The impact of robotics technology can be seen in every aspect of our daily lives, both at work and at home. robotics has the potential to revolutionize the way we live and work by increasing efficiency, improving safe...
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Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabli...
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ISBN:
(纸本)9798350332223
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic manufacture of devices containing rigid and elastic sections. We propose a novel design technique that leverages both technologies and can automatically design bespoke soft robotic grippers for fruit-picking and similar applications. We demonstrate the novel topology optimisation formulation that generates multi-material soft grippers, can solve internal and external pressure boundaries, and investigate methods to produce air-tight designs. Compared to existing methods, it vastly expands the searchable design space while increasing simulation accuracy.
This paper aims to answer the question of the applicability of collaborative robots (cobots) that are suitable for engine piston assembly applications. To define the possible application and methods, a case study is c...
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Coupled actuation is a common strategy for reducing the number of actuators in robots with high degrees of freedom. Coupled actuation leads to an underactuation that lowers system complexity and weight. However, an ap...
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ISBN:
(纸本)9798350381818
Coupled actuation is a common strategy for reducing the number of actuators in robots with high degrees of freedom. Coupled actuation leads to an underactuation that lowers system complexity and weight. However, an approach for a controlled nonlinear coupling of multiple tendons does not exist for tendon-driven actuation. We propose a method to enable task-defined non-linearly coupled actuation by designing eccentric pulleys of variable radii. Given a target profile of tendon length changes, we perform piecewise fitting of the target curve to generate a composite pulley geometry. Theoretical verification of the method with 200 randomly generated tendon profiles shows stable results with an average of 2.19% relative error. In addition, we built a practical demonstration by implementing non-linearly coupled control of a tendon-driven finger. The six tendons that control the robotic finger were all actuated using pulleys connected to a single motor, resulting in a 5.35% average fingertip orientation tracking error. In conclusion, the pulley-shaping method proposed in this project enables the task-defined nonlinear coupling of multiple degrees of freedom to a single actuator of tendon-driven systems. We believe that the algorithm's generalizability will enable further practical use in tendon-driven dexterous hands, animatronics, manipulators, and legged robots, among various other possible applications.
Natural disasters are more and more often present in our daily life. Many are the cases where these events affect people and economies. In this context, there is the need for a technological intervention in support of...
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ISBN:
(纸本)9798400704734
Natural disasters are more and more often present in our daily life. Many are the cases where these events affect people and economies. In this context, there is the need for a technological intervention in support of first responders, with solutions capable of make decisions on the disaster areas. Indeed, considering these scenarios are time-sensitive, the intention is moving the computation units closer to those areas. In this paper, we propose a computing continuum architecture for offloading distributed intelligences over cloud, edge and deep edge layers. Exploiting the federated learning paradigm, enables mobile and stationary devices to independently train local models, contributing to the creation of the global common model.
Today, the use of neural network technologies in solving practical problems in various fields of science and technology has become a topical issue. Such problems that can be successfully solved by artificial neural ne...
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The proceedings contain 157 papers. The topics discussed include: a reversible data hiding scheme for ECG signals using CNN-PEE;design and development of in-memory-compute SRAM cell using 45nm technology;stand alone o...
ISBN:
(纸本)9798350379525
The proceedings contain 157 papers. The topics discussed include: a reversible data hiding scheme for ECG signals using CNN-PEE;design and development of in-memory-compute SRAM cell using 45nm technology;stand alone or non-standalone 5G tactical edge network architecture for military and use case scenarios;secrecy capacity optimization in RF/FSO systems: impact of mixed Rayleigh and log-normal fading with atmospheric turbulence;real-time eye-tracking mouse control system using OpenCV and facial landmark detection;a time-efficient path navigating landmine detection robot;optimizing GPS positioning: a deep learning approach to improve accuracy;a novel structure of on-chip multilayered half-turn inductor for RF applications;and low profile wideband 3 element parasitic hexagonal patch antenna.
Locating the source of harmful, flammable, or polluting gas leaks is an important task in many practical scenarios. A recently proposed localization approach is to use a mobile robot equipped with a chemical sensor. T...
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This paper proposes a tracking-guidance people system, developing and deploying a vision-based approach for identifying individuals by utilizing distinct light spectrum ranges, specifically Thermal (for tracking purpo...
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In this work the Partially Observable Markov Decision Process (POMDP) method is formulated for the determination of robot actions whose role is to assist a Human Activity Recognition (HAR) system in a smart home envir...
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