1,720,997 research outputs found
Simultaneous correction of post-traumatic aphakia and aniridia with the use of artificial iris and IOL implantation
No full textLa classe dirigente, politica, parlamentare
No full textIl saggio ricostruisce a la vicenda politico-elettorale delle Marche, dagli anni Settanta al Duemila,
nell'ottica centro-periferia
Enhanced Human-Robot Collaboration through AI Tools and Collision Avoidance Control
Full text linkDue to the spread of collaborative robotics, human-robot collaboration is becoming more and more common in industrial environments. However, there is a need to make this interaction increasingly usable for the operator and less tiring by making the robot adapt to the operator’s needs. In this paper, a framework based on Deep Learning techniques is presented that enables the operator to perform an manufacturing task assisted by a collaborative robot in a safer, less tiring and more flexible way. Three RGB-D cameras are used to capture information about the environment in which the human is working and about the human position. The framework has three main components: gesture recognition, robotic grasping and collision avoidance. Specifically, a Convolutional Neural Network has been implemented for gesture classification. Through gestures, the operator tells the robot what tool is needed for that subtask and the robot provides it. At the end of the machining process, through an automatic grasping pose detection, the robot is able to pick up the tool on its own at the position where the operator left it. During the interaction with the robot and the sharing of the workspace, the safety of the operator is ensured by avoiding collision with the robot. The safety distance between human and robot is always respected. Results of testing the framework on a real user-case using the Universal Robot 5e robot are presented. Code, videos and data are available at https://github.com/matteoforlini/human_robot_assembly_task
Smart automation in luxury leather shoe polishing: a human centric robotic approach
No full textThe polishing of luxury leather shoes is a delicate, labor-intensive process traditionally performed by skilled craftsmen. Footwear companies aim to automate parts of this process to enhance quality, productivity and operator well-being, but the unique nature of luxury shoe production presents challenges. This paper introduces a solution involving a collaborative robotic cell to assist in shoe polishing. A collaborative robotic manipulator, equipped with a specialized tool and governed by force control, executes the polishing tasks. Key factors such as trajectory design, applied force, polishing speed and polish amount were analyzed. Polishing trajectories are designed using CAM software and transferred to the robot’s control system. Human operators design the process, supervise the robot and perform final finishing, ensuring their expertise is integral to achieving quality. Extensive testing on various shoe models showed significant improvements in quality and reliability, leading to successful implementation on an industrial production line
Bottle cork and cap injury to the eye: A review of 34 cases
No full textAIM: To describe our series of bottle cork and cap injuries to the eye in order to report the visual impairment and clinical outcomes observed in 34 cases over an 8-year period. METHODS: Retrospective review of the database of the Ophthalmology Institute of Modena from January 1999 to September 2007. All patients presented with closed-globe injury according to Kuhn et al.'s classification. All the cases were caused by sparkling wine: white in 24 cases and red in ten cases. RESULTS: The incidence varied between six and two cases a year (average 3.89). Bottle cork and cap injuries represent 11% of all injuries admitted to our department in the period considered in our series. In details: nine patients recovered totally, 22 patients recovered partially, three patients had a severe visual outcome (Aim: To describe our series of bottle cork and cap injuries to the eye in order to report the visual impairment and clinical outcomes observed in 34 cases over an 8-year period. Methods: Retrospective review of the database of the Ophthalmology Institute of Modena from January 1999 to September 2007. All patients presented with closed-globe injury according to Kuhn et al.'s classification. All the cases were caused by sparkling wine: white in 24 cases and red in ten cases. Results: The incidence varied between six and two cases a year (average 3.89). Bottle cork and cap injuries represent 11% of all injuries admitted to our department in the period considered in our series. In details: nine patients recovered totally, 22 patients recovered partially, three patients had a severe visual outcome
Experimental implementation of skeleton tracking for collision avoidance in collaborative robotics
