1,721,112 research outputs found
Pointcloud-based Identification of Optimal Grasping Poses for Cloth-like Deformable Objects
Full text linkIn this paper, the problem of identifying optimal grasping poses for cloth-like deformable objects is addressed by means of a four-steps algorithm performing the processing of the data coming from a 3D camera. The first step segments the source pointcloud, while the second step implements a wrinkledness measure able to robustly detect graspable regions of a cloth. In the third step the identification of each individual wrinkle is accomplished by fitting a piecewise curve. Finally, in the fourth step, a target grasping pose for each detected wrinkle is estimated. Compared to deep learning approaches where the availability of a good quality dataset or trained model is necessary, our general algorithm can find employment in very different scenarios with minor parameters tweaking. Results showing the application of our method to the clothes bin picking task are presented
A Time-Dependent Model of Elastic Stress in the Central Apennines, Italy
No full textSeismicity in the Central Apennines is characterized by normal faulting with dip NE-SW near 45°. If the stress at the hypocenter of the 2016 Norcia (Mw = 6.5) and 2009 L'Aquila (Mw = 6.3 on the Paganica fault) earthquakes originated only from stress transfer from previous historical events, the orientation of the principal stress axes would have been inconsistent with the observed tensional regime. The additional contribution of a regional stress is thus required, but Global Navigation Satellite System geodesy provides only stress rates. We empirically estimate a time multiplier for the regional stress rate, computed with a dense Global Navigation Satellite System network, such that the principal stress axes resulting from the sum of the stress transferred by previous events and the regional stress rate multiplied by the empirical temporal scale are consistent with normal faulting, both at the L'Aquila and Norcia hypocenters. Based on a Catalogue of 36 events of magnitude larger than 5.6, we estimate the total Coulomb stress at depths and along planes parallel to those of L'Aquila and Norcia. We provide evidence of an asymmetry of the Coulomb stress leading to a stress concentration near the hypocenter of the two events just prior of the 2009 and 2016 earthquakes. This stress anomaly disappeared after the two events. Similar stress patterns are observed for earlier events, which took place in 1461 at L'Aquila, 1703 on the Montereale plain, and in 1703 at Norcia/Valnerina. The 1997 sequence of Colfiorito exhibits a similar, anisotropic Coulomb stress pattern. Other areas with a similar stress anisotropy could be seismic gaps
A cyber-physical system for clothes detection, manipulation and washing machine loading
Full text linkIn this paper, a cyber-physical system for the detection and manipulation of clothes and its application to the problem of their robotized insertion in a washing machine drum is presented. Starting with the clothes randomly placed inside a bin next to the appliance, the method describes the approach used for the laundry bin picking together with a recovery picking from the drum door region in case some large cloth remains partially out from the washing machine. The same pointcloud-based perception algorithm is utilized for both tasks: the approaches are different only for what concerns the segmentation of the pointcloud for the extraction of the cloth-related points. The main algorithm exploits a wrinkledness measure to identify wrinkles in the cloth surface, to robustly assign spline curves to the detected wrinkle-like structure and to estimate grasping frames. In addition, a pointcloud registration technique is applied in the washing machine recovery task for the segmentation stage. The planning of the robot operations to execute the cloth grasping is also presented. The approach has been validated extensively by performing 100 trials grasps for both tasks
Investigation on Reference Frames and Time Systems in Multi-GNSS
Full text linkReceivers able to track satellites belonging to different GNSSs (Global Navigation Satellite Systems) are available on the market. To compute coordinates and velocities it is necessary to identify all the elements that contribute to interoperability of the different GNSSs. For example the timescales kept by different GNSSs have to be aligned. Receiver-specific biases, or firmware-dependent biases, need to be calibrated. The reference frame used in the representation of the orbits must be unique. In this paper we address the interoperability issues from the standpoint of a Single Point Positioning (SPP) user, i.e., using pseudoranges and broadcast ephemeris. The biases between GNSSs timescales and receiver-dependent biases are analyzed for a set of 31 MGEX (Multi-GNSS Experiment) stations over a time span of more than three years. Time series of biases between timescales of GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo, BeiDou, QZSS (Quasi-Zenith Satellite System), SBAS (Satellite Based Augmentation System) and NAVIC (Navigation with Indian Constellation) are investigated, in addition to the identification of events like discontinuity of receiver-dependent biases due to firmware updating. The GPS broadcast reference frame is shown to be aligned to the one (IGS14) realized by the precise ephemeris of CODE (Center for Orbit Determination in Europe) to within 0.1 m and 2 milliarcsec, with values dependent on whether IIR-A, IIR-B/M or IIF satellite blocks are considered. Larger offsets are observed for GLONASS, up to 1 m for GLONASS K satellites. For Galileo the alignment of the broadcast orbit to IGS14/CODE is again at the 0.1 m and several milliarcsec level, with the FOC (Full Operational Capability) satellites slightly better than IOV (In Orbit Validation). For BeiDou an alignment of the broadcast frame to IGS14/CODE comparable to GLONASS is observed, regardless of whether IGSO (Inclined Geosynchronous Orbit) or MEO (Medium Earth Orbit) satellites are considered. For all satellites, position differences according to the broadcast ephemeris relative to IGS14/CODE orbits are projected to the radial, along-track and crosstrack triad, with the largest periodic differences affecting mostly the along track component. Sudden discontinuities at the level of up to 1 m and 2–3 ns are observed for the along-track component and the satellite clock, respectively. The time scales of GLONASS, Galileo, QZSS, SBAS and NAVIC are very closely aligned to GPS, with constant offsets depending on receiver type. The offset of the BeiDou time scale to GPS has an oscillatory pattern with peak-to-peak values up to 100 ns. To characterize receiver-dependent biases the average of six Septentrio receivers is taken as reference, and relative offsets of the other receiver types are investigated. These receiver-dependent biases may depend on the individual station, or for the same station on the update of the firmware. A detailed calibration history is presented for each multiGNSS station studied
Broadcast ephemeris with centimetric accuracy: Test results for gps, galileo, beidou and glonass
Full text linkHere we test the capability of the Broadcast Ephemeris Message, in both its GPS-like (Keplerian ellipse with secular and periodic perturbations) and Glonass-like (numerical integration of a 9D state vector) formats, to reproduce a corresponding precise ephemeris. We start from a daily Rinex 3.04 navigation file for multiple GNSS and the corresponding SP3 precise orbits computed by CNES (Centre National d’Etudes Spatiales) for GPS, Glonass, Galileo and CODE (Center for Orbit Determination in Europe) for Beidou, and compute broadcast ECEF coordinates and clocks. The pre-fit discrepancies are converted by least squares to corrections to the broadcast ephemeris parameters in two-hour consecutive arcs (for GPS, Galileo and Beidou) and to a set of seven Helmert parameters for the entire day, to align in origin, orientation and scale to the common GNSS IGS14 Reference Frame. The test cases suggest that the Broadcast Ephemeris Message, complemented with Reference Frame information, can reproduce the precise ephemeris and clocks with centimetric accuracy for intervals at least equal to the respective validity times, typically 2 h. The broadcast ephemeris of Glonass consists of three initial positions and velocities at epoch, three constant Lunisolar accelerations for the satellite position, and of three polynomial coefficients for the satellite clock. The 9D vector of state is numerically integrated to generate position and velocity data within the validity time (0.5 h) of the message. To test the capability of this model to reproduce the corresponding values of a precise ephemeris, the 9D vector of state and clock polynomials are adjusted until the rms (root mean squared spread) of the post-fit residuals relative to a precise orbit (CNES’s in our case) is minimum. We show in one example (one satellite for one day) that the Glonass type of message can reproduce a precise ephemeris and clock with a rms spread of 0.025 m over one-hour arcs. Volume computations on one month of data with all available satellites confirm the test results. For GPS, Glonass, Galileo and Beidou, the best fitting clock values predicted by our second order polynomials, based on a 15 min sampling, are shown to fit the corresponding high rate clocks (30 s sampling) of MGEX with zero bias and a rms spread of 0.062 ns (GPS G01), 0.023 ns (Galileo E01), 0.43 ns (Glonass R01), 0.086 ns (Beidou C07) and 0.086 ns (Beidou C12). Modifications to the GPS-like message structure and Glonass algorithm are proposed to increase the validity time by including the effect of the 3rd zonal harmonic of the Earth’s gravity field. The potential of the RTCM messages for broadcasting the improved navigation message is reviewed
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