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Selection of Robot for Contour Crafting Using Analytical Hierarchy Process

Shanmugasundaram Senthilraja, Murugan Chidhembaram Raja Muthaiah

Civil and Environmental Engineering Reports

2023

Vol. 33, no. 4

123--150

The use of robotic equipment and a new technique called contour crafting allows for the construction of buildings at lower labor and material costs. The selection of the type of robot is an important factor that affects the overall performance of the contour crafting (CC) system. Various robot configurations, such as gantry, cylindrical, and SCARA, may be employed for contour crafting. There are benefits and drawbacks to using different types of robots for various tasks, including cost, work volume, material compatibility, and precision. Identifying a proper robot using the multi-criterion decision-making (MCDM) technique is crucial for successful building automation. This article uses the analytical hierarchy process (AHP) method to rank the best robots according to several characteristics. Cartesian robots, cylindrical robots, and SCARA robots were evaluated based on cost, accuracy, work volume, surface finish, type of profile, and speed. The results showed that the gantry-type robot is the most suitable option, while the cylindrical robot is unsuitable for building construction due to lower accuracy.

Study and adjustment of dermoscopic image processing algorithms for lesion border detection

Borys D., Szeremet M., Psiuk-Maksymowicz K., Ostrowski Z., Frąckiewicz M.

Studia Informatica

2016

Vol. 37, nr 3B

33-46

The goal of our work was an initial preprocessing of dermoscopic images towards accurate lesion border detection. Four algorithms were proposed and analyzed: MS – algorithm using mean shift clustering, HE – algorithm using histogram equalization, TTH – algorithm using the top-hat transform, PCA – algorithm using principal component analysis. Those algorithms were tested on PH2 images database that contains 200 dermoscopic images, each with a mask of the lesion. Those algorithms were optimized using lesion mask from database and Jaccard index as a measure of similarity of both sets. Simple statistical analysis of indexes was used to compare proposed algorithms in term of their accuracy.

W artykule poruszono problem wstępnego przetwarzania obrazów dermatoskopowych w celu znalezienia konturu znamienia. Zaproponowano i porównano cztery algorytmy: MS – wykorzystujący klasteryzację ‘mean shift’, HE – wykorzystujący wyrównywanie histogramu, TTH – wykorzystujący transformację ‘top-hat’, PCA – wykorzystujący metodę analizy głównych składowych. Algorytmy przetestowano z wykorzystaniem obrazów z bazy PH2, zawierającej 200 obrazów wraz z obrysem ręcznym, a ich parametry dobrano optymalizując indeks Jaccarda. Proste statystyki wyników pozwoliły na porównanie proponowanych algorytmów.