Full text linkCollaborative robotic manipulators can stop in case of a collision, according to the ISO/TS 15066 and ISO 10218-1 standards. However, in a human-robot collaboration scenario where the robot and the human share the workspace, a better solution with concerns to production and operator safety would be to perceive in advance the presence of an obstacle and be able to avoid it, thereby completing the task without halting the robot. In this paper, an obstacle avoidance algorithm is tested using a sensor system for real-time human detection; the operator represents a potential dynamic obstacle that can interfere with the robot motion. The sensor system consists of three RGB-D cameras. A custom software framework has been developed in Python exploiting machine learning tools for human skeleton detection. The coordinates of the human body joints relative to the manipulator base are used as input to the obstacle avoidance algorithm. The use of multiple sensors makes it possible to limit the occlusion problem; in addition, the choice of non-wearable sensors goes in the direction of better operator comfort. A series of experimental tests were performed to verify the accuracy of skeleton detection and the ability of the system to avoid obstacles in real time. The human motion caption system, in particular, was validated through a comparison with a commercial system based on wearable IMU sensors widely used and validated in motion capture. There is an NRMSE of 3.23%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}\end{document} for the RGB-D camera-based skeleton detection system, against an NRMSE of 12.23%\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}\end{document} for the IMU wearable sensor system. Test results confirm that the system is able to avoid collisions with the human body under various conditions, static or dynamic, ensuring a minimum safety distance to any part of the manipulator. In 44 tests in which the operator moves around the robot with possible collisions (at a speed typical of manufacturing operations), the minimum operator-robot distance averaged 208mm\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}\end{document}, being 200mm\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}\end{document} the limit safety distance set by algorithm
Long-term result after rubber band ligation for haemorrhoids
No full textPurpose: Rubber band ligation (RBL) is a well-known and recognised outpatient procedure utilised for the treatment of symptomatic internal haemorrhoids. This paper describes a retrospective study which analyses the short- and long-term results of a personal series of patients. Materials and methods: A consecutive group of 206 patients with symptomatic internal second- and third-degree haemorrhoids were treated with RBL as outpatients from 1982 to 1989. Two or three piles were legated in a single session. All patients were systematically visited after 1 month and 1 year. Respectively after 10 and 17 years, all the patients were contacted to obtain a telephone follow-up. Results: The short-term follow-up at 1 month and at 1 year showed that 46% of the patients experienced moderate anal pain for 24 h post procedure. Two patients had severe pain (1%) and were admitted in the hospital to be submitted to an operative haemorrhoidectomy within a few days. Only 2.4% of the patients experienced rectal bleeding after a week, and 20% had a second session of RBL after 1 month. At 1 year follow-up, 90% of the patients with second-degree piles and 75% of patients with third-degree piles reported no residual symptoms. The long-term telephone follow-up at 10 and 17 years collected the history of 138 patients (67%). A group of 69% was asymptomatic, 28% had residual symptoms, and 3% needed further surgery. Conclusion: RBL is a safe and effective treatment for symptomatic internal haemorrhoids. Our long-term follow-up demonstrated good long-term results for internal second- and third-degree haemorrhoids. © Springer-Verlag 2009
Experimental Evaluation of Collision Avoidance Techniques for Collaborative Robots
Full text linkThis paper presents the implementation of an obstacle avoidance algorithm on the UR5e collaborative robot. The algorithm, previously developed and verified in simulation, allows one to modify in real time the trajectory of the manipulator with three different modalities to avoid obstacles. Some test cases with fixed or dynamic obstacles affecting the robot’s motion were first simulated and then experimented on. The paper describes the hardware/software architecture of the robotic system: an external controller is realized by a standard PC that communicates with the robot controller by a TCP/IP protocol; algorithms and data processing are executed by Python/Matlab software that guarantees a duty cycle of at least 100 Hz. The error analysis between simulated and real data allows one to conclude that the developed algorithms revealed to be effectively applied to a real robotic system, showing behavior similar to what is expected by simulations
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
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