121 research outputs found
sj-docx-1-qjp-10.1177_17470218231207336 – Supplemental material for Exploring the role of disgust in hands and feet laterality judgement tasks
No full textSupplemental material, sj-docx-1-qjp-10.1177_17470218231207336 for Exploring the role of disgust in hands and feet laterality judgement tasks by Federico Brusa, Mustafa Suphi Erden and Anna Sedda in Quarterly Journal of Experimental Psychology</p
Suphi Nuri İleri, his life, personality, opuses, journalism
No full textBu çalısmada, Türkiye tarihi açısından çok önemli olan olaylara, Suphi Nuri'nin bakıs açısıyla ısık tutulmustur. Osmanlı Devleti'nin son dönemlerini yasayan, Birinci Dünya Harbine katılan, Millî Mücadele'nin basarısı için çalısan Suphi Nuri ?leri'nin hayatı, eserleri ve gazeteciliği incelenmistir. Gazeteci, öğretmen, yazar ve hukuk profesörü gibi özellikleri sahsında toplayan Suphi Nuri ?leri'nin eserleri, yasadığı döneme ısık tutması açısından dikkate değerdir. Suphi Nuri, 1887?1945 tarihleri arasında yasayan bir Türk aydınıdır. Babası Meclis-i Ayan üyesi Mustafa Nuri Efendi'dir. Annesi Dino ailesine mensup Abidin Pasa'nın kızıdır. Üç kardesten en küçüğü olan Suphi Nuri'nin abisi Celâl Nuri, edebiyatçı, yazar, gazeteci ve fikir adamıdır. Diğer kardesi Sedat Nuri de karikatürist ve tüccardır. Paris'teki tahsilinden sonra ?stanbul'a dönen Suphi Nuri, Suriye Cephesi'nde yedek subay olarak askerlik görevini yapmıstır. Kâtipliğini yaptığı Dördüncü Ordu Kumandanı Cemal Pasa'ya refakat ederken, Suriye Cephesi'ni inceleme fırsatı bulmus, pek çok Alman subayının tercümanlığını yapmıstır. Birinci Dünya Savası'ndan sonra ?stanbul'a dönerek gazetecilik hayatına baslamıstır. Genellikle her gün, siyasi, kültürel, ilmi, pek çok konuda yazmıstır. Atatürk'ün ilkelerinden özellikle devletçilik ve laikliğin sıkı bir savunucusu olması da öne çıkan özelliklerinden birkaçıdır. Kooperatifçiliğin, Türkiye'nin ekonomik modeli olan devletçiliğe adapte edilmesi gerektiğini savunuyordu. Suphi Nuri, Mustafa Kemal adına temaslarda bulunmus, Anadolu'ya silah temini konusunda çalısmalar yapmıstır. Mustafa Kemal, Mersinli Cemal Pasa'nın askeri harekâtını elestiren birkaç yazısını Suphi Nuri imzasıyla, Âti gazetesinde yayınlamıstır. Seyh Sait ?syanı'nı tesvik ettiği gerekçesiyle ?stiklal Mahkemesi'nde yargılanmıstır. Siyasi bir yazısı dolayısıyla 1945 yılında Hasan Ali Yücel tarafından öğretmenlik görevinden alınmıs, gazetelere yazılar yazarak hayatını devam ettirmeye çalısmıstır.In this thesis, very important events of Turkey?s history are analyzed according to Suphi Nuri ?leri?s point of view. It is studied the life, opuses and journalist identity of Suphi Nuri ?leri. He lived in the last years of Ottoman Empire, participated in World War I and worked for the success of the National Struggle for Independence. He was journalist, teacher and professor of law and his opuses are worth to be studied so as to enlighten to his life period. Suphi Nuri was a Turkish intellectual, who lived the period of 1887 and 1945. His father is Mustafa Nuri, who was a member of Ayan Council (Senate). His mother is the daughter of a member of Dino family, Abidin Pasha. Suphi Nuri has two older brothers. One of them is Celal Nuri, who is a litterateur, author, journalist and philosopher. The other one is Sedat Nuri, who is a caricaturist and merchant. After his education in Paris, he returned back to Istanbul. He did his compulsory military service as a second lieutenant in time of war in Syria. When he was accompanied to 4th Army Commander Cemal Pasha as his clerk, he found the opportunity to research for Syria