80,125 research outputs found
Toward Autonomous, Adaptive, and Context-Aware Multimodal Interfaces: Theoretical and Practical Issues
This volume brings together the advanced research results obtained by the European
COST Action 2102: “Cross Modal Analysis of Verbal and Nonverbal
Communication.” The research published in this book was discussed at the
Third EUCOGII-COST 2102 International Training School entitled “Toward
Autonomous, Adaptive, and Context-Aware Multimodal Interfaces: Theoretical
and Practical Issues,” held in Caserta, Italy, during March 15–19, 2010.
The school was jointly sponsored by:
a) COST (European Cooperation in Science and Technology, www.cost.eu)
in the domain of Information and Communication Technologies (ICT) for
disseminating the advances of the research activities developed within the
COST Action 2102 (cost2102.cs.stir.ac.uk)
b) EUCogII: 2nd European Network for the Advancement of Artificial Cognitive
Systems, Interaction and Robotics (http://www.eucognition.org/)
Folding Assembly by Means of Dual-Arm Robotic Manipulation
In this paper, we consider folding assembly as an assembly primitive suitable
for dual-arm robotic assembly, that can be integrated in a higher level
assembly strategy. The system composed by two pieces in contact is modelled as
an articulated object, connected by a prismatic-revolute joint. Different
grasping scenarios were considered in order to model the system, and a simple
controller based on feedback linearisation is proposed, using force torque
measurements to compute the contact point kinematics. The folding assembly
controller has been experimentally tested with two sample parts, in order to
showcase folding assembly as a viable assembly primitive.Comment: 7 pages, accepted for ICRA 201
Perspective distortion modeling for image measurements
A perspective distortion modelling for monocular view that is based on the fundamentals of perspective projection is presented in this work. Perspective projection is considered to be the most ideal and realistic model among others, which depicts image formation in monocular vision. There are many approaches trying to model and estimate the perspective effects in images. Some approaches try to learn and model the distortion parameters from a set of training data that work only for a predefined structure. None of the existing methods provide deep understanding of the nature of perspective problems. Perspective distortions, in fact, can be described by three different perspective effects. These effects are pose, distance and foreshortening. They are the cause of the aberrant appearance of object shapes in images. Understanding these phenomena have long been an interesting topic for artists, designers and scientists. In many cases, this problem has to be necessarily taken into consideration when dealing with image diagnostics, high and accurate image measurement, as well as accurate pose estimation from images. In this work, a perspective distortion model for every effect is developed while elaborating the nature of perspective effects. A distortion factor for every effect is derived, then followed by proposed methods, which allows extracting the true target pose and distance, and correcting image measurements
Advancing automation and robotics technology for the Space Station and for the US economy. Volume 1: Executive overview
In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Executive Overview, Volume 1 presents the major findings of the study and recommends to NASA principles for advancing automation and robotics technologies for the benefit of the Space Station and of the U.S. economy in general. As a result of its study, the Advanced Technology Advisory Committee believes that a key element of technology for the Space Station is extensive use of advanced general-purpose automation and robotics. These systems could provide the United States with important new methods of generating and exploiting space knowledge in commercial enterprises and thereby help preserve U.S. leadership in space
Learning while Competing -- 3D Modeling & Design
The e-Yantra project at IIT Bombay conducts an online competition, e-Yantra
Robotics Competition (eYRC) which uses a Project Based Learning (PBL)
methodology to train students to implement a robotics project in a step-by-step
manner over a five-month period. Participation is absolutely free. The
competition provides all resources - robot, accessories, and a problem
statement - to a participating team. If selected for the finals, e-Yantra pays
for them to come to the finals at IIT Bombay. This makes the competition
accessible to resource-poor student teams. In this paper, we describe the
methodology used in the 6th edition of eYRC, eYRC-2017 where we experimented
with a Theme (projects abstracted into rulebooks) involving an advanced topic -
3D Designing and interfacing with sensors and actuators. We demonstrate that
the learning outcomes are consistent with our previous studies [1]. We infer
that even 3D designing to create a working model can be effectively learned in
a competition mode through PBL
Robot Autonomy for Surgery
Autonomous surgery involves having surgical tasks performed by a robot
operating under its own will, with partial or no human involvement. There are
several important advantages of automation in surgery, which include increasing
precision of care due to sub-millimeter robot control, real-time utilization of
biosignals for interventional care, improvements to surgical efficiency and
execution, and computer-aided guidance under various medical imaging and
sensing modalities. While these methods may displace some tasks of surgical
teams and individual surgeons, they also present new capabilities in
interventions that are too difficult or go beyond the skills of a human. In
this chapter, we provide an overview of robot autonomy in commercial use and in
research, and present some of the challenges faced in developing autonomous
surgical robots
Bio-inspired Tensegrity Soft Modular Robots
In this paper, we introduce a design principle to develop novel soft modular
robots based on tensegrity structures and inspired by the cytoskeleton of
living cells. We describe a novel strategy to realize tensegrity structures
using planar manufacturing techniques, such as 3D printing. We use this
strategy to develop icosahedron tensegrity structures with programmable
variable stiffness that can deform in a three-dimensional space. We also
describe a tendon-driven contraction mechanism to actively control the
deformation of the tensegrity mod-ules. Finally, we validate the approach in a
modular locomotory worm as a proof of concept.Comment: 12 pages, 7 figures, submitted to Living Machine conference 201
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