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Opening doors and drawers will be an important ability for future service robots used in domestic and industrial environments. However, in recent years, the methods for opening doors and drawers have become more diverse and difficult for robots to determine and manipulate. We can divide doors into three distinct handling types: regular handles, hidden handles, and push mechanisms. While extensive research has been done on the detection and handling of regular handles, the other types of handling have not been explored as much. In this paper, we set out to classify the types of cabinet door handling types. To this end, we collect and label a dataset consisting of RGB-D images of cabinets in their natural environment. As part of the dataset, we provide images of humans demonstrating the handling of these doors. We detect the poses of human hands and then train a classifier to determine the type of cabinet door handling. With this research, we hope to provide a starting point for exploring the different types of cabinet door openings in real-world environments.

The door is a section prone to bottlenecks and is an important element in the study of pedestrian flow. Therefore, characteristics of doors (e.g., width, location, and the distance between doors) have been taken into consideration in the existing literature related to doors. According to several previous studies, it appears likely that the door opening process (DOP) influences pedestrian flow. However, the number of studies examining the DOP remains small. Therefore, to enhance understanding of pedestrian flow, we examined two door characteristics that could affect the DOP (opening direction (swing door: push or pull) and handle type (knob, lever, and panic bar)) and limited visibility. We conducted a walking experiment to take all variables (10 cases; 10 participants per case) into account. Statistical analysis was performed on the difference in movement times, and the results were as follows: (1) inclusion of the DOP affected pedestrian flow; (2) when visibility was limited, movement times with DOP inclusion increased significantly regardless of the door opening direction and handle type; (3) when the door opening direction was ‘push’, regardless of limited visibility and door handle type, movement times with DOP inclusion were significantly lower; and (4) the door handle type did not result in any significant difference in movement times with DOP inclusion. In addition, we calculated the delay time based on the experiment results, to include the DOP in pedestrian flow (push 1.96–2.88 s, pull 3.91–4.43 s; limited visibility: push 7.38–12.56 s, and pull 12.88–16.35 s). The results of this study could be used as basic data for the development of codes/regulations, engineering guidance, and egress models for doors.

This chapter contains sections titled: Phosphorus Compounds Synthesis of Organophosphorus Compounds Tertiary Phosphine and Its Nucleophilic Reaction Arbuzov Reaction Perkow Reaction Synthesis of Optically Active Phosphines Ylide and Wittig Reaction and Related Ones Reactions of Phosphonium Salts and Formation of Phosphoranes Freezing BPR and Its Effect Antimony and Bismuth Compounds References