and he served as a translator to lots of German Officers. After World War I, he returned back to Istanbul and had begun to work as a journalist. He used to write about politics, cultural and scientific issues daily. Being a hard defender of Ataturk?s state socialism and Secularism principles was one of the foremost characteristics of him. He used to defend that it was necessary to adapt cooperative system to the state socialism, which is the economic model of Turkey. Suphi Nuri contacted on behalf of Ataturk and work for procurement of weapon to Anatolia. Mustafa Kemal had published some articles, in which he was criticized the military operations of Mersinli Cemal Pasha, with the sign of Suphi Nuri on Ati newspaper. He was accused of encouraging Sheikh Sait Rebellion and judged by the Court of Independence. He was discarded from the teaching job by Hasan Ali Yucel, The Minister of National Education, because of a political article of him at 1945 and earned by only writing articles for newspapers
Controlling and Learning Constrained Motions for Manipulation in Contact
Full text linkMany practical tasks in robotic systems involving contact interaction with the environment, such as cleaning windows, writing or grasping, are inherently constrained, in that both the task and the environment impose constraints on the robot’s motion. While constraints from manipulation motions in contact represent a challenge when modelling and controlling such robotic systems, they might also be an opportunity, if exploited for decomposing complex controllers into simpler ones that are easier to design, implement, test and even learn from data.
Modelling such systems requires incorporating these constraints in the robot’s dynamic model. In this thesis, I define the class of Task-based Constraints (TbCs) and prove that the forward dynamic models of a constrained system obtained through the Projected Dynamics (PD) and the Operational Space Formulation (OSF) are equivalent. Establishing such equivalence required: reformulating the PD constraint inertia matrix, generalising all its previous distinct algebraic variations; and generalising the OSF to rank deficient constraint Jacobian matrices. This generalization allows us to numerically handle redundant constraints and singular configurations, without having to use different controllers in the vicinity of such configurations.
Furthermore, I show that we can recover both operational space control with constraints and the hybrid position/force control in the operational space from a multiple Task-based Constraint abstraction. I then propose a control and trajectory tracking approach for wiping the train cab front panels, using a velocity controlled robotic manipulator and a force/torque sensor attached to its end-effector, without using any surface model or vision-based surface detection. The control strategy consists of a hybrid position/force controller, adapted from the Operational Space Formulation, that aligns the cleaning tool with the surface normal, maintaining a set- point normal force, while simultaneously moving along the surface. The trajectory tracking strategy consists of specifying and tracking a two dimensional path that, when projected onto the train surface, corresponds to the desired pattern of motion. An experiment with the Baxter robot to wipe a highly curved surface with both a spiral and a raster scan motion patterns validates the approach. I also implemented the same approach in a scaled robot prototype, specifically designed to wipe a 1/8 scaled version of a train cab front, using a raster scan pattern.
