Auswahl der wissenschaftlichen Literatur zum Thema „Bin picking technologie“

Purpose – This paper aims to provide details of recent developments in random bin picking (RBP) technologies and products, together with an insight into its commercial status and prospects. Design/methodology/approach – Following an introduction to RBP, this article discusses the technology, benefits and limitations of RBP. It then considers a number of products and applications and concludes with a brief discussion. Findings – This article shows that RBP offers significant economic and operational benefits, but it is a complex technology and applications remain limited. It is underpinned by advanced machine vision and sophisticated image processing algorithms and continues to be the topic of academic research. Many RBP products have been launched in the past but the latest generation of dedicated vision systems, software packages and fully integrated robotic systems suggest that more widespread applications are imminent. Originality/value – This paper provides a timely introduction to the rapidly developing field of RBP by discussing the technologies and a range of products and applications.

HighlightsWorkers’ apple harvest processes with three harvest methods were evaluated and compared.All three harvest methods had low overall harvest efficiency.Harvest efficiency for the ladder-and-bucket method can be improved by reducing non-picking activities.Innovation for harvest platform systems should focus on improving fruit picking activities.Abstract. In recent years, harvest platforms are being increasingly used by apple growers in the U.S. and many other countries to replace the traditional ladder-and-bucket harvest method. However, the current harvest platforms still have low levels of automation, which limits their potential to achieve greater productivity improvement. This study was therefore aimed at analyzing the harvest process by fruit pickers with three distinct harvest methods and determining potential areas for efficiency improvement. Video recordings of workers with the traditional ladder-and-bucket method, DBR vacuum harvester, and Huron Fruit Systems harvest platform were collected at three commercial orchards during the 2018 harvest season. The videos were then analyzed, using the time and motion technique, and categorized into picking and non-picking activities. Results showed that the average picking time by workers for the ladder-and-bucket, DBR, and Huron harvest methods were 64%, 78%, and 83% of the total time, respectively. After further dividing the picking activity into approaching, detaching, and transporting actions, it was found that the detaching action, which is essential in fruit picking, accounted for only 30% to 32% of the total picking time for the three methods, with the remaining 2/3 of the time spent on the approaching and transporting actions. The ladder-and-bucket, DBR, and Huron harvest methods had a low overall apple detaching efficiency of 21%, 23%, and 26%, respectively, and an overall time index of 45%, 71%, and 80%, respectively (these two parameters were introduced for measuring harvest efficiency). Hence, significant opportunities exist for improving harvest efficiency for the three methods. For the ladder-and-bucket method, efforts should be made on improving non-picking activities, i.e., fruit unloading and minimizing the walking distance to the fruit unloading station or bin. For harvest platforms, efforts should be devoted to the development of innovative fruit catching or receiving and bin filling technologies to reduce fruit picking time (i.e., reducing the time needed to reach fruit on trees and transport picked fruit to conveyors) as well as alleviate the physical demand and occupational hazard for workers by eliminating the use of buckets. Keywords: Apple, Fruit picking, Harvest efficiency, Harvest platform, Horticulture crops, Vacuum harvest.

HighlightsWorkers’ apple harvest processes with three harvest methods were evaluated and compared.All three harvest methods had low overall harvest efficiency.Harvest efficiency for the ladder-and-bucket method can be improved by reducing non-picking activities.Innovation for harvest platform systems should focus on improving fruit picking activities.Abstract. In recent years, harvest platforms are being increasingly used by apple growers in the U.S. and many other countries to replace the traditional ladder-and-bucket harvest method. However, the current harvest platforms still have low levels of automation, which limits their potential to achieve greater productivity improvement. This study was therefore aimed at analyzing the harvest process by fruit pickers with three distinct harvest methods and determining potential areas for efficiency improvement. Video recordings of workers with the traditional ladder-and-bucket method, DBR vacuum harvester, and Huron Fruit Systems harvest platform were collected at three commercial orchards during the 2018 harvest season. The videos were then analyzed, using the time and motion technique, and categorized into picking and non-picking activities. Results showed that the average picking time by workers for the ladder-and-bucket, DBR, and Huron harvest methods were 64%, 78%, and 83% of the total time, respectively. After further dividing the picking activity into approaching, detaching, and transporting actions, it was found that the detaching action, which is essential in fruit picking, accounted for only 30% to 32% of the total picking time for the three methods, with the remaining 2/3 of the time spent on the approaching and transporting actions. The ladder-and-bucket, DBR, and Huron harvest methods had a low overall apple detaching efficiency of 21%, 23%, and 26%, respectively, and an overall time index of 45%, 71%, and 80%, respectively (these two parameters were introduced for measuring harvest efficiency). Hence, significant opportunities exist for improving harvest efficiency for the three methods. For the ladder-and-bucket method, efforts should be made on improving non-picking activities, i.e., fruit unloading and minimizing the walking distance to the fruit unloading station or bin. For harvest platforms, efforts should be devoted to the development of innovative fruit catching or receiving and bin filling technologies to reduce fruit picking time (i.e., reducing the time needed to reach fruit on trees and transport picked fruit to conveyors) as well as alleviate the physical demand and occupational hazard for workers by eliminating the use of buckets. Keywords: Apple, Fruit picking, Harvest efficiency, Harvest platform, Horticulture crops, Vacuum harvest.

