Bismuth vanadate with suitable band edges is one of the efficient photocatalysts for water oxidation. Establishing heterojunction can improve electron diffusion lengths and photocatalytic ability of BiVO4. In this wor...
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Recent studies in the field of robotic grasping have predominantly concentrated on generating valid grasps using geometric features of target objects, employing either analytical or deep learning methods. Although suc...
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ISBN:
(数字)9798350372694
ISBN:
(纸本)9798350372700
Recent studies in the field of robotic grasping have predominantly concentrated on generating valid grasps using geometric features of target objects, employing either analytical or deep learning methods. Although such approaches have proved successful in simple picking tasks, they often fall short in task-oriented robotic grasping that demands the grasp pose to be limited to specific parts of the object. In human hand-object interaction, individuals tend to grasp particular parts of an object to facilitate subsequent tasks based on their learned knowledge from daily life experiences. Some previous research has explored the mapping of the human hand pose to a dexterous gripper with similar degrees of freedom (DoF). Nevertheless, the majority of robotic grippers are still parallel jaw grippers, which presents a challenge in mapping high DoF human hand poses to the low DoF grasp pose of a parallel gripper. In this paper, we propose three schemes that map human hand poses to the grasp pose of a parallel gripper. Our quantitative results demonstrate that the optimal mapping scheme can achieve an impressive overall success rate of 87% in robust robotic grasping. Video: https://***/PXSF6HI5u6k.
In Amazon robotic warehouses, the destination-to-chute mapping problem is crucial for efficient package sorting. Often, however, this problem is complicated by uncertain and dynamic package induction rates, which can ...
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Improving the charge diffusion length and water oxidation kinetics of bismuth vanadate (BiVO4) is essential to achieve better photoelectrochemical catalytic ability for water oxidation. Establishing heterojunctions an...
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Acoustic techniques have been developed as multifunctional tools for various microscale manipulations. In prevalent design paradigms, a position-fixed piezoelectric transducer (PZT) is utilized to generate ultrasound ...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Acoustic techniques have been developed as multifunctional tools for various microscale manipulations. In prevalent design paradigms, a position-fixed piezoelectric transducer (PZT) is utilized to generate ultrasound waves. However, the immobility of the PZT restricts the modulation of the acoustic field's position and orientation, consequently diminishing the adaptability and effectiveness of subsequent acoustic micromanipulation tasks. Here, we proposed a miniaturized soft acoustic end-effector and demonstrated acoustic field modulation and microparticle manipulation by adjusting PZT position and orientation. The PZT is mounted on the end of a soft robotic arm that has three individual degrees of freedom and can be deformed in 3D space by inflating or deflating each chamber. Experiments showed that the soft acoustic end-effector can change the traveling direction of microparticles and modulate the location of a standing wave field. Our approach is simple, flexible, and controllable. We envision that the soft acoustic end-effector will facilitate multiscale acoustic manipulation in interdisciplinary applications, especially, for in vivo acoustic therapies.
Electrical Discharge Machining is a thermo-electrical non-conventional machining process, which is widely used in machining difficult-to-cut materials in complex shapes and geometries, regardless their mechanical prop...
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Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view camera...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree rotations, has proven to be challenging to achieve. To address this problem, this paper presents Same Place Opposing Trajectory (SPOT), a technique for opposing viewpoint VPR that relies exclusively on structure estimated through stereo visual odometry (VO). The method extends recent advances in lidar descriptors and utilizes a novel double (similar and opposing) distance matrix sequence matching method. We evaluate SPOT on a publicly available dataset with 6.7-7.6 km routes driven in similar and opposing directions under various lighting conditions. The proposed algorithm demonstrates remarkable improvement over the state-of-the-art, achieving up to 91.7% recall at 100% precision in opposing viewpoint cases, while requiring less storage than all baselines tested and running faster than all but one. Moreover, the proposed method assumes no a priori knowledge of whether the viewpoint is similar or opposing, and also demonstrates competitive performance in similar viewpoint cases.
This paper investigates the effectiveness of a type of wearable robot, known as Supernumerary Robotic Limbs (SuperLimbs) in assisting an astronaut performing partial-gravity ExtraVehicular Activities (EVAs). SuperLimb...
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In confluent cell monolayers, patterns of cell forces and motion are systematically altered near topological defects in cell shape. In turn, defects have been proposed to alter cell density, extrusion, and invasion, b...
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We have been developing a standard test method to assess the self-localization function of drones in a non-GPS environment. In this study, we focus on developing an evaluation environment and trajectory. Because it ta...
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ISBN:
(数字)9798350393965
ISBN:
(纸本)9798350393972
We have been developing a standard test method to assess the self-localization function of drones in a non-GPS environment. In this study, we focus on developing an evaluation environment and trajectory. Because it takes time to construct a real evaluation environment, we constructed an evaluation environment using a simulator developed in our previous study and evaluated the factors, such as the drone flight trajectory and the environmental characteristics, which affect the simultaneous localization and mapping (SLAM) methods. In the verification, four SLAM methods, which are open-source methods available in the robot operating system (ROS), were compared. The results obtained from this study showed that small changes in the environment did not significantly affect the performance of the SLAM methods, whereas the flight trajectories had a significant impact on them.
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