-wise location and size) in anisotropic composite beams from measured frequency shifts. Compared to the use of optimisation or neural network for detection, graphical technique is computationally inexpensive and quick since it solves the inverse problem without iterations or network training. The present approach has been validated using numerical simulation as well as experimental data from modal testing conducted on quasi-isotropic simply supported and cantilever beams. Results show that the proposed graphical technique can be used to assess the location and severity of delamination in composite beams with a high degree of accuracy.