6D pose estimation is a common and important task in industry. Obtaining the 6D pose of objects is the basis for many other functions such as bin picking, autopilot, etc. Therefore, many corresponding studies have been made in order to improve the accuracy and enlarge the range of application of various approaches. After several years of development, the methods of 6D pose estimation have been enriched and improved. Although some predecessors have analyzed the methods and summarized them in detailed, there have been many new breakthroughs in recent years. To understand 6D pose estimation better, this paper will make a new and more detailed review of 6D pose estimation. We divided these methods into two approaches: Learning-based approaches and non-learning-based approaches, including 2D-information-based approach and 3D-information-based approach. Additionally, we introduce the challenges that exist in 6D pose estimation. Finally, we compare the performance of different methods qualitatively and discuss the future development trends of the 6D pose estimation.

Introduction This article is a study in anxiety with regard to social online spaces (SOS) conceived of as dark. There are two possible ways to define ‘dark’ in this context. The first is that communication is dark because it either has limited distribution, is not open to all users (closed groups are a case example) or hidden. The second definition, linked as a result of the first, is the way that communication via these means is interpreted and understood. Dark social spaces disrupt the accepted top-down flow by the ‘gazing elite’ (data aggregators including social media), but anxious users might need to strain to notice what is out there, and this in turn destabilises one’s reception of the scene. In an environment where surveillance technologies are proliferating, this article examines contemporary, dark, interconnected, and interactive communications for the entangled affordances that might be brought to bear. A provocation is that resistance through counterveillance or “sousveillance” is one possibility. An alternative (or addition) is retreating to or building ‘dark’ spaces that are less surveilled and (perhaps counterintuitively) less fearful. This article considers critically the notion of dark social online spaces via four broad socio-technical concerns connected to the big social media services that have helped increase a tendency for fearful anxiety produced by surveillance and the perceived implications for personal privacy. It also shines light on the aspect of darkness where some users are spurred to actively seek alternative, dark social online spaces. Since the 1970s, public-key cryptosystems typically preserved security for websites, emails, and sensitive health, government, and military data, but this is now reduced (Williams). We have seen such systems exploited via cyberattacks and misappropriated data acquired by affiliations such as Facebook-Cambridge Analytica for targeted political advertising during the 2016 US elections. Via the notion of “parasitic strategies”, such events can be described as news/information hacks “whose attack vectors target a system’s weak points with the help of specific strategies” (von Nordheim and Kleinen-von Königslöw, 88). In accord with Wilson and Serisier’s arguments (178), emerging technologies facilitate rapid data sharing, collection, storage, and processing wherein subsequent “outcomes are unpredictable”. This would also include the effect of acquiescence. In regard to our digital devices, for some, being watched overtly—through cameras encased in toys, computers, and closed-circuit television (CCTV) to digital street ads that determine the resonance of human emotions in public places including bus stops, malls, and train stations—is becoming normalised (McStay, Emotional AI). It might appear that consumers immersed within this Internet of Things (IoT) are themselves comfortable interacting with devices that record sound and capture images for easy analysis and distribution across the communications networks. A counter-claim is that mainstream social media corporations have cultivated a sense of digital resignation “produced when people desire to control the information digital entities have about them but feel unable to do so” (Draper and Turow, 1824). Careful consumers’ trust in mainstream media is waning, with readers observing a strong presence of big media players in the industry and are carefully picking their publications and public intellectuals to follow (Mahmood, 6). A number now also avoid the mainstream internet in favour of alternate dark sites. This is done by users with “varying backgrounds, motivations and participation behaviours that may be idiosyncratic (as they are rooted in the respective person’s biography and circumstance)” (Quandt, 42). By way of connection with dark internet studies via Biddle et al. (1; see also Lasica), the “darknet” is a collection of networks and technologies used to share digital content … not a separate physical network but an application and protocol layer riding on existing networks. Examples of darknets are peer-to-peer file sharing, CD and DVD copying, and key or password sharing on email and newsgroups. As we note from the quote above, the “dark web” uses existing public and private networks that facilitate communication via the Internet. Gehl (1220; see also Gehl and McKelvey) has detailed that this includes “hidden sites that end in ‘.onion’ or ‘.i2p’ or other Top-Level Domain names only available through modified browsers or special software. Accessing I2P sites requires a special routing program ... . Accessing .onion sites requires Tor [The Onion Router]”. For some, this gives rise to social anxiety, read here as stemming from that which is not known, and an exaggerated sense of danger, which makes fight or flight seem the only options. This is often justified or exacerbated by the changing media and communication landscape and depicted in popular documentaries such as The Social Dilemma or The Great Hack, which affect public opinion on the unknown aspects of internet spaces and the uses of personal data. The question for this article remains whether the fear of the dark is justified. Consider that most often one will choose to make one’s intimate bedroom space dark in order to have a good night’s rest. We might pleasurably escape into a cinema’s darkness for the stories told therein, or walk along a beach at night enjoying unseen breezes. Most do not avoid these experiences, choosing to actively seek them out. Drawing this thread, then, is the case made here that agency can also be found in the dark by resisting socio-political structural harms. 