Learning these type of control policies subject to constraints is a challenging problem. This thesis proposes a Constraint-aware Policy Learning (CaPL) method that solves the policy learning problem on redundant robots which execute a policy acting in the null-space of a constraint. This learning approach allows the generalization of learnt control policies across constraints that are unknown during the training phase. The CaPL method splits the combined problem of learning constraints and policies into: first estimating the constraint, and then estimating an unconstrained policy using the remaining degrees of freedom. For a linear parametrization, there
is a closed-form solution for the problem of estimating constraints based on Singular Value Decomposition (SVD). In this thesis, I propose another closed-form solution for constraint estimation for the TbC case, which includes estimating the task component without affecting the norm of the constraint matrix, based on Generalized Singular Value Decomposition (GSVD). I also discuss a metric for comparing the similarity of estimated constraints, which is useful to pre-process the trajectories recorded in the demonstrations. An experiment consisting in: learning a wiping task from human demonstration on flat surfaces; and reproducing it on an unknown curved surface using a force/torque based controller, to achieve tool alignment, validates the CaPL method. Despite the differences between the training and validation scenarios, the learnt policy still provides the desired wiping motion
Optimal protraction of a biologically inspired robot leg
No full textIn this paper, protraction movement, namely forward stepping, of a biologically inspired three-joint robot leg is optimized for minimum energy consumption. Trajectory optimization is performed for various initial-final tip point positions of protraction. A modified version of gradient descent based optimal control algorithm is used. The objective function is modified in steps to jump over many unfeasible and inefficient local optima. The optimized trajectories are used to construct a radial basis function neural network (RBFNN) to interpolate for the untrained regions. The results of optimization are compared with the observations of protraction of stick insects. It is concluded that a direct biological imitation of protraction is not energy efficient. A sample protraction of a leg of the Robot-EA308 is demonstrated in guidance of the optimized trajectory. Energy optimal protraction of a robot leg necessitates flexion of the leg, rather than extension as observed in the stick insects.</p
Multi-modal EMG-based hand gesture classification for the control of a robotic prosthetic hand
Full text linkUpper-limb myoelectric prosthesis control utilises electromyography (EMG)
signals as input and applies statistical and machine learning techniques to intuitively identify the user’s intended grasp. Surface EMG signals recorded with
electrodes attached on the user’s skin have been successfully used for prostheses
control in controlled lab conditions for decades. However, due to the stochastic
and non-stationary nature of the EMG signal, clinical use of pattern recognition
myoelectric control in everyday life conditions is limited.
This thesis performs an extensive literature review presenting the main causes
of the drift of EMG signals over time, ways of detecting such drifts and possible
techniques to counteract for their effects in the application of upper limb prostheses. Three approaches are investigated to provide more robust classification
performance under conditions of EMG signal drift; improving the classifier, in corporating extra sensory modalities and utilising transfer learning techniques
to improve between-subjects classification performance.
Linear Discriminant Analysis (LDA), is the baseline algorithm in myoelectric
grasp classification applications, providing good performance with low computational requirements. However, it assumes Gaussian distribution and shared co-variance between different classes, and its performance relies on hand-engineered
features. Deep Neural Networks (DNNs) have the advantage of learning the
features while training the classifier. In this thesis two deep learning models
have been successfully implemented for the grasp classification of EMG signals
achieving better performance than the baseline LDA algorithm. Moreover, deep
neural networks provide an easy basis for transfer learning knowledge and improving the adaptation capabilities of the classifier. An adaptation approach is
suggested and tested on the inter-subject classification task, demonstrating better performance when utilising pre-trained neural networks. Finally research
has suggested that adding extra sensory modalities along EMG, like Inertial
Measurement Unit (IMU) data, improves the classification performance of a classifier in comparison to utilising only EMG data for training. In this thesis ways of incorporating different sensory modalities have been suggested, both for the
LDA classifier and the DNNs, demonstrating the benefit of multi-modal grasp
classifier.The Edinburgh Centre for Robotics and EPSR
Manual Welding with Robotic Assistance Compared to Conventional Manual Welding
No full textThis paper demonstrates the effectiveness of impedance compensation type robotic assistance, presented in a previous work, by comparing manual welding with robotic assistance to conventional manual welding without a robot. The novelty of the current paper is comparison of two sets of data that were published in separate studies, but were not yet compared to each other. One of these previous studies had demonstrated the effectiveness of the robotic assistance in comparison to welding with the robot interactively while the assistance-scheme was off, but not to the case of conventional manual welding as applied every-day in workshops without a robot. The other previous work had collecting welding data with a motion capture system while conventional manual welding in order to demonstrate the differences between novice and professional welders. The comparison presented in the current paper demonstrates that the robotic assistance significantly improves the performance of novice welders in comparison to conventional welding without a robot, whereas the performance of the professional welders remains almost constant across conventional welding and with robotic assistance. The results of this paper show the effectiveness of physically interactive robotic assistance technology to improve the performance of novice welders in the every-day industrial task of manual welding
