1,720,961 research outputs found
UnfoldIR : tactile robotic unfolding of cloth
Full text linkRobotic unfolding of cloth is challenging due to the wide range of textile materials and their ability to deform in unpredictable ways. Previous work has focused almost exclusively on visual feedback to solve this task. We present UnfoldIR ("unfolder"), a dual-arm robotic system relying on infrared (IR) tactile sensing and cloth manipulation heuristics to achieve in-air unfolding of randomly crumpled rectangular textiles by means of edge tracing. The system achieves 85% coverage on multiple textiles of different sizes and textures. After unfolding, at least three corners are visible in 83.3 up to 94.7% of cases. Given these strong "tactile-only" results, we argue that the fusion of both tactile and visual sensing can bring cloth unfolding to a new level of performance
An on-body antenna for control of a wireless prosthesis in the 2.45 GHz industrial scientific and medical frequency band
No full textElectronic prostheses require a communication link to other on-body nodes, for example, for control signal extraction. This link can be made wireless to improve user experience compared to wired solutions. Even though ample on-body communication techniques have been described for wireless body area networks, in prosthetics, the efficiency of wireless links is often neglected, in particular when radio frequency (RF) antennas are used. This work aims to show the benefit of on-body RF antenna design for prosthetics, by developing a dedicated antenna for use in a lower arm prosthesis. Additionally, this work tries to fill a gap in literature, where some antennas for dedicated on-body RF communication are presented, but no antennas specific for communication along the arm exist. To this aim, numerical simulations are performed using a cylindrically layered arm model to design a novel, electrically small, capacitively loaded, meandered, 2.45 GHz monopole antenna. The antenna is fabricated using 3D printed polylactic acid and validated both in a static human arm channel and in a dynamic setting, where the human subject performs various tasks. This antenna outperforms an off-the-shelf printed circuit board (PCB) antenna by 18 dB and a rectangular patch antenna by 4 dB in terms of link budget at a separation distance of 20 cm, both in line of sight and non-LOS path loss experiments. Additionally, while performing four commonplace activities, the average power received increased by 20 dB in an on-body link established between two of our novel antennas rather than two of the PCB antennas. These results will aid in the development of wireless prostheses used by a growing number of amputees
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
Augmenting Off-the-Shelf Grippers with Tactile Sensing
Full text linkThe development of tactile sensing and its fusion with computer vision is
expected to enhance robotic systems in handling complex tasks like deformable
object manipulation. However, readily available industrial grippers typically
lack tactile feedback, which has led researchers to develop and integrate their
own tactile sensors. This has resulted in a wide range of sensor hardware,
making it difficult to compare performance between different systems. We
highlight the value of accessible open-source sensors and present a set of
fingertips specifically designed for fine object manipulation, with readily
interpretable data outputs. The fingertips are validated through two difficult
tasks: cloth edge tracing and cable tracing. Videos of these demonstrations, as
well as design files and readout code can be found at
https://github.com/RemkoPr/icra-2023-workshop-tactile-fingertips.Comment: Project repo:
https://github.com/RemkoPr/icra-2023-workshop-tactile-fingertip
Augmenting off-the-shelf grippers with tactile sensing
No full textThe development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack tactile feedback, which has led researchers to develop and integrate their own tactile sensors. This has resulted in a wide range of sensor hardware, making it difficult to compare
performance between different systems. We highlight the value of accessible open-source sensors and present a set of fingertips specifically designed for fine object manipulation, with readily interpretable data outputs. The fingertips are validated through two difficult tasks: cloth edge tracing and cable tracing. Videos of these demonstrations, as well as design files and readout code can be found at https://github.com/RemkoPr/icra-2023-workshop-tactile-fingertips
Seamless integration of tactile sensors for cobots
No full textThe development of tactile sensing is expected to enhance robotic systems in
handling complex objects like deformables or reflective materials. However,
readily available industrial grippers generally lack tactile feedback, which
has led researchers to develop their own tactile sensors, resulting in a wide
range of sensor hardware. Reading data from these sensors poses an integration
challenge: either external wires must be routed along the robotic arm, or a
wireless processing unit has to be fixed to the robot, increasing its size. We
have developed a microcontroller-based sensor readout solution that seamlessly
integrates with Robotiq grippers. Our Arduino compatible design takes away a
major part of the integration complexity of tactile sensors and can serve as a
valuable accelerator of research in the field. Design files and installation
instructions can be found at https://github.com/RemkoPr/airo-halberd
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
- …