1. Digital Futures and Anxiety of the Dark Fear of the darkI have a constant fear that something's always nearFear of the darkFear of the darkI have a phobia that someone's always there In the lyrics to the song “Fear of the Dark” (1992) by British heavy metal group Iron Maiden is a sense that that which is unknown and unseen causes fear and anxiety. Holding a fear of the dark is not unusual and varies in degree for adults as it does for children (Fellous and Arbib). Such anxiety connected to the dark does not always concern darkness itself. It can also be a concern for the possible or imagined dangers that are concealed by the darkness itself as a result of cognitive-emotional interactions (McDonald, 16). Extending this claim is this article’s non-binary assertion that while for some technology and what it can do is frequently misunderstood and shunned as a result, for others who embrace the possibilities and actively take it on it is learning by attentively partaking. Mistakes, solecism, and frustrations are part of the process. Such conceptual theorising falls along a continuum of thinking. Global interconnectivity of communications networks has certainly led to consequent concerns (Turkle Alone Together). Much focus for anxiety has been on the impact upon social and individual inner lives, levels of media concentration, and power over and commercialisation of the internet. Of specific note is that increasing commercial media influence—such as Facebook and its acquisition of WhatsApp, Oculus VR, Instagram, CRTL-labs (translating movements and neural impulses into digital signals), LiveRail (video advertising technology), Chainspace (Blockchain)—regularly changes the overall dynamics of the online environment (Turow and Kavanaugh). This provocation was born out recently when Facebook disrupted the delivery of news to Australian audiences via its service. Mainstream social online spaces (SOS) are platforms which provide more than the delivery of media alone and have been conceptualised predominantly in a binary light. On the one hand, they can be depicted as tools for the common good of society through notional widespread access and as places for civic participation and discussion, identity expression, education, and community formation (Turkle; Bruns; Cinque and Brown; Jenkins). This end of the continuum of thinking about SOS seems set hard against the view that SOS are operating as businesses with strategies that manipulate consumers to generate revenue through advertising, data, venture capital for advanced research and development, and company profit, on the other hand. In between the two polar ends of this continuum are the range of other possibilities, the shades of grey, that add contemporary nuance to understanding SOS in regard to what they facilitate, what the various implications might be, and for whom. By way of a brief summary, anxiety of the dark is steeped in the practices of privacy-invasive social media giants such as Facebook and its ancillary companies. Second are the advertising technology companies, surveillance contractors, and intelligence agencies that collect and monitor our actions and related data; as well as the increased ease of use and interoperability brought about by Web 2.0 that has seen a disconnection between technological infrastructure and social connection that acts to limit user permissions and online affordances. Third are concerns for the negative effects associated with depressed mental health and wellbeing caused by “psychologically damaging social networks”, through sleep loss, anxiety, poor body image, real world relationships, and the fear of missing out (FOMO; Royal Society for Public Health (UK) and the Young Health Movement). Here the harms are both individual and societal. Fourth is the intended acceleration toward post-quantum IoT (Fernández-Caramés), as quantum computing’s digital components are continually being miniaturised. This is coupled with advances in electrical battery capacity and interconnected telecommunications infrastructures. The result of such is that the ontogenetic capacity of the powerfully advanced network/s affords supralevel surveillance. What this means is that through devices and the services that they provide, individuals’ data is commodified (Neff and Nafus; Nissenbaum and Patterson). Personal data is enmeshed in ‘things’ requiring that the decisions that are both overt, subtle, and/or hidden (dark) are scrutinised for the various ways they shape social norms and create consequences for public discourse, cultural production, and the fabric of society (Gillespie). Data and personal information are retrievable from devices, sharable in SOS, and potentially exposed across networks. For these reasons, some have chosen to go dark by being “off the grid”, judiciously selecting their means of communications and their ‘friends’ carefully. 2. Is There Room for Privacy Any More When Everyone in SOS Is Watching? An interesting turn comes through counterarguments against overarching institutional surveillance that underscore the uses of technologies to watch the watchers. This involves a practice of counter-surveillance whereby technologies are tools of resistance to go ‘dark’ and are used by political activists in protest situations for both communication and avoiding surveillance. This is not new and has long existed in an increasingly dispersed media landscape (Cinque, Changing Media Landscapes). For example, counter-surveillance video footage has been accessed and made available via live-streaming channels, with commentary in SOS augmenting networking possibilities for niche interest groups or micropublics (Wilson and Serisier, 178). A further example is the Wordpress site Fitwatch, appealing for an end to what the site claims are issues associated with police surveillance (fitwatch.org.uk and endpolicesurveillance.wordpress.com). Users of these sites are called to post police officers’ identity numbers and photographs in an attempt to identify “cops” that might act to “misuse” UK Anti-terrorism legislation against activists during legitimate protests. Others that might be interested in doing their own “monitoring” are invited to reach out to identified personal email addresses or other private (dark) messaging software and application services such as Telegram (freeware and cross-platform). In their work on surveillance, Mann and Ferenbok (18) propose that there is an increase in “complex constructs between power and the practices of seeing, looking, and watching/sensing in a networked culture mediated by mobile/portable/wearable computing devices and technologies”. By way of critical definition, Mann and Ferenbok (25) clarify that “where the viewer is in a position of power over the subject, this is considered surveillance, but where the viewer is in a lower position of power, this is considered sousveillance”. It is the aspect of sousveillance that is empowering to those using dark SOS. One might consider that not all surveillance is “bad” nor institutionalised. It is neither overtly nor formally regulated—as yet. Like most technologies, many of the surveillant technologies are value-neutral until applied towards specific uses, according to Mann and Ferenbok (18). But this is part of the ‘grey area’ for understanding the impact of dark SOS in regard to which actors or what nations are developing tools for surveillance, where access and control lies, and with what effects into the future. 