1,720,961 research outputs found
Probabilistic decision model for adaptive task planning in human-robot collaborative assembly based on designer and operator intents
No full textIn the manufacturing industry, the era of mass customization has arrived. Combining the complementary strengths of humans and robots will allow to cope with growing product diversity and fluctuating demands. When collaborating, humans and robots operate in a shared workspace to assemble a common product and it has to be decided how tasks are distributed between them. In previous work, human operators have often been modeled as controllable agents whose actions can be planned. To achieve a natural collaboration, we believe that the robot has to estimate the operator's assembly intentions and should behave accordingly. This work presents a framework for planning collaborative robot tasks in assembly, considering both the designer and operator intents. From the designer's CAD data, a set of potential assembly plans is automatically derived and translated into a state graph from which the operator intentions follow. To enable the robot to act optimally under a given belief of operator intentions, a partially observable Markov decision process (POMDP) is formulated, whose state space is represented by the intention graph. Experimental results obtained with our approach demonstrate the potential to estimate the true operator intent based on observations about the parts and tools manipulated during collaborative assembly.sponsorship: Fonds Wetenschappelijk Onderzoek|1SA6919Nstatus: Publishe
Simulation-driven parameter study of concentric Halbach cylinders for magnetorheological robotic grasping
No full textDue to their peculiar property of controlled stiffness and strength under an external magnetic field, magnetorheological (MR) fluids show great potential in developing hybrid robotic grippers that in the future could offer the same versatility as the human hand. This demands for suffciently strong, compact and switchable magnetic field sources for which permanent magnets are often overshadowed by electromagnets. However, permanent magnets possess higher magnetic flux densities per mass unit, and when assembled in certain ways, they allow to control their joint magnetic field. Within this paper, an extensive parameter study is conducted using grid search for the design of concentric Halbach cylinder assemblies based on finite element simulations. The influence of decisive geometric and material properties on the performance of these magnetic activation mechanisms is studied. These include the magnets’ shapes, sizes and number; the cylinders’ radii and number of pole pairs; and the relative permeabilities of the MR fluid and the grasped object. The performance of a design is measured by a multi-objective function that considers: the mean magnetic flux densities generated in the mechanism’s ON and OFF-state, the magnetic field’s inhomogeneity (i.e. standard deviation) in the ON-state, and the total magnet area for both cylinders. This work concludes by deriving guidelines for the most optimal design of concentric Halbach cylinders for a cylindrical radial bellow gripper.sponsorship: Jeroen Cramer thanks KU Leuven, Diepenbeek Campus for granting a FLOF mandate therewith facilitating this research. Martijn Cramer is a SB PhD fellow at FWO (Research Foundation Flanders) under grant
agreement 1SA6919N. (Fonds Wetenschappelijk Onderzoek|1SA6919N)status: Published onlin
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Full text link“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Full text linkWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
Dispelling the Myths Behind First-author Citation Counts
Full text linkWe conducted a full-scale evaluative citation analysis study of scholars in the XML research field to explore just how different from each other author rankings resulting from different citation counting methods actually are, and to demonstrate the capability of emerging data and tools on the Web in supporting more realistic citation counting methods. Our results contest some common arguments for the continued
use of first-author citation counts in the evaluation of scholars, such as high correlations between author rankings by first-author citation counts and other citation
counting methods, and high costs of using more realistic citation counting methods that are not well-supported by the ISI databases. It is argued that increasingly available digital full text research papers make it possible for citation analysis studies to go beyond what the ISI databases have directly supported and to employ more
sophisticated methods
koamabayili/VECTRON-author-checklist: VECTRON author checklist
No full textWe have done our best to complete the author checklist relating to the use of animals in the hut study. Note that the objective for the hut study was to evaluate the IRS treatment applications for residual efficacy against Anopheles mosquitoes, including the local An. coluzzii mosquito population. Cows were only used to attract mosquitoes into the huts and no tests were carried out directly on the cows. The author checklist is intended for use with studies where experiments are carried out on animals, which is why we have had such difficulty in completing this for the hut study, as many of the questions do not relate to how the cows were used
Author-wise bibliometric analysis based on entropy.
No full textAuthor-wise bibliometric analysis based on entropy.</p
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