15,997 research outputs found
Identifying Vessel Branching from Fluid Stresses on Microscopic Robots
Objects moving in fluids experience patterns of stress on their surfaces
determined by the geometry of nearby boundaries. Flows at low Reynolds number,
as occur in microscopic vessels such as capillaries in biological tissues, have
relatively simple relations between stresses and nearby vessel geometry. Using
these relations, this paper shows how a microscopic robot moving with such
flows can use changes in stress on its surface to identify when it encounters
vessel branches.Comment: Version 2 has minor clarification
Practice of law in the provisioning of accessibility facilities for person with disabilities in Malaysia
Malaysia’s significant changes can be seen clearly through the improvement of social welfare of the disabled and people with disabilities. Although the governments has carried out various policies and provide facilities as well as provision for the disabled but there are still many obstacles encountered by people with disabilities, especially the legal and the accessibility of facilities and services. Therefore, this paper attempts to discuss the practice of law relating of legal procedure particularly for disabled users which affects the movement of these people from one destination to another. This paper discusses the practice of law adopted in the preparation of facilities for disabled people to help them make movement independently. The study was conducted by secondary data to the Malaysia legal and policies for disabled person by comparing with United Kingdom (UK). Malaysia has come out with a strong legal framework for disabled person through People with Disabilities Act 2008 (Act 685). There are several areas in the act that still can be improved to support disabled person
Fast Simulation of Vehicles with Non-deformable Tracks
This paper presents a novel technique that allows for both computationally
fast and sufficiently plausible simulation of vehicles with non-deformable
tracks. The method is based on an effect we have called Contact Surface Motion.
A comparison with several other methods for simulation of tracked vehicle
dynamics is presented with the aim to evaluate methods that are available
off-the-shelf or with minimum effort in general-purpose robotics simulators.
The proposed method is implemented as a plugin for the open-source
physics-based simulator Gazebo using the Open Dynamics Engine.Comment: Submitted to IROS 201
More than a Million Ways to Be Pushed: A High-Fidelity Experimental Dataset of Planar Pushing
Pushing is a motion primitive useful to handle objects that are too large,
too heavy, or too cluttered to be grasped. It is at the core of much of robotic
manipulation, in particular when physical interaction is involved. It seems
reasonable then to wish for robots to understand how pushed objects move.
In reality, however, robots often rely on approximations which yield models
that are computable, but also restricted and inaccurate. Just how close are
those models? How reasonable are the assumptions they are based on? To help
answer these questions, and to get a better experimental understanding of
pushing, we present a comprehensive and high-fidelity dataset of planar pushing
experiments. The dataset contains timestamped poses of a circular pusher and a
pushed object, as well as forces at the interaction.We vary the push
interaction in 6 dimensions: surface material, shape of the pushed object,
contact position, pushing direction, pushing speed, and pushing acceleration.
An industrial robot automates the data capturing along precisely controlled
position-velocity-acceleration trajectories of the pusher, which give dense
samples of positions and forces of uniform quality.
We finish the paper by characterizing the variability of friction, and
evaluating the most common assumptions and simplifications made by models of
frictional pushing in robotics.Comment: 8 pages, 10 figure
Unsupervised Contact Learning for Humanoid Estimation and Control
This work presents a method for contact state estimation using fuzzy
clustering to learn contact probability for full, six-dimensional humanoid
contacts. The data required for training is solely from proprioceptive sensors
- endeffector contact wrench sensors and inertial measurement units (IMUs) -
and the method is completely unsupervised. The resulting cluster means are used
to efficiently compute the probability of contact in each of the six
endeffector degrees of freedom (DoFs) independently. This clustering-based
contact probability estimator is validated in a kinematics-based base state
estimator in a simulation environment with realistic added sensor noise for
locomotion over rough, low-friction terrain on which the robot is subject to
foot slip and rotation. The proposed base state estimator which utilizes these
six DoF contact probability estimates is shown to perform considerably better
than that which determines kinematic contact constraints purely based on
measured normal force.Comment: Submitted to the IEEE International Conference on Robotics and
Automation (ICRA) 201
Unsupervised Contact Learning for Humanoid Estimation and Control
This work presents a method for contact state estimation using fuzzy
clustering to learn contact probability for full, six-dimensional humanoid
contacts. The data required for training is solely from proprioceptive sensors
- endeffector contact wrench sensors and inertial measurement units (IMUs) -
and the method is completely unsupervised. The resulting cluster means are used
to efficiently compute the probability of contact in each of the six
endeffector degrees of freedom (DoFs) independently. This clustering-based
contact probability estimator is validated in a kinematics-based base state
estimator in a simulation environment with realistic added sensor noise for
locomotion over rough, low-friction terrain on which the robot is subject to
foot slip and rotation. The proposed base state estimator which utilizes these
six DoF contact probability estimates is shown to perform considerably better
than that which determines kinematic contact constraints purely based on
measured normal force.Comment: Submitted to the IEEE International Conference on Robotics and
Automation (ICRA) 201
Aerospace medicine and biology: A continuing bibliography with indexes (supplement 341)
This bibliography lists 133 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during September 1990. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance
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