3. Big Brother Watches, So What Are the Alternatives: Whither the Gazing Elite in Dark SOS? By way of conceptual genealogy, consideration of contemporary perceptions of surveillance in a visually networked society (Cinque, Changing Media Landscapes) might be usefully explored through a revisitation of Jeremy Bentham’s panopticon, applied here as a metaphor for contemporary surveillance. Arguably, this is a foundational theoretical model for integrated methods of social control (Foucault, Surveiller et Punir, 192-211), realised in the “panopticon” (prison) in 1787 by Jeremy Bentham (Bentham and Božovič, 29-95) during a period of social reformation aimed at the improvement of the individual. Like the power for social control over the incarcerated in a panopticon, police power, in order that it be effectively exercised, “had to be given the instrument of permanent, exhaustive, omnipresent surveillance, capable of making all visible … like a faceless gaze that transformed the whole social body into a field of perception” (Foucault, Surveiller et Punir, 213–4). In grappling with the impact of SOS for the individual and the collective in post-digital times, we can trace out these early ruminations on the complex documentary organisation through state-controlled apparatuses (such as inspectors and paid observers including “secret agents”) via Foucault (Surveiller et Punir, 214; Subject and Power, 326-7) for comparison to commercial operators like Facebook. Today, artificial intelligence (AI), facial recognition technology (FRT), and closed-circuit television (CCTV) for video surveillance are used for social control of appropriate behaviours. Exemplified by governments and the private sector is the use of combined technologies to maintain social order, from ensuring citizens cross the street only on green lights, to putting rubbish in the correct recycling bin or be publicly shamed, to making cashless payments in stores. The actions see advantages for individual and collective safety, sustainability, and convenience, but also register forms of behaviour and attitudes with predictive capacities. This gives rise to suspicions about a permanent account of individuals’ behaviour over time. Returning to Foucault (Surveiller et Punir, 135), the impact of this finds a dissociation of power from the individual, whereby they become unwittingly impelled into pre-existing social structures, leading to a ‘normalisation’ and acceptance of such systems. If we are talking about the dark, anxiety is key for a Ministry of SOS. Following Foucault again (Subject and Power, 326-7), there is the potential for a crawling, creeping governance that was once distinct but is itself increasingly hidden and growing. A blanket call for some form of ongoing scrutiny of such proliferating powers might be warranted, but with it comes regulation that, while offering certain rights and protections, is not without consequences. For their part, a number of SOS platforms had little to no moderation for explicit content prior to December 2018, and in terms of power, notwithstanding important anxiety connected to arguments that children and the vulnerable need protections from those that would seek to take advantage, this was a crucial aspect of community building and self-expression that resulted in this freedom of expression. In unearthing the extent that individuals are empowered arising from the capacity to post sexual self-images, Tiidenberg ("Bringing Sexy Back") considered that through dark SOS (read here as unregulated) some users could work in opposition to the mainstream consumer culture that provides select and limited representations of bodies and their sexualities. This links directly to Mondin’s exploration of the abundance of queer and feminist pornography on dark SOS as a “counterpolitics of visibility” (288). This work resulted in a reasoned claim that the technological structure of dark SOS created a highly political and affective social space that users valued. What also needs to be underscored is that many users also believed that such a space could not be replicated on other mainstream SOS because of the differences in architecture and social norms. Cho (47) worked with this theory to claim that dark SOS are modern-day examples in a history of queer individuals having to rely on “underground economies of expression and relation”. Discussions such as these complicate what dark SOS might now become in the face of ‘adult’ content moderation and emerging tracking technologies to close sites or locate individuals that transgress social norms. Further, broader questions are raised about how content moderation fits in with the public space conceptualisations of SOS more generally. Increasingly, “there is an app for that” where being able to identify the poster of an image or an author of an unknown text is seen as crucial. While there is presently no standard approach, models for combining instance-based and profile-based features such as SVM for determining authorship attribution are in development, with the result that potentially far less content will remain hidden in the future (Bacciu et al.). 4. There’s Nothing New under the Sun (Ecclesiastes 1:9) For some, “[the] high hopes regarding the positive impact of the Internet and digital participation in civic society have faded” (Schwarzenegger, 99). My participant observation over some years in various SOS, however, finds that critical concern has always existed. Views move along the spectrum of thinking from deep scepticisms (Stoll, Silicon Snake Oil) to wondrous techo-utopian promises (Negroponte, Being Digital). Indeed, concerns about the (then) new technologies of wireless broadcasting can be compared with today’s anxiety over the possible effects of the internet and SOS. Inglis (7) recalls, here, too, were fears that humanity was tampering with some dangerous force; might wireless wave be causing thunderstorms, droughts, floods? Sterility or strokes? Such anxieties soon evaporated; but a sense of mystery might stay longer with evangelists for broadcasting than with a laity who soon took wireless for granted and settled down to enjoy the products of a process