880 research outputs found
Experimental Evaluation of Human Grasps Using a Sensorized Object
No full textRoa M, Kõiva R, Castellini C. Experimental Evaluation of Human Grasps Using a Sensorized Object. Presented at the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Rome, Italy.Grasp quality measures have been studied for long time, given their importance to evaluate the goodness/convenience of a grasp made with a robotic hand. However, the application of these quality measures to the grasps made by humans has just recently received some attention. This paper presents an experimental evaluation and comparison of different measures, using data obtained with a sensorized object. The experiment compares power grasps and precision grasps obtained with different number of fingers. The results intend to be a guide to the application of such qualities in the evaluation of robotic grasp actions
Tradução comentada do texto dramático roabastiano La tierra sin mal
Get PDFDissertação (mestrado) - Universidade Federal de Santa Catarina, Centro de Comunicação e Expressão, Programa de Pós-Graduação em Estudos da Tradução, Florianópolis, 2012Este trabalho tem como objeto principal a tradução, do castelhano para o português brasileiro, do texto dramático La tierra sin mal (1998) do autor paraguaio Augusto Roa Bastos. A partir de leituras críticas e considerações sobre o processo tradutório, este estudo vem reafirmar a importância do acesso aos textos do autor em língua portuguesa. O drama La tierra sin mal, apresenta aos leitores brasileiros, com esta tradução, um texto inédito em português. A tradução desta obra do gênero dramático também abre horizontes para uma integração entre as áreas das letras e das artes cênicas, ao criar uma oportunidade de encenação deste texto a um público brasileiro. Este trabalho traz ainda uma análise diretamente relacionada à cultura e aos temas que fundamentam a história da obra, pois em La tierra sin mal é possível observar aspectos relativos à realidade e cultura paraguaia, através de uma mescla entre história e mitologia guarani. Somada a esta análise, está um estudo sobre o processo de tradução desta obra dramática ao português e dos aspectos da poética do autor Augusto Roa Bastos. Compõem o trabalho observações de alguns fundamentos teóricos sobre cultura e tradução, especificamente na área da tradução teatral, a peça La tierra sin mal traduzida para o português seguida de uma análise do processo tradutório e por fim uma análise da poética do autor.Abstract : This paper has as main object translation, from Spanish to Brazilian Portuguese, the dramatic text La tierra sin mal (1998) of Paraguayan author Augusto Roa Bastos. From readings and critical considerations about the translation process, this study reaffirms the importance of access to the texts of the author in Portuguese. The drama La tierra sin mal, introduces for the readers to Brazil with this translation, an unpublished text in Portuguese. The translation of this work of dramatic genre also opens horizons for integration between the area of literature and arts, to create an opportunity of staging this text to a Brazilian public. This paper also carries an analysis directly related to culture and themes that underlie the history of the text, because in La tierra sin mal is possible to observe aspects of reality and Paraguayan culture through a blend of history and mythology Guarani. Added to this analysis is a study on the process of translating this dramatic text into Portuguese and poetic aspects of the author Augusto Roa Bastos. Compose the work of some theoretical observations on culture and translation, specifically in the area of theatrical translation, the piece theater La tierra sin mal translated into Portuguese followed by an analysis of the translation process and finally an analysis of the poetics of the author
Stable Myoelectric Control of a Hand Prosthesis using Non-Linear Incremental Learning
No full textStable myoelectric control of hand prostheses remains an open problem. The only successful human-machine interface is surface electromyography, typically allowing control of a few degrees of freedom. Machine learning techniques may have the potential to remove these limitations, but their performance is thus far inadequate: myoelectric signals change over time under the influence of various factors, deteriorating control performance. It is therefore necessary, in the standard approach, to regularly retrain a new model from scratch.We hereby propose a non-linear incremental learning method in which occasional updates with a modest amount of novel training data allow continual adaptation to the changes in the signals. In particular, Incremental Ridge Regression and an approximation of the Gaussian Kernel known as Random Fourier Features are combined to predict finger forces from myoelectric signals, both finger-by-finger and grouped in grasping patterns.We show that the approach is effective and practically applicable to this problem by first analyzing its performance while predicting single-finger forces. Surface electromyography and finger forces were collected from 10 intact subjects during four sessions spread over two different days; the results of the analysis show that small incremental updates are indeed effective to maintain a stable level of performance.Subsequently, we employed the same method on-line to teleoperate a humanoid robotic arm equipped with a state-of-the-art commercial prosthetic hand. The subject could reliably grasp, carry and release everyday-life objects, enforcing stable grasping irrespective of the signal changes, hand/arm movements and wrist pronation and supination
Emerging Paradigms for Robotic Manipulation: from the Lab to the Productive World
