1,720,967 research outputs found
Neural Networks based Human Intent Prediction for Collaborative Robotics Applications
No full textIndustry 5.0 has laid the necessity to relocate the human at the center of the manufacturing cycle, where everything should be designed to ease his/her work. This implies one to redefine the human-robot collaboration, making it not only safe, but also more inclusive for the operator. Nowadays, this goal is viable thanks to the integration of new sensors in the work cell. Coupled with advanced control strategies, they give the robot a better understanding of both the surrounding environment and the human movement, allowing a more organic cooperation. This paper exploits an RGBD camera and Deep Learning algorithms to retrieve the 3D positions of the manipulated objects in the workspace and to infer the most likely future human destinations in a pick and place case study. Merging this information, a proper control logic is defined and tested in a real robotics application, with the final intent of minimizing human-robot collisions during the collaboration and making the process more reliable and efficient
Combining speed and separation monitoring with power and force limiting for safe collaborative robotics applications
Full text linkEnabling humans and robots to safely work close to each other deserves careful consideration. With the publication of ISO/TS 15066 directives on this matter, two different strategies, namely the Speed and Separation Monitoring and the Power and Force Limiting, have been proposed. This letter proposes a method to efficiently combine the two aforementioned safety strategies for collaborative robotics operations. By exploiting the combination of the two, it is then possible to achieve higher levels of productivity, while still preserving safety of the human operators. This is achieved by the optimal scaling of the initially prescribed velocity, while preserving the path consistency of the robot trajectory. In a nutshell, the state of motion of each point of the robot is monitored so that at every time instant the robot is able to modulate its speed to eventually come into contact with a body region of the human, consistently with the corresponding biomechanical limit. Validation experiments have been conducted to establish that the proposed method enables substantially less stringent limits on robot performance while still allowing for the safety limits prescribed by ISO directives
Rutin synthase in fava d'anta: Purification and influence of stressors
No full textFundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Lucci, N. and Mazzafera, P. 2009. Rutin synthase in fava d'anta: Purification and influence of stressors. Can. J. Plant Sci. 89: 895-902. The flavonoid rutin is synthesized in plants from quercetin, via a process in which isoquercitrin is an intermediary metabolite. In this work, the activities of isoquercitrin synthase and rutin synthase, and the quercetin, isoquercitrin and rutin contents of fava d'anta plants stressed for water (drought and flooding) and salt (NaCl) were studied. In general, stress increased the contents of the three compounds and both enzyme activities. semi-purified rutin synthase and isoquercitrin synthase showed Kin values of 1.816 and 2.10 mu M, respectively, with optimum reaction pHs of 5 and 7., respectively, and an optimum reaction temperature of 35 degrees C. Rutin synthase was purified from leaf buds and showed an apparent molecular mass of 39 KDa by SDS-PAGE. Mass spectrometry analysis of the purified protein did not reveal any similarity to the few known sequenced glycosyltransferases.895895902Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)FAPESP [05/57193-9
Workflow modelling for human–robot collaborative assembly operations
No full textWith the advent of Industry 4.0, industries are requested to provide customisation of the products, with a high number of tailored features, which a pure robotic assembly line cannot provide. This suggests using a collaborative and flexible scenario together with the need for workflow modelling architectures. These can handle the communication and interaction among the actors of the workcell to improve the collaboration, making it more fluent, reliable, and able to correct workers’ oversights. Within this scenario, the main contribution of this paper is the introduction of a general library of atomic Predicates that can be combined with a first-order logic allowing to model general industrial assembly processes in human–robot collaboration. Such logics and Predicates allow to model and supervise the workflow, remaining hidden to the operator through an interface that intervenes only when errors have to be notified. The methodology has been validated on a complex collaborative assembly use case, requiring different tools and characterized by components of several sizes and shapes. Predicates have been mainly exploited to recognize human activities, allowing modelling and supervising the workflow
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
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