they need not understand. As the analogy above makes clear, just as audiences came to use ‘the wireless’ and later the internet regularly, it is reasonable to argue that dark SOS will also gain widespread understanding and find greater acceptance. Dark social spaces are simply the recent development of internet connectivity and communication more broadly. The dark SOS afford choice to be connected beyond mainstream offerings, which some users avoid for their perceived manipulation of content and user both. As part of the wider array of dark web services, the resilience of dark social spaces is reinforced by the proliferation of users as opposed to decentralised replication. Virtual Private Networks (VPNs) can be used for anonymity in parallel to TOR access, but they guarantee only anonymity to the client. A VPN cannot guarantee anonymity to the server or the internet service provider (ISP). While users may use pseudonyms rather than actual names as seen on Facebook and other SOS, users continue to take to the virtual spaces they inhabit their off-line, ‘real’ foibles, problems, and idiosyncrasies (Chenault). To varying degrees, however, people also take their best intentions to their interactions in the dark. The hyper-efficient tools now deployed can intensify this, which is the great advantage attracting some users. In balance, however, in regard to online information access and dissemination, critical examination of what is in the public’s interest, and whether content should be regulated or controlled versus allowing a free flow of information where users self-regulate their online behaviour, is fraught. O’Loughlin (604) was one of the first to claim that there will be voluntary loss through negative liberty or freedom from (freedom from unwanted information or influence) and an increase in positive liberty or freedom to (freedom to read or say anything); hence, freedom from surveillance and interference is a kind of negative liberty, consistent with both libertarianism and liberalism. Conclusion The early adopters of initial iterations of SOS were hopeful and liberal (utopian) in their beliefs about universality and ‘free’ spaces of open communication between like-minded others. This was a way of virtual networking using a visual motivation (led by images, text, and sounds) for consequent interaction with others (Cinque, Visual Networking). The structural transformation of the public sphere in a Habermasian sense—and now found in SOS and their darker, hidden or closed social spaces that might ensure a counterbalance to the power of those with influence—towards all having equal access to platforms for presenting their views, and doing so respectfully, is as ever problematised. Broadly, this is no more so, however, than for mainstream SOS or for communicating in the world. References Bacciu, Andrea, Massimo La Morgia, Alessandro Mei, Eugenio Nerio Nemmi, Valerio Neri, and Julinda Stefa. “Cross-Domain Authorship Attribution Combining Instance Based and Profile-Based Features.” CLEF (Working Notes). Lugano, Switzerland, 9-12 Sep. 2019. Bentham, Jeremy, and Miran Božovič. The Panopticon Writings. London: Verso Trade, 1995. 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Mahmood, Mimrah. “Australia's Evolving Media Landscape.” 13 Apr. 2021 <https://www.meltwater.com/en/resources/australias-evolving-media-landscape>. Mann, Steve, and Joseph Ferenbok. “New Media and the Power Politics of Sousveillance in a Surveillance-Dominated World.” Surveillance & Society 11.1/2 (2013): 18-34. McDonald, Alexander J. “Cortical Pathways to the Mammalian Amygdala.” Progress in Neurobiology 55.3 (1998): 257-332. McStay, Andrew. Emotional AI: The Rise of Empathic Media. London: Sage, 2018. Mondin, Alessandra. “‘Tumblr Mostly, Great Empowering Images’: Blogging, Reblogging and Scrolling Feminist, Queer and BDSM Desires.” Journal of Gender Studies 26.3 (2017): 282-292. Neff, Gina, and Dawn Nafus. Self-Tracking. Cambridge, Mass.: MIT Press, 2016. Negroponte, Nicholas. Being Digital. New York: Alfred A. Knopf, 1995. Nissenbaum, Helen, and Heather Patterson. “Biosensing in Context: Health Privacy in a Connected World.” Quantified: Biosensing Technologies in Everyday Life. Ed. Dawn Nafus. 2016. 68-79. O’Loughlin, Ben. “The Political Implications of Digital Innovations.” Information, Communication and Society 4.4 (2001): 595–614. Quandt, Thorsten. “Dark Participation.” Media and Communication 6.4 (2018): 36-48. Royal Society for Public Health (UK) and the Young Health Movement. “#Statusofmind.” 2017. 2 Apr. 2021 <https://www.rsph.org.uk/our-work/campaigns/status-of-mind.html>. Statista. “Number of IoT devices 2015-2025.” 27 Nov. 2020 <https://www.statista.com/statistics/471264/iot-number-of-connected-devices-worldwide/>. Schwarzenegger, Christian. “Communities of Darkness? Users and Uses of Anti-System Alternative Media between Audience and Community.” Media and Communication 9.1 (2021): 99-109. Stoll, Clifford. Silicon Snake Oil: Second Thoughts on the Information Highway. Anchor, 1995. Tiidenberg, Katrin. “Bringing Sexy Back: Reclaiming the Body Aesthetic via Self-Shooting.” Cyberpsychology: Journal of Psychosocial Research on Cyberspace 8.1 (2014). 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Editoriallist, Liszt, mist, quist (Dialect wood pigeon), wrist, grist, tryst, cyst, cist (box holding ritual objects), schist, whist, twist, xyst (long portico) (Fergusson 270)“Everyone uses lists,” Francis Spufford (2) tells us. Lists are all pervasive; they are part-and-parcel of how we experience and make sense of the world. According to Umberto Eco, the whole history of creative production can be seen as one that is characterised by an “infinity of lists” comprising, to name a few, visual lists (sixteenth century religious paintings, Dutch still life paintings), pragmatic or utilitarian lists (shopping lists, library catalogues, assets in a will), poetic or literary lists (such as in Joyce or Sebald, for instance), lists of places, lists of things (like the great list of ships in the Iliad), and so on, ad infinitum... In accordance with such variation in form comes great variation in purpose, with lists used to “enumerate, account, remind, memorialize, order,” and so on (Belknap 6). List making, Geoffrey Bowker and Susan Leigh Star point out, “has frequently been seen as one of the foundational activities of advanced human society” (137): to cite three examples, list making is argued to be crucial to our understanding of orality and the development of literacy (Goody 74-111), and to the connection between these and later forms and techniques of information management (Hobart and Schiffman), as well as to our appreciation of the functioning and value of narrativity (White). In this way, Robert Belknap