1,721,005 research outputs found
Reaction of chromium(III) and iron(III) with pyridine-2-aldoxime in acidic aqueous medium
No full textMolar absorptivities and equil. consts. for 1:1, 1:2, 1:3, and 2:1 Cr3+ and Fe3+ complexes with pyridine-2-aldoxime were detd. in 0.5M NaClO4 at 25° by spectrophotometry. Hydrolysis occurs above pH 5.5 and 4.0, resp. The mononuclear complexes contain only M-N bonds (to oxime and pyridine N). The dinuclear complexes must contain M-O bonds (to oxime
The Dynamic Model of the UR10 Robot and Its ROS2 Integration
No full textThis article presents the full dynamic model of the UR10 industrial robot. A triple-stage identification approach is adopted to estimate the manipulator's dynamic coefficients. First, linear parameters are computed using a standard linear regression algorithm. Subsequently, nonlinear friction parameters are estimated according to a sigmoidal model. Lastly, motor drive gains are devised to map estimated joint currents to torques. The overall identified model can be used for both control and planning purposes, as the accompanied ROS2 software can be easily reconfigured to account for a generic payload. The estimated robot model is experimentally validated against a set of exciting trajectories and compared to the state-of-the-art model for the same manipulator, achieving higher current prediction accuracy (up to a factor of 4.43) and more precise motor gains. The related software is available at https://codeocean.com/capsule/8515919/tree/v2
Corrections: The Dynamic Model of the UR10 Robot and its ROS2 Integration (IEEE Trans. Ind. Informat. (2025) 21:5 (3828–3838) DOI: 10.1109/TII.2025.3534415)
No full textThis addresses errors in [1]. Compared to the original article, we applied minor grammatical corrections and symbol refinements to clarify the adoption of the chosen notation and nomenclature
On the Role of Artificial Intelligence Methods in Modern Force-Controlled Manufacturing Robotic Tasks
No full textThis position paper explores the integration of Artificial Intelligence (AI) into force-controlled robotic tasks within the scope of advanced manufacturing, a cornerstone of Industry 4.0. AI’s role in enhancing robotic manipulators– key drivers in the Fourth Industrial Revolution– is rapidly leading to significant innovations in smart manufacturing. The objective of this article is to frame these innovations in practical force-controlled applications– e.g. deburring, polishing, and assembly tasks like peg-in-hole (PiH)– highlighting their ne cessity for maintaining high-quality production standards. By reporting on recent AI-based methodologies, this article contrasts them and identifies current challenges to be addressed in future research. The analysis concludes with a perspective on future research directions, emphasizing the need for common performance metrics to validate AI techniques, integration of various enhancements for performance optimization, and the importance of validating them in relevant scenarios. These future directions aim to provide consistency with already adopted approaches, so as to be compatible with manufacturing standards, increasing the relevance of AI-driven methods in both academic and industrial contexts
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
Reaction of uranyl(2+) and thorium(4+) ions with methylthymol blue in aqueous acidic medium
No full textUO22+ reacts in aq. solns. with Methylthymol Blue (I) to give 1:1 and 2:1 complexes and Th4+ reacts with I to give 1:1, 2:1, and 1:2 complexes. The complexes were studied spectrophotometrically and their molar absorptivities at selected wavelengths (530-600 mm) and complex formation consts. are given. The dinuclear complexes absorb at a higher wavelength than the mononuclear complexes. Dinuclear complex formation depends on acidity and soln. compn. Structures of these complexes are proposed
Reaction of chromium(III) with Methylthymol Blue in aqueous solution
No full textIn aq. solns. with ionic strength 0.1M (NaClO4) contg. Cr(III) and Methylthymol Blue (H6L) at 25°, the equil. consts. (K) corresponding to Cr3+ + H4L2- = CrH3L + H+, 2Cr3+ + H4L2- = Cr2H3L3+ + H+, Cr3+ + H3L3- = CrH3L, and 2Cr3+ + H3L3- = Cr2H3L3+ are log K = 0.81, 5.14, 3.9, and 8.2, resp. The acid dissocn. consts. corresponding to H6L = H5L- + H+, H5L- = H4L2- + H+, H4L2- = H3L3- + H+, H3L3- = H2L4- + H+, H2L4- = HL5- + H+, and HL5- = L6- + H+ are pKa = -1.9, +1.9, +3.1, +7.02, +10.6, +12.5, resp
Spectrophotometric investigation on the reaction of indium(III) with methylthymol blue in aqueous acidic medium
No full textThe equil. between In(III) and methylthymol blue (MTB) were studied spectrophotometrically in 1 M NaClO4 at 25°. Dinuclear and mononuclear species were found in acidic medium with 2:1, 1:1, and 1:2 metal/ligand ratios. The spectrophotometric characteristics and equil. consts. for the various species are reporte
Human-Robot Interface for Teleoperated Robotized Planetary Sample Collection and Assembly
No full textAs human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be carried out remotely by humans, whose expertise is still necessary for complex activities. In order to perform precision tasks with effectiveness, the operator must experience ease of use and accuracy. The same features are demanded to reduce the complexity of the training procedures and the associated learning time for operators without a specific background in robotic teleoperations. Haptic teleoperation systems, that allow for a natural feeling of forces, need to cope with the trade-off between accurate movements and workspace extension. Clearly, both of them are required for typical ISRU tasks. In this work, we develop a new concept of operations and suitable human-robot interfaces to achieve sample collection and assembly with ease of use and accuracy. In the proposed operational concept, the teleoperation space is extended by executing automated trajectories, offline planned at the control station. In three different experimental scenarios, we validate the end-to-end system involving the control station and the robotic asset, by assessing the contribution of haptics to mission success, the system robustness to consistent delays, and the ease of training new operators
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