On inferring intentions in shared tasks for industrial collaborative robots

Inferring human operators' actions in shared collaborative tasks, plays a crucial role in enhancing the cognitive capabilities of industrial robots. In all these incipient collaborative robotic applications, humans and robots not only should share space but also forces and the execution of a task. In this article, we present a robotic system which is able to identify different human's intentions and to adapt its behavior consequently, only by means of force data. In order to accomplish this aim, three major contributions are presented: (a) force-based operator's intent recognition, (b) force-based dataset of physical human-robot interaction and (c) validation of the whole system in a scenario inspired by a realistic industrial application. This work is an important step towards a more natural and user-friendly manner of physical human-robot interaction in scenarios where humans and robots collaborate in the accomplishment of a task.Peer ReviewedPostprint (published version

Use of motion sensors for autonomous monitoring of hydraulic environments

Low cost, miniaturized, commercial-off-the-shelf (COTS) motion sensors, collectively with processors, an energy source and other electronic circuitry can be packaged into very small volumes for autonomous operation. If such a system operates over short periods of time, or data acquisitions occur at a very low frequency, processor resources should be sufficient to manage offsets and errors. The paper analyzes a typical set of COTS accelerometers and gyroscopes, to indicate how best these can be used in hydraulic environments. Application examples such as river bed sediment monitoring, milk vat monitoring etc. are briefly discussed, with application oriented design approaches. Minimizing the power consumption to introduce a novel, rechargeable power supply design is briefly outlined

Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds

This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed condition ensure both the positive definiteness and the triangular inequality of 3D inertia matrices as opposed to existing techniques in which the triangular inequality constraint is ignored. This paper presents also a new parametrization that naturally ensures that the inertial parameters are fully physical consistency. The proposed parametrization is exploited to reformulate the inertial identification problem as a manifold optimization problem, that ensures that the identified parameters can always be generated by a physical body. The proposed optimization problem has been validated with a set of experiments on the iCub humanoid robot.Comment: 6 pages, published in Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference o

Design of ultraprecision machine tools with application to manufacturing of miniature and micro components

Currently the underlying necessities for predictability, producibility and productivity remain big issues in ultraprecision machining of miniature/microproducts. The demand on rapid and economic fabrication of miniature/microproducts with complex shapes has also made new challenges for ultraprecision machine tool design. In this paper the design for an ultraprecision machine tool is introduced by describing its key machine elements and machine tool design procedures. The focus is on the review and assessment of the state-of-the-art ultraprecision machining tools. It also illustrates the application promise of miniature/microproducts. The trends on machine tool development, tooling, workpiece material and machining processes are pointed out

Annihilation of low energy antiprotons in silicon

The goal of the AE$\mathrm{\bar{g}}$IS experiment at the Antiproton Decelerator (AD) at CERN, is to measure directly the Earth's gravitational acceleration on antimatter. To achieve this goal, the AE$\mathrm{\bar{g}}$IS collaboration will produce a pulsed, cold (100 mK) antihydrogen beam with a velocity of a few 100 m/s and measure the magnitude of the vertical deflection of the beam from a straight path. The final position of the falling antihydrogen will be detected by a position sensitive detector. This detector will consist of an active silicon part, where the annihilations take place, followed by an emulsion part. Together, they allow to achieve 1$$ precision on the measurement of $\bar{g}$ with about 600 reconstructed and time tagged annihilations. We present here, to the best of our knowledge, the first direct measurement of antiproton annihilation in a segmented silicon sensor, the first step towards designing a position sensitive silicon detector for the AE$\mathrm{\bar{g}}$IS experiment. We also present a first comparison with Monte Carlo simulations (GEANT4) for antiproton energies below 5 MeVComment: 21 pages in total, 29 figures, 3 table

Long term monitoring and field testing of an innovative multi-storey timber building

Peer reviewedPostprin