A Simple Way to Iron a Shirt

PDF pages: 1

Robotic Ironing with 3D Perception and Force/Torque Feedback in Household Environments

As robotic systems become more popular in household environments, the complexity of required tasks also increases. In this work we focus on a domestic chore deemed dull by a majority of the population, the task of ironing. The presented algorithm improves on the limited number of previous works by joining 3D perception with force/torque sensing, with emphasis on finding a practical solution with a feasible implementation in a domestic setting. Our algorithm obtains a point cloud representation of the working environment. From this point cloud, the garment is segmented and a custom Wrinkleness Local Descriptor (WiLD) is computed to determine the location of the present wrinkles. Using this descriptor, the most suitable ironing path is computed and, based on it, the manipulation algorithm performs the force-controlled ironing operation. Experiments have been performed with a humanoid robot platform, proving that our algorithm is able to detect successfully wrinkles present in garments and iteratively reduce the wrinkleness using an unmodified iron.Comment: Accepted and to be published on the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) that will be held in Vancouver, Canada, September 24-28, 201

Reliable postprocessing improvement of van der Waals heterostructures

The successful assembly of heterostructures consisting of several layers of different 2D materials in arbitrary order by exploiting van der Waals forces has truly been a game changer in the field of low dimensional physics. For instance, the encapsulation of graphene or MoS2 between atomically flat hexagonal boron nitride (hBN) layers with strong affinity and graphitic gates that screen charge impurity disorder provided access to a plethora of interesting physical phenomena by drastically boosting the device quality. The encapsulation is accompanied by a self-cleansing effect at the interfaces. The otherwise predominant charged impurity disorder is minimized and random strain fluctuations ultimately constitute the main source of residual disorder. Despite these advances, the fabricated heterostructures still vary notably in their performance. While some achieve record mobilities, others only possess mediocre quality. Here, we report a reliable method to improve fully completed van der Waals heterostructure devices with a straightforward post-processing surface treatment based on thermal annealing and contact mode AFM. The impact is demonstrated by comparing magnetotransport measurements before and after the AFM treatment on one and the same device as well as on a larger set of treated and untreated devices to collect device statistics. Both the low temperature properties as well as the room temperature electrical characteristics, as relevant for applications, improve on average substantially. We surmise that the main beneficial effect arises from reducing nanometer scale corrugations at the interfaces, i.e. the detrimental impact of random strain fluctuations

Using Electricity on Ohio Farms

PDF pages: 3

Old Maid

Stor

Lighting the Farmstead

PDF pages: 3

Investigation of Two Clothing and Apparel Factories in China: Excessive Overtime, Student Workers, and Exploitative Wage Systems

This document is part of a digital collection provided by the Martin P. Catherwood Library, ILR School, Cornell University, pertaining to the effects of globalization on the workplace worldwide. Special emphasis is placed on labor rights, working conditions, labor market changes, and union organizing.CLW_investigation2clothingfactories.pdf: 4479 downloads, before Oct. 1, 2020

What I could make of mothering: matricentric puppetry and the mothers of the bestiary

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