A Review of Exoskeletons Considering Nurses
No full textDaily tasks of nurses include manual handling to assist patients. Repetitive manual handling leads to high risk of injuries due to the loads on nurses’ bodies. Nurses, in hospitals and care homes, can benefit from the advances in exoskeleton technology assisting their manual handling tasks. There are already exoskeletons both in the market and in the research area made to assist physical workers to handle heavy loads. However, those exoskeletons are mostly designed for men, as most physical workers are men, whereas most nurses are women. In the case of nurses, they handle patients, a more delicate task than handling objects, and any such device used by nurses should easily be disinfected. In this study, the needs of nurses are examined, and a review of the state-of-the-art exoskeletons is conducted from the perspective of to what extent the existing technologies address the needs of nurses. Possible solutions and technologies and particularly the needs that have not been addressed by the existing technologies are discussed
End-point Impedance Measurements at Human Hand during Interactive Manual Welding with Robot
Full text linkThis paper presents a study of end-point impedance measurement at human hand, with professional and novice manual welders when they are performing Tungsten Inert Gas (TIG) welding interactively with the KUKA Light Weight Robot Arm (LWR). The welding torch is attached to the KUKA LWR, which is admittance controlled via a force sensor to give the feeling of a free floating mass at its end-effector. The subjects perform TIG welding on 1.5 mm thick stainless steel plates by manipulating the torch attached to the robot. The end-point impedance values are measured by introducing external force disturbances and by fitting a mass-damper-spring model to human hand reactions. Results show that, for professionals and novices, the mass, damping and stiffness values in the direction perpendicular to the welding line are the largest compared to the other two directions. The novices demonstrate less resistance to disturbances in this direction. Two of the professionals present larger stiffness and one of them presents larger damping. This study supports the hypothesis that impedance measurements could be used as a partial indicator, if not direct, of skill level to differentiate across different levels of manual welding performances. This work contributes towards identifying tacit knowledge of manual welding skills by means of impedance measurements.LAS
Robotic Assistance by Impedance Compensation for Hand Movements While Manual Welding
Full text linkIn this paper, we present a robotic assistance scheme which allows for impedance compensation with stiffness, damping, and mass parameters for hand manipulation tasks and we apply it to manual welding. The impedance compensation does not assume a preprogrammed hand trajectory. Rather, the intention of the human for the hand movement is estimated in real time using a smooth Kalman filter. The movement is restricted by compensatory virtual impedance in the directions perpendicular to the estimated direction of movement. With airbrush painting experiments, we test three sets of values for the impedance parameters as inspired from impedance measurements with manual welding. We apply the best of the tested sets for assistance in manual welding and perform welding experiments with professional and novice welders. We contrast three conditions: 1) welding with the robot's assistance; 2) with the robot when the robot is passive; and 3) welding without the robot. We demonstrate the effectiveness of the assistance through quantitative measures of both task performance and perceived user's satisfaction. The performance of both the novice and professional welders improves significantly with robotic assistance compared to welding with a passive robot. The assessment of user satisfaction shows that all novice and most professional welders appreciate the robotic assistance as it suppresses the tremors in the directions perpendicular to the movement for welding.LAS
End-point impedance measurements across dominant and nondominant hands and robotic assistance with directional damping
No full textThe goal of this paper is to perform end-point impedance measurements across dominant and nondominant hands while doing airbrush painting and to use the results for developing a robotic assistance scheme. We study airbrush painting because it resembles in many ways manual welding, a standard industrial task. The experiments are performed with the 7 degrees of freedom KUKA lightweight robot arm. The robot is controlled in admittance using a force sensor attached at the endpoint, so as to act as a free-mass and be passively guided by the human. For impedance measurements, a set of nine subjects perform 12 repetitions of airbrush painting, drawing a straight-line on a cartoon horizontally placed on a table, while passively moving the airbrush mounted on the robot's end-point. We measure hand impedance during the painting task by generating sudden and brief external forces with the robot. The results show that on average the dominant hand displays larger impedance than the nondominant in the directions perpendicular to the painting line. We find the most significant difference in the damping values in these directions. Based on this observation, we develop a "directional damping" scheme for robotic assistance and conduct a pilot study with 12 subjects to contrast airbrush painting with and without robotic assistance. Results show significant improvement in precision with both dominant and nondominant hands when using robotic assistance.</p
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