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REMODEL. WP5 T5-4-2. Robotic Wires manipulation for Switchgear Cabling and Wiring Harness Manufacturing
No full textThe dataset contains the data validating a cyber-physical system for cable manipulation composed by a robotic arm, a parallel industrial gripper and a pair of tactile sensors. The data were obtained conducting multiple tests in an experimental setup in which a cable must be routed along two linear paths connected by a turn and with four fixing points. Specifically, the tests consisted in the analysis and the evaluation of the proposed PID tensioning controller alongside the active tension control of the gripper implemented in the research for the manipulation of deformable linear object for switchgear manufacturing. The data are gathered using ROS and saved in a .bag file, the image proposed in the publication can be obtained with the matlab file attached to the dataset. The data are presented in the publication:
K. Galassi and G. Palli, "Robotic Wires Manipulation for Switchgear Cabling and Wiring Harness Manufacturing," 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 2021, pp. 531-536, doi: 10.1109/ICPS49255.2021.9468128
REMODEL. WP4. Vision-based Perception. T4_3. Cable Detection and Tracking. Fast Segmentation of Deformable Linear Objects. v0
No full textThe dataset contains the source code and model weights utilized for the experimental validation on segmentation of deformable linear objects. The developed approach is called FASTDLO. The source code algorithm comprises a deep convolutional neural network employed for background segmentation, the intersections between different Deformable Linear Objects (DLOs) are solved with a similarity-based network combined to a skeletonization algorithm. FASTDLO also describes each DLO instance with a sequence of 2D coordinates. The associated publication is the following:
A. Caporali, K. Galassi, R. Zanella and G. Palli, "FASTDLO: Fast Deformable Linear Objects Instance Segmentation," in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9075-9082, Oct. 2022, doi: 10.1109/LRA.2022.3189791
Fare Open Science nelle scienze umane
Get PDFCome tradurre nella pratica di ricerca quotidiana i principi della Open Science? Quali strumenti utilizzare per aprire ogni passo del ciclo di ricerca? Lo sentiamo dall’esperienza concreta di due ricercatori di area umanistica che ci raccontano due progetti attualmente in corso: SPICE, incentrato su strumenti e metodi per supportare la citizen curation, e un progetto congiunto di indagine sul concetto di dato nelle Scienze Umane, nell’ottica di perimetrare la gestione FAIR dei dati in queste discipline
REMODEL. WP4. Vision Based Perception. T4-4-2. Functional component detection. Sister Experimental Dataset. v0
No full textThis dataset contains experimental data related to object 3D shape reconstruction from multiple viewpoints, produced in the framework of REMODEL project. Self-aware robots rely on depth sensing to interact with the surrounding environment, e.g. to pursue object grasping. Yet, dealing with tiny items, often occurring in industrial robotics scenarios, may represent a challenge due to lack of sensors yielding sufficiently accurate depth measurements. Existing active sensors fail at measuring details of small objects (<; 1cm) because of limitations in the working range, e.g. usually beyond 50 cm away, while off-the-shelf stereo cameras are not suited to close-range acquisitions due to the need for extremely short baselines. Therefore, we propose a framework designed for accurate depth sensing and particularly amenable to reconstruction of miniature objects. By leveraging on a single camera mounted in eye-on-hand configuration and the high repeatability of a robot, we acquire multiple images and process them through a stereo algorithm revised to fully exploit multiple vantage points. This dataset addresses performance evaluation in industrial applications using Single camera Stereo Robot (SiSteR), which delivers high accuracy even when dealing with miniature objects.
The data are presented in the publication: D. De Gregorio, M. Poggi, P. Z. Ramirez, G. Palli, S. Mattoccia and L. Di Stefano, "Beyond the Baseline: 3D Reconstruction of Tiny Objects With Single Camera Stereo Robot," in IEEE Access, vol. 9, pp. 119755-119765, 2021, doi: 10.1109/ACCESS.2021.3108626
Power and Control in Platform Monopoly Capitalism
Get PDFThis book is part of the Sociologica Curated series and brings together pieces previously published by Sociologica about the platform model. It includes: the Thematic Issue ‘Power and Control in Platform Monopoly Capitalism’ published in 14(3) 2021 together with the paper published by Watkins and Stark in 12(1) 2018 on the Möbius Organizational Form; Grabher & Konig’s ‘Disruption, Embedded: A Polanyian Framing of the Platform Economy’ published in 14 (1) 2020 and the related Symposium published in 14(3) 2021
Autonomie nel lavoro negli anni Duemila
Get PDFAutonomy at work has been defined in many ways, but not all conceptualizations have the same coherence and heuristic efficacy. This book follows the literature that interprets autonomy, according to its etymological meaning, as the ability to produce one’s own rules and, therefore, to govern one’s own processes of action. In relation to autonomy, the recent rise of freelancers and independent workers, the diffusion of coworking, the organizational choices of work in the gig economy, the use of advanced technologies, and proactivity at work are explored and discussed
Tre segreti in ospedale. Luce, accoglienza e cura nella Storia della Medicina attuale
Get PDFIl modello dell’uomo composto da compartimenti stagni si è disgregato e siamo di fronte alla consapevolezza di un possibile nuovo modello con enormi spazi di dialogo. Il collante di negoziazione tra l’interno e l’esterno del corpo è l’integrazione dei saperi. Con questo libro pensato su due emisferi comunicanti - quello universitario e quello ospedaliero – il mio intento è di mettere in luce un nuovo forte legame che si è creato tra Medicina ed esistenza quotidiana. Iniziando da un discorso prettamente universitario, propongo successivamente al lettore esperienze e metodologie qualitative che ci permettono non solo di ascoltare i progetti esistenziali ma di ridurre la sofferenza
Città\dìn\ànza
Get PDFIl Deposito di Scienza & Politica è uno spazio in cui pubblicare testi che possono essere dei preprint, dei work in progress o anche dei testi definitivi che si vogliono affidare all’uso comune dei lettori. Si tratta di testi non sottoposti a referaggio, senza nessuna registrazione, che rimangono a disposizione di chi li voglia leggere e utilizzare
REMODEL. WP3. User And System Interface. T3_5. Teaching By Demonstration Of Skills For New Assembly References And Tasks. Teleoperation interface. v0
No full textThe datasets contain the data related to the first stage implementation of a haptic device towards a complete 3-D workspace twisted-string actuated haptic interface. In particular, a 2-D setup is presented, with the aim of preliminarly testing the behaviour of this novel haptic system, especially with respect to the adopted cable-based actuation solution. In particular, the component descriptions, kinematics of the planar device and the controller for teleoperation purposes are considered. The data are discussed in the following publication:
L. Feenstra et al., "Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface," 2021 20th International Conference on Advanced Robotics (ICAR), 2021, pp. 757-762, doi: 10.1109/ICAR53236.2021.9659420
Reforestation as part of an urban eco-horticultural infrastructure
Get PDFRedevelopment of urban spaces can take different forms and configurations. With this work
we propose a project of regeneration of residual green spaces included within an exindustrial area located in the outskirts of Bologna. Three small urban forests have been
designed and put into practice, using native and naturalized species, with the specific aim of
contributing to the spill-over of beneficial organisms, such as insect predators, parasitoids
and pollinators from these areas to cultivated fields. The project, in fact, is part of a complex
green infrastructure, a cycle-eco-horticultural corridor, made up also by an orchard of
ancient and forgotten varieties, productive fields managed with organic method, semiintensive cultivation of aromatic plants, social gardens and fellow field