perhaps has a point in proposing that, “The list form is the predominant mode of organizing data relevant to human functioning in the world” (8).Simply defined, a list is “a formally organized block of information that is composed of a set of members” (Belknap 15). What is significant about a list is that it is “simultaneously the sum of its parts and the individual parts themselves” (15). That is to say, like links in a chain, “the list joins and separates at the same time” (15). In addition to these features, Jack Goody also suggests that, across their various manifestations, lists have a number of basic characteristics or conventions concerning how they are constructed and read, which, appropriately, he lists as follows:The list relies on discontinuity rather than continuity; it depends on physical placement, on location; it can be read in different directions, both sideways and downwards, up and down, as well as left and right; it has a clear-cut beginning and a precise end, that is, a boundary, an edge, like a piece of cloth. Most importantly it encourages the ordering of the items, by number, by initial sound, by category, etc. And the existence of boundaries, external and internal, brings greater visibility to categories, at the same time as making them more abstract. (Goody 81)Just as boundaries are “an important attribute” (Goody 80) of the list and how each is compiled, so too are semantic boundary disputes for how we conceive of the list vis-à-vis other forms of enumeration. If one were to compose a list of lists, Belknap suggests, it “would include the catalogue, the inventory, the itinerary, and the lexicon” (2). This is, however, a problematic typology insofar as each item can be seen to hold subtle differences in form and purpose from the list, as Belknap is quick to point out: “The catalogue is more comprehensive, conveys more information, and is more amenable to digression than the list. In the inventory, words representing names or things are collected by a conceptual principle.” (2-3) In his discussion of lists in literature, Spufford extends the first of these distinctions by drawing a qualitative distinction between the list (“In a list, almost everything that makes writing interesting to read seems inevitably to be excluded,” 1) and the catalogue (“Rather richer, and a step closer to the complex intentions and complex effects of literature proper, are the catalogues of some sorts of collections,” 3). Elsewhere, the close associations, and difficulties in differentiating, between the list and the classification system has also been noted (Bowker and Star, 137-61). While we recognise these delicate, at times almost imperceptible but nonetheless significant differences in meaning, in this special issue we take an expansive and inclusive approach to the list form and the implications of lists and listing. One (deceptively simple) distinction that is productive in framing this themed issue and the essays included in it is that which Belknap (3-5) draws between literary lists, on the one hand, and pragmatic or utilitarian lists, on the other hand. According to Belknap, literary lists are “complex in precisely the way a pragmatic list must not be” (5). Belknap, like Spufford before him, takes up and explores these “complexities” of literary lists in great detail. Two contributions to this special issue engage with the intricacies of the literary list. In the first of these, Darren Tofts, in his evocatively titled piece “Why Writers Hate the Second Law of Thermodynamics; Lists, Entropy, and the Sense of Unending,” examines the list form as it is mobilised by a range of writers, from Beckett and Borges, to Joyce and Robbe-Grillet. Tofts explores the exhaustion and tilt towards entropy that “issues from the tireless pursuit of categorisation, classification, and the mania for ordered information” by each of these diverse writers, and the way that words themselves tend to resist entropy by taking on “a weird half-life of their own” and sustaining “an unlikely […] stoical sense of unending.” Quite a different treatment of literary lists is offered by Tom Lee in his essay “The Lists of W. G. Sebald.” Focusing on the novel The Rings of Saturn, Lee explores the way that Sebald mobilises literary lists as a crucial device in his exploration and interrogation of the question, in Lee’s words, of what “might lay ahead for books if the question of what writing can be is asked continually as part of a writer’s enterprise.” But to focus solely on literary lists is to obscure or ignore other vital dimensions of lists and listing, such as the way that pragmatic listing forms (not just their literary counterparts) can be put to powerful rhetorical use (Belknap 3). Bowker and Star capture this well in the following passage:The material culture of bureaucracy and empire is not found in pomp and circumstance, nor even in the first instance of the point of a gun, but rather at the point of a list. (Bowker and Star 137)This is something that has been evident to a number of writers and thinkers, not least Foucault, who, in his The Order of Things, for example, sought to delineate the rise of the great natural history taxonomies in the seventeenth and eighteenth centuries in terms of their productive power as authoritative forms of classification. Foucault’s exploration of these connections can be said to have fed his subsequent theorisations of “governmentality”—which Judith Butler summarises as “a mode of power concerned with the maintenance and control of bodies and persons, the production and regulation of persons and populations” (52)—and of “biopolitics”—which Foucault defines as a “set of mechanisms through which the basic biological features of the human species became the object of a political strategy, of a general strategy of power” (Foucault, Security 1). It is within this tradition—that takes as one of its sources the work of Foucault and which runs in diverse tributaries of critical enquiry outwards in its exploration of the interconnections between lists (and other, related processes and techniques of classification) and power (see, for example, Poster)—that we can usefully situate two further essays in this issue, that by Katie Ellis and that by Suneel Jethani. Both of these essays take up lists in relation to quite distinct aspects of disabilities studies. In “Complicating a Rudimentary List of Characteristics: Communicating Disability with Down Syndrome Dolls,” Ellis brings “an interrogation of disability into dialogue with a critical analysis of the discursive function of lists” by interrogating “the use of lists in the way meanings about disability are communicated through the medical diagnostic list,” the production of Down Syndrome dolls for children, and unfavourable public