This paper proposes a strategy for grasp and manipulation of unknown objects. In order to derive force relations of fingers, the groped shape of soft fingers is introduced. The groped shape is not equal to the real ob...
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This paper proposes a strategy for grasp and manipulation of unknown objects. In order to derive force relations of fingers, the groped shape of soft fingers is introduced. The groped shape is not equal to the real object shape, but is tightly related to the force equilibrium of fingers. By considering contact forces of the groped shape, a simple control parameters can be derived. The manipulation of an object is easily accomplished by embedding the concept of virtual centroid into the grasp control to redistribute internal forces. With these concepts, an object can be easily translated, rotated, and manipulated by relocating fingers. The proposed method is verified with experiments.
The inspection of products and assessment of quality is connected with high costs and time effort in many industrial domains. This also applies to the forestry industry. Utilizing state-of-the-art deep learning models...
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Multitasking requires rapid switching of attention and cognitive resources between different tasks in a dynamic environment, relying on cognitive processes, such as working memory, executive control, and selective att...
The efficiency optimization methods for natural coagulants are often restricted due to non-scientific trial-and-error approaches. They are inaccurate in predicting the complex interactions of jet mixing parameters, co...
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The accuracy of a motion capture (MoCap) system based on inertial measurement units (IMUs) depends on the IMU-to-segment (I2S) calibration, in which the IMU alignment relative to a body segment is calculated using a r...
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We are developing an artificial intelligence (AI)-based health management system that suggests efficient and effective interventions for keeping people healthy based on the potential risk of disease predicted by using...
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The development of a simple and low cost technique for determination of arsenic (As) in drinking water wells is an urgent need to accelerate As mitigation policy. The aim of this study was to evaluate the potentiality...
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Liquid metals are mostly made foamable by Ca additions followed by a thickening period. There is a need for an additive that can be easily admixed to an aluminium alloy melt and makes this melt foamable. We have selec...
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ISBN:
(纸本)9781932078282
Liquid metals are mostly made foamable by Ca additions followed by a thickening period. There is a need for an additive that can be easily admixed to an aluminium alloy melt and makes this melt foamable. We have selected aluminium-based grain refiner composites to test their foamability. TiB 2, TiC or TiAl3 particles were produced in the melt by flux-assisted melting using fluoride salts. The particle size was kept below 1 μm for TiB2 and TiC and around 10 μm for TiAl3. The composites were heated to above their melting point (700C) and were then foamed by either the addition of TiH2 or by injecting gases into the melt directly. Foams were successfully produced using TiB2 and TiC particles, while TiAl3 did not lead to any foam. Foam stability increased from TiB2 to TiC. Ex-situ characterisation of the foams by SEM showed that the particles segregate to the surfaces of the cell walls and lead to almost dense coverages there. Even after dilution of the initial composite a significant amount of foam can be still produced, indicating that these composites are suitable foam stabilizing additive for aluminium alloys and that foams based on small volume fractions of non-metallic additives can be produced.
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