1,720,961 research outputs found
A novel forklift solution for promoting occupational re-integration of disabled people22nd Mediterranean Conference on Control and Automation
No full textA study on the employment of disabled people as forklift truck drivers for cargo handling operations is here presented. The work focused on the design of a customized forklift and the development of a novel lift machine as aid for people with paraplegia. Results of a market research about the usefulness of such a system is presented and a novel robotic modified forklift simulator has been realized and described. A final testing session is introduced to assess the performances of disabled and non-disabled people during typical logistic task executions
A novel control strategy for youBot arm
No full textNowadays robotics educational platforms play an important role in the development and testing of new robotic technologies. These systems offer at low cost the possibility to access and experiment basic robot functionalities. In this paper, we examined the KUKA youBot: an omnidirectional mobile platform equipped with a five DOFs (Degrees of Freedom) robotic arm. The current internal design of the control loops limits severely its performances. This paper aims to assess the existing controller limitations in order to re-design, develop and test a new controller for the youBot arm. This paper presents the architecture of the existing software, and identifies the bottlenecks of the control loops. After proposing a new interoperable architecture, we present a new hybrid motion/force decentralized control, which accounts for the system's dynamics. The new controller is evaluated by means of simulations and on the real youBot arm. The new controller solves the major limitations examined, enabling new control applications. Results show a better performance of the new controller, in particular the step response rise time of the joint position control is now 33% faster than using the old controller
Going Beyond Counting First Authors in Author Co-citation Analysis
Get PDFThe 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
Get PDF“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
Get PDFWe 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
Get PDFWe 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
Embedded Architecture of a Hydraulic Demolition Machine for Robotic Teleoperation in the Construction Sector
No full textIn the last decade, teleoperated machines have become a reality in modern construction yards. Although these machines represent a step forward in terms of flexibility and safety, they still rely on a traditional control pad. Usually, the operators move the machine's end-effector driving each joint sequentially following a predefined order which depends on the operator's skill. This paper describes the design choices, the architecture of the system and the closed-loop control structure proposed to improve the human-machine interaction on a working machine for the construction field. The proposed solution has been implemented on a remote-controlled demolition platform exploiting a hybrid LabVIEW-Matlab software architecture. The work also proposed a closed-loop position control for the hydraulic manipulator. The feasibility of the proposed embedded architecture is assessed through experimental tests where the end-effector (EE) has to track a predefined trajectory
A Haptic-Assisted Guidance System For Working Machines Based on Virtual Force Fields
No full textThis paper presents a new approach to improve the remote navigation of a teleoperated demolition machine. To improve navigation usability of the teleoperated system the following topics will be covered: obstacle avoidance, wall alignment, and machine optimal positioning for demolition operations. In order to enhance the ability of the operator to navigate in a cluttered environment, a Haptic-Assisted Guidance System(HAGS) will be introduced. HAGS is a guidance system based on haptic simulation which improves the awareness of the operator on the surrounding environment. The solution proposed has been tested using a virtual environment scenario and a commercial Haptic interface, the results have been analyzed and discussed
- …