reactions to these dolls. Ellis’s aim in exploring these concerns is to “complicate perceptions of disability beyond a rudimentary list of characteristics through a consideration of the negative public response to these dolls”—responses, she argues, that serve as a potent example of “the cultural subjugation of disability.” Meanwhile, in “Lists, Spatial Practice, and Assistive Technologies for the Blind,” Jethani explores the promise and perils of locative mobile media technologies designed to assist vision-impaired supermarket shoppers. Examining two prototypic applications, Shop Talk and Blind Shopping, Jethani argues that “the emancipatory potential” of these applications, “their efficacy in practical situations,” and their future commercial viability, is dependent upon commercial and institutional infrastructures and control, regulatory factors, and the extent to which they can successfully address “issues of interoperability and expanded access of spatial inventory databases and data.”The bureaucratic—or more specifically, the political economic—dimensions of pragmatic or utilitarian lists and their composition also forms the point of departure for two further essays in this issue. The first of these is Gerard Goggin’s “List Media: The Telephone Directory and the Arranging of Names.” In this feature article (one of two in this issue), Goggin examines the long history and fraught future of telephone directories and proprietary interests in them. The argument he develops is that, while telephone directories are a form of book (at least traditionally), they are in fact better thought of as a unique form of media—what he terms “list media.” Proprietary interests in lists are also the specific concern of Jean Burgess and Axel Bruns who, in their article “Twitter Archives and the Challenges of ‘Big Social Data’ for Media and Communication Research,” explore the “technical, political, and epistemological” issues that attend the corporate control of network, profit-driven database—“list”—infrastructure, such as Twitter. Notwithstanding the above considerations of power, inclusion and exclusion, ownership and control, there is one further, vital aspect of non-literary lists that warrants explicit mention here. This is the fact that pragmatic and utilitarian lists and our engagements with them are, for the most part, deeply embedded in everyday life and form part of all the routines, habits, and familiar patterns that characterise our “ordinary lives” (Highmore)—after all, to restate Spufford’s opening remark, this is the context in which “everyone uses lists” (2). The final two of the eight articles making up this themed issue examine everyday lists and the potential of lists as productive mechanisms for documenting and making sense of the ineffability of the everyday. The first of these, which also forms the first of the two feature articles, is Ben Highmore’s “Listlessness in the Archive.” This playful and poetic piece explores the challenges that a researcher faces when they attempt to tackle an archive that is the work of an army of “amateur anthropologist” volunteers who documented British lives in a project of Mass Observation. The centerpiece of the article is a series of lists compiled by the Mass-Observers of the objects on their own mantelpieces. Picking up on the theme of entropy (also explored by Tofts in this issue), Highmore describes the sense of listlessness that threatens to overwhelm his encounter with these lists. Lastly, in our article, “The Everyday Work of Lists,” we take a rather different approach to Highmore’s by exploring the work that lists do in “mediating the materiality and complexity of consumer-based everyday life.” Our guide is the French writer, Georges Perec, who, across a variety of projects and texts, deployed the list as a productive mechanism (an “invent-ory,” as we refer to it) and lever for prying open for inspection the seemingly inscrutable inner workings of everyday spaces, things, and memories. To conclude this editorial introduction, it seems only fitting that we end with a brief list of acknowledgments. We wish to thank:those at M/C Journal, Axel Bruns and Peta Mitchell, for supporting and assisting with this special issue;the authors who entrusted us with their articles, and tolerated with good humour and patience our various requests; and,the many referees for their vital contributions in reading and reviewing the articles gathered here;Simon Hayter and the Ancient Egypt website, for the banner image, a twelfth century BC papyrus list of Egyptian rulers; those authors whose insights, scholarly pursuit and use of lists inspired this issue: Robert Belknap, Jack Goody, Umberto Eco, Georges Perec…ReferencesBelknap, Robert E. The List: The Uses and Pleasures of Cataloguing. New Haven: Yale UP, 2004.Bowker, Geoffrey C., and Susan Leigh Star. Sorting Things Out: Classification and its Consequences. Cambridge, MA: MIT Press, 2000.Butler, Judith. Precarious Life. London: Verso, 2004.Eco, Umberto. The Infinity of Lists. Trans. Alastair McEwen. London: MacLehose Press, 2009.Fergusson, Rosalind. The Penguin Rhyming Dictionary. Harmondsworth, Middlesex: Penguin, 1985.Foucault, Michel. Security, Territory, Population: Lectures at the Collège de France 1977-1978. Trans. Graham Burchell. New York: Palgrave Macmillan.---. The Order of Things: An Archaeology of the Human Sciences. New York: Routledge, 2002.Goody, Jack. “What’s in a List?” The Domestication of the Savage Mind. Cambridge: Cambridge UP, 1977. 74-111.Highmore, Ben. Ordinary Lives: Studies in the Everyday. London: Routledge, 2011.Hobart, Michael E., and Zachary S. Schiffman. Information Ages: Literacy, Numeracy, and the Computer Revolution. Baltimore: The Johns Hopkins UP, 1998. Poster, Mark. “Foucault and Databases.” The Mode of Information: Poststructuralism and Social Context. Oxford: Polity, 1990. 69-98.Spufford, Francis. “Introduction.” The Chatto Book of Cabbages and Kings: Lists in Literature. Ed. Francis Spufford. London: Chatto & Windus, 1989. 1-23.White, Hayden, “The Value of Narrativity in the Representation of Reality.” On Narrative. Ed. W. J. T. Mitchell. Chicago: The U of Chicago P, 1981. 1-23.

The master thesis deals with design of a robotic workcell for the operating of CNC lathe. The material input is realized by bin picking technology. The first part is an overview of related industries. Three variants of the workcell layout were created in the second part and the most suitable variant was selected. Selected variant is further elaborated, including 3D models of the workplace parts and drawings. The functionality of the designed workcell is checked by Siemens Process Simulate software simulation. The technical and economical evaluation is performed at the final part of the thesis.

