1,721,012 research outputs found
UAVIMALS: THE "OPEN" REMOTE SENSING SYSTEM FOR SURFACE ARCHAEOLOGICAL INVESTIGATIONS
Get PDFToday, there is an increasing use of airborne sensors in archaeology, especially to investigate the surface of more or less vast territories quickly and accurately. In particular, airborne laser scanning technologies from small remotely piloted aircraft are rapidly developing towards increasingly high-performance solutions for the investigation of archaeological evidence hidden by vegetation or more or less substantial soil deposits. The proposed contribution intends to insert itself within this field of archaeological research by presenting "UAVIMALS" (Unmanned Aerial Vehicle Integrated with Micro Airborne Laser Scanner), an aerial remote sensing system of "soil marks", designed for surface archaeological investigations and the result of an Early Career Grant from the National Geographic Society. The system, consisting of a customised drone based on an open architecture and software for vehicle control and data processing, integrates a solid-state laser sensor, commonly engineered for obstacle avoidance, but here exploited to process accurate DTM (Digital Terrain Model) of small land surfaces with a significant reduction in cost and acquisition time. The system, whose engineering was contributed by the BioRobotics Institute of the S. Anna University of Pisa, was tested within the archaeological context of Leopoli - Cencelle (Tarquinia, Italy). A mediaeval city that has been researched for about 25 years by the Chair of Christian and Medieval Archaeology at the 'Sapienza' University of Rome. Experimentation missions carried out on the site, which is still only partially investigated, have been successful in bringing to light some urban areas that had not yet been investigated
A novel shared control algorithm for industrial robots
Get PDFHuman management of robots in many specific industrial activities has long been imperative, due to the elevated levels of complexity involved, which can only be overcome through long and wasteful preprogrammed activities. The shared control approach is one of the most emergent procedures that can compensate and optimally couple human smartness with the high precision and productivity characteristic to mechatronic systems. To explore and to exploit this approach in the industrial field, an innovative shared control algorithm was elaborated, designed and validated in a specific case study
A sensorless torque control for Antagonistic Driven Compliant Joints
No full textAntagonistic Driven Compliant Joints (ADCJs) are object of great interest in current robotics research, representing one of the most widely applied solutions to develop human-like and safe joints for human-robot interaction. Providing the joint with “actively” adjustable hardware compliance, ADCJs have two distinctive features: (1) the joint is powered by two independent “actuation units” and (2) each actuation unit works as a non-linear elastic element with an adjustable resting position. This paper proposes a sensorless torque control strategy suitable for ADCJs actuated robots. This method is based on two steps: (1) off-line characterization of the elasticity of the actuation units, defined by the force–elongation curve and (2) online estimation of the force exerted by each actuation unit, through a direct measure of the joint angle, and of the “resting position” of each actuation unit. The proposed force estimation method can be used to develop two independent force controllers, which can be then combined to regulate the resulting joint torque, with no need of additional torque sensors. The performance of the proposed torque control was evaluated over the shoulder and the elbow ADCJs of the 2-link 2-DOFs planar robotic arm NEURARM. The method proved to work effectively, achieving good performances on the test platform, and represents a suitable alternative to state-of-the-art sensor-based torque controls
Experimental analysis of the proprioceptive and exteroceptive sensors of an underactuated prosthetic hand
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