Hierarchical Salient Object Detection for Assisted Grasping

Visual scene decomposition into semantic entities is one of the major challenges when creating a reliable object grasping system. Recently, we introduced a bottom-up hierarchical clustering approach which is able to segment objects and parts in a scene. In this paper, we introduce a transform from such a segmentation into a corresponding, hierarchical saliency function. In comprehensive experiments we demonstrate its ability to detect salient objects in a scene. Furthermore, this hierarchical saliency defines a most salient corresponding region (scale) for every point in an image. Based on this, an easy-to-use pick and place manipulation system was developed and tested exemplarily.Comment: Accepted for ICRA 201

Human-in-the-Loop Model Predictive Control of an Irrigation Canal

Until now, advanced model-based control techniques have been predominantly employed to control problems that are relatively straightforward to model. Many systems with complex dynamics or containing sophisticated sensing and actuation elements can be controlled if the corresponding mathematical models are available, even if there is uncertainty in this information. Consequently, the application of model-based control strategies has flourished in numerous areas, including industrial applications [1]-[3].Junta de Andalucía P11-TEP-812

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions

Summary and recommendations on nuclear electric propulsion technology for the space exploration initiative

A project in Nuclear Electric Propulsion (NEP) technology is being established to develop the NEP technologies needed for advanced propulsion systems. A paced approach has been suggested which calls for progressive development of NEP component and subsystem level technologies. This approach will lead to major facility testing to achieve TRL-5 for megawatt NEP for SEI mission applications. This approach is designed to validate NEP power and propulsion technologies from kilowatt class to megawatt class ratings. Such a paced approach would have the benefit of achieving the development, testing, and flight of NEP systems in an evolutionary manner. This approach may also have the additional benefit of synergistic application with SEI extraterrestrial surface nuclear power applications

3D Printed Soft Robotic Hand

Soft robotics is an emerging industry, largely dominated by companies which hand mold their actuators. Our team set out to design an entirely 3D printed soft robotic hand, powered by a pneumatic control system which will prove both the capabilities of soft robots and those of 3D printing. Through research, computer aided design, finite element analysis, and experimental testing, a functioning actuator was created capable of a deflection of 2.17” at a maximum pressure input of 15 psi. The single actuator was expanded into a 4 finger gripper and the design was printed and assembled. The created prototype was ultimately able to lift both a 100-gram apple and a 4-gram pill, proving its functionality in two prominent industries: pharmaceutical and food packing