No full textThe articles in this special section aim to stimulate and gather publications describing how new approaches in the field of robotic manipulation can be (or have already been) transferred from research labs to the productive world. Novel robotic developments are going hand in hand with the need for innovation in manufacturing and service applications. Large industries increasingly need fast-adapting production lines, whereas small and medium-sized enterprises are adopting collaborative manipulators to gain a competitive edge in global markets. Additionally, a growing number of companies are producing and using service robots for a variety of applications, from agriculture to surgery. In this emerging framework, robots should be able to grasp and manipulate different tools as well as operate in fast-changing or even unstructured surroundings, possibly interacting with human users or coworkers. These real-world scenarios require going beyond traditional parallel-jaw grippers and preprogrammed or teleoperated trajectories and require searching for innovative grasping and manipulation paradigms that can cope with the needs of uncertain environments
Stiffness control by cocontraction
No full textThe dataset provides data on the coupling between force and stiffness during pinch-grasping by humans, and the possibility to decouple the coupling by cocontraction. The dataset contains motion tracking data, grip force data and muscle contraction measurements.EC/H2020/645599/EU/Soft-bodied intelligence for Manipulation/SOM
Planning in-hand object manipulation with multifingered hands considering task constraints
No full textCOLLECTION OF ROA SPECTRA USING LINEAR INCIDENT POLARIZATION
No full textAuthor Institution: Department of Chemistry, Syracuse UniversityThe symmetry involved in a Raman optical activity (ROA) experiment allows reversal of the traditional experimental geometry. An ROA spectrum can be obtained by focusing linearly polarized incident radiation on the sample and collecting the Raman scattered left and right circularly polarized light, rather than comparing the Raman scattering intensities for left and right circularly polarized incident radiation. A simple apparatus has been built at Syracuse University which allows collection of Raman scattered circularly polarized light by means of a zero order quarter wave plate, a linear polarizer, a spectrograph and a multichannel detector. Preliminary results for the depolarized ROA of (+)- and (-)--pinene will be presented. Advantages of this ROA apparatus, which include stability, throughput, and reproducibility, will be discussed. Problems encountered with this system and efforts to overcome them will also be addressed
Control aspects for active safe-falling of humanoid robots
No full textLAUREA MAGISTRALEIn questo progetto ci si è proposti di trovare una logica di controllo attiva per la caduta sicura (safe-falling) di un robot umanoide. Il problema può essere suddiviso in due sotto categorie che vanno trattate indipendentemente: cambio di direzione di caduta e minimizzazione del danno. Mentre la prima è rivolta alla salvaguardia dell'ambiente circostate, la seconda si concentra sulla protezione dell'umanoide stesso e limita i danni da caduta.
Il progetto si concentra maggiormente sulla minimizzazione del danno di caduta. Successivamente è stato svolto una lavoro preliminare volto a dimostrare la possibilità di cambiare la direzione di un robot in caduta senza l'applicazione di forze esterne.
Il robot è stato modellizzato come un pendolo inverso la cui massa è interamente concentrata nel centro di massa posto all'estremità libera del pendolo stesso. Dopo aver trovato una relazione tra il valore della forza e quello della velocità di impatto, è stata svolta un'ottimizzazione volta a calcolare la traiettoria nel centro di massa per cui si ha minimizzazione della velocità di impatto. Successivamente, la forza minimizzata è stata distribuita sul maggior numero di punti di contatto possibile con il fine di diminuire localmente l'entità dell'impatto.
L'ottimizzazione è stata risolta grazie alla linearità della funzione Hamiltoniana rispetto la legge di controllo, limitata tra un valore minimo e massimo. La legge di controllo ottimale risulta essere dunque una logica bang-bang il cui numero e posizione temporale degli switch è stato calcolato per via numerica.
Il cambio di direzione di caduta è stato affrontato modelizzando nuovamente il robot come un pendolo inverso con l'aggiunta di una ruota inerziale capace di ruotare attorno l'asse del pendolo stesso. In particolare, la ruota modellizza il comportamento della parte superiore del corpo dell'umanoide che ruota attorno il suo tronco. Con questo si voleva dimostrare che, in un caso semplice in cui l'inerzia del robot e la lunghezza del pendolo sono costanti nel tempo, è possibile raggiungere l'obiettivo generando un momento angolare tramite la rotazione della ruota stessa.The aim of the project is to design an active controller for the safe-falling of a humanoid robot. The problem can be split in two sub-sections: direction-changing and damage minimization. While the first aims to the protection of the working environment, the second focuses on the safeguard of the humanoid itself, minimizing the damages coming from the impact with the ground.
This project is mainly focused on the damage minimization. Later, a preliminary work is done aimed to demonstrate the possibility to change the falling direction of a humanoid without any external force applied.
The tipping robot has been modelized using an inverted pendulum model whose mass is all concentrated in its center of mass. First, a relationship between the impact force and the impact velocity has been found. Then, it was solved an optimization problem in order to find the best trajectory for the center of mass that minimizes the impact velocity. In the end, the minimized impact force has been distributed among the highest possible number of contact points in order to locally decrease the magnitude of the impact.
The optimization problem has been solved thanks to the linearity between the Hamiltonian function and the control function, which is also bounded between a maximum and minimum value. Thus, the optimal control law is a bang-bang control whose number and time-position of the switches has been calculated numerically.