This paper provides the design of a simple robotic arm for pick and place operations as well as other material handling operations. The movements of the arm are anthropometric i.e. resembling the human arm with respect to degrees of freedom so as to provide a human touch in industrial and space operations. This system operates using controlled motion of DC geared motors along with a microcontroller based system (8051 or PIC based). Use of PWM (Pulse Width Modulation) can be used to control the RPM of DC geared motors. This system has the advantage of being simple and low cost with a varied flexibility of operation. A collective array of sensors viz. voice sensor, infrared light sensors, proximity sensors etc. can be incorporated to form a feedback induced closed loop system. Whereas for tasks of picking and placing at a fixed location from another location the system can be operational at open-loop. The material for the robotic arm can be polypropylene or acrylic or aluminium to reduce weight without compromising on the strength and lifting capacity of the robotic arm, such that the torque of the DC geared motors (actuators) at each joint are sufficient to lift the arm along with the weight at the end effector. Clutch and gear shifting mechanism can be used to increase the degrees of freedom per actuator. The driving circuit mainly consists of the microcontroller and H-bridge drivers using an 8-bit port to control 4 DC geared motors per port simultaneously or one at a time using delay commands. DC geared motors are quite cheaper than stepper motors and RC Servos thus reducing the total cost of the system drastically. Plus being light weight, DC geared motors reduce the total weight of the system. This paper will also throw light on the programming aspects for the microcontroller (8051 or PIC based) along with the compatible flash programmers and HEX code generators. This project will further explain on the approach followed in the mechanical design of the robotic arm (motion, work volume etc.) as well as the possible future applications of the robotic arm. Also the design of the robotic arm on CAD tools like Solidworks will be discussed in brief along with the modeling and simulation of the various links of the arm as well as the whole assembly of the system. With increasing popularity of Automation, robotic arms are the present and future of all industrial operations. Finally the paper concludes on the further improvements in design and technology.

This paper provides the design of a simple robotic arm for pick and place operations as well as other material handling operations. The movements of the arm are anthropometric i.e. resembling the human arm with respect to degrees of freedom so as to provide a human touch in industrial and space operations. This system operates using controlled motion of DC geared motors along with a microcontroller based system (8051 or PIC based). Use of PWM (Pulse Width Modulation) can be used to control the RPM of DC geared motors. This system has the advantage of being simple and low cost with a varied flexibility of operation. A collective array of sensors viz. voice sensor, infrared light sensors, proximity sensors etc. can be incorporated to form a feedback induced closed loop system. Whereas for tasks of picking and placing at a fixed location from another location the system can be operational at open-loop. The material for the robotic arm can be polypropylene or acrylic or aluminium to reduce weight without compromising on the strength and lifting capacity of the robotic arm, such that the torque of the DC geared motors (actuators) at each joint are sufficient to lift the arm along with the weight at the end effector. Clutch and gear shifting mechanism can be used to increase the degrees of freedom per actuator. The driving circuit mainly consists of the microcontroller and H-bridge drivers using an 8-bit port to control 4 DC geared motors per port simultaneously or one at a time using delay commands. DC geared motors are quite cheaper than stepper motors and RC Servos thus reducing the total cost of the system drastically. Plus being light weight, DC geared motors reduce the total weight of the system. This paper will also throw light on the programming aspects for the microcontroller (8051 or PIC based) along with the compatible flash programmers and HEX code generators. This project will further explain on the approach followed in the mechanical design of the robotic arm (motion, work volume etc.) as well as the possible future applications of the robotic arm. Also the design of the robotic arm on CAD tools like Solidworks will be discussed in brief along with the modeling and simulation of the various links of the arm as well as the whole assembly of the system. With increasing popularity of Automation, robotic arms are the present and future of all industrial operations. Finally the paper concludes on the further improvements in design and technology.

Borehole Imaging technology is often key for reservoir characterization and becomes more relevant when images are acquired while drilling to capture reservoir geology and petrophysical property distributions around the borehole. Logging While Drilling (LWD) high-resolution electrical/acoustics images of the borehole can resolve formation layers and heterogeneity down to 5mm (0.2in) scale and can detect response from far smaller features. This allows both, improved operational efficiency and better-informed drilling as well as shortening of the geological interpretation turn-around time from wireline logging time (days after drilling) to semi-real time (drilling time or hours after drilling). LWD high resolution images often suffer from the lack of direct downhole velocity measurements against the sensors. Depth tracking is on surface, referenced to the surface block movement. The imaging sensor acquiring data can be thousands of feet away from this surface reference. Imaging sensors on the bottom-hole assembly (BHA) are located not too far away from the drill bit. They are also subject to complex drilling-time motion such as tool whirling, stick and slip, vibration, mode coupling etc. This can make the downhole sensor movement dis-synchronized with the surface pipe depth increment. The Time-Depth conversion may accordingly get dis-synchronized to generate LWD depth image with missing features and distorted feature-integrity in depth. In severe conditions distorted image impacts real time image feature interpretation and leads to increased interpretation uncertainties. In this paper we investigate two main dis-synchronization problems using synthetic data: heave effect and BHA stick and slip effect. Pseudo velocity is computed from the surface measurement due to the lack of downhole sensor velocity direct measurement. In order to minimize heave effect, an advanced band-pass filter is proposed. The filter order is chosen in consistency with the sensor’s pseudo velocity behavior. Other properties of this advanced filter are also presented. In order to minimize the BHA stick and slip effect, pseudo velocity is analyzed as a delayed and minimized representative of the downhole sensor movement. A windowed-thresholding method is proposed to restore the compressed and stretched image features. Dip error analysis is performed by picking bed and fracture surface on the synthetic image data, before and after image distortion correction. The analysis results show a non-negligible effect on the accuracy of the true dip computed if the distortions are left un-corrected. Even in favorable logging conditions, the apparent dip error can contribute up to 50% of the total error. In this case, the image post-processing method proposed in this paper can not only improve the image quality but also reduce image interpretation uncertainties.