For the direction-changing controller, the robot has been modelized again with an inverted pendulum with a reaction wheel fixed on the free extremity that can rotate around the axis of the pendulum itself. In particular, the wheel modelizes the behavior of the upper body of the humanoid that rotates around its torso. With this model, in the simplified case in which the inertia of the wheel and the length of the pendulum are considered constant in time, it is possible to accomplish the task generating an angular momentum with the rotation of the wheel itself
Planning of loco-manipulation tasks for a multi-arm space robot
No full textLAUREA MAGISTRALEGli importanti sviluppi nell'industria dello spazio degli anni scorsi stanno conducendo alla soglia di una nuova generazione di grandi strutture spaziali. Tali strutture devono essere lanciate in parti e dispiegate sul posto. Una tecnologia chiave per una implementazione efficiente di produzione e assemblaggio in orbita su larga scala è la robotica. Questi concetti possono apportare notevoli vantaggi per le missioni spaziali nel prossimo futuro, tuttavia sono necessari strumenti di pianificazione del moto all'avanguardia per operare efficacemente i sistemi robotici.
Lo scopo della tesi è pertanto di proporre un approccio per la pianificazione del moto per un sistema robotico semovente e multi-braccio. Il robot è costituito di due braccia ed un torso, per un totale di 15 gradi di libertà. Equipaggiato di tre end effector, ognuno dei quali presenta un sistema di accoppiamento grazie al quale il robot può interagire con il mondo. L'approccio proposto consta di due layer, una pianificazione di massima delle sequenze di contatti, e una pianificazione di dettaglio delle traiettorie per eseguire la sequenza di contatti. Un ulteriore layer aggiuntivo valida il risultato. Il motion planner fornisce piani separatamente per la locomozione, per la manipolazione e per obiettivi di loco-manipolazione combinata. La pianificazione dei contatti è effettuata tramite metodi di ottimizzazione numerica e ricerca dei grafi. La pianificazione di traiettorie geometriche si avvale di strumenti della cinematica e di algoritmi rapidly growing random tree. Infine, le traiettorie nel tempo sono costruite con la tecnica delle linee e parabole.
Gli algoritmi sono testati in simulazione. Si rinviene che lo strumento sviluppato opera come desiderato in una grande varietà di casi e risulta in grado di gestire diversi robot, ambienti e un vasto insieme di obiettivi in ingresso. Il tempo di elaborazione è idoneo ad un uso offline. L'esito della pianificazione è un piano di moto dettagliatamente caratterizzato, con istruzioni per tutti i dispositivi attuativi del sistema. Tale piano è localmente ottimale, validato tramite simulazione e soddisfa tutti i vincoli considerati nel problema.Significant developments of the space sector in recent years are now leading space technology on the brink of a new generation of large space structures. Those structures must be launched in pieces and deployed in situ. A key technology to allow large-scale cost-effective on-orbit manufacturing and assembly is autonomous robotics. These concepts may bring relevant advantages for space missions in the near future, but cutting-edge motion planning tools are necessary to effectively operate robotic manipulators.
The aim of this thesis is therefore to propose an approach for the motion planning of a robotic self-relocatable multi-arm system. The system is made of two arms mounted on a torso, summing up to a total of 15 degrees of freedom. It features three end effectors. Each end effector is equipped with a standard latching interface, that allows interaction with the world, both for locomotion and manipulation. The proposed approach consists of two layers of planning, a high-level planning of the contact sequence, and a low-level planning of the trajectories that perform the contact sequence. A final additional layer consists of the validation of the output. The motion planner provides plans for single locomotion and manipulation tasks, as well as combined loco-manipulation tasks. The contact planning is performed with numerical optimization and graph search methods. The path planning relies on kinematic tools and rapidly growing random trees. Eventually, trajectories are constructed with the lines and parabolas technique.
The algorithms are tested in simulation. It is found that the developed motion planner works as desired in a great variety of cases. It handles different robots, environments and a large set of input tasks. The computing time is suitable for offline use. The outcome of the planning is a fully characterized motion plan, comprising instructions for all actuating devices of the system. It is locally optimal, simulation-validated and compliant with all the considered constraints of the problem
The Effect of Non-Performing Financing and Operating Expenses on Operating Income on Profitability (ROA) Bank Bukopin Syariah Period 2014-2022: Pengaruh Non-Performing Financing dan Beban Operasional Pendapatan Operasional Terhadap Profitabilitas (ROA) Bank Bukopin Syariah Periode 2014-2022
No full text In this research, the author intends to examine futher whether ROA is influenced by BOPO and NPF, or influenced by other factors. The author hopes to provide additional knowledge about how to minimize the use of NPF and BOPO so that the ROA at Bank Bukopin Syariah does not decrease from year to year. Using multiple linear regression daya analysis techniques with a total of 108 data samples, using SPSS Statistic. The results of this research, Namely H1 and H2, are accepted, which means that NPF and BOPO have a partial influence on ROA (Y). Then it is simultaneously stated that H0 is accepted, meaning that there is an influence of X1 (NPF) and X2 (BOPO) on Y (ROA)
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