Intuitive Hand Teleoperation by Novice Operators Using a Continuous Teleoperation Subspace

Human-in-the-loop manipulation is useful in when autonomous grasping is not able to deal sufficiently well with corner cases or cannot operate fast enough. Using the teleoperator's hand as an input device can provide an intuitive control method but requires mapping between pose spaces which may not be similar. We propose a low-dimensional and continuous teleoperation subspace which can be used as an intermediary for mapping between different hand pose spaces. We present an algorithm to project between pose space and teleoperation subspace. We use a non-anthropomorphic robot to experimentally prove that it is possible for teleoperation subspaces to effectively and intuitively enable teleoperation. In experiments, novice users completed pick and place tasks significantly faster using teleoperation subspace mapping than they did using state of the art teleoperation methods.Comment: ICRA 2018, 7 pages, 7 figures, 2 table

Graphite immobilisation in glass composite materials

Irradiated graphite is a problematic nuclear waste stream and currently raises significant concern worldwide in identifying its long-term disposal route. This thesis describes the use of glass materials for the immobilisation of irradiated graphite prepared by microwave, conventional and sparks plasma sintering methods. Several potential glass compositions namely iron phosphate, aluminoborosilicate, calcium aluminosilicate, alkali borosilicate and obsidian were considered for the immobilisation of various loadings of graphite simulating irradiated graphite. The properties of the samples produced using different processing methods are compared selectively. An investigation of microwave processing using an iron phosphate glass composition revealed that full reaction of the raw materials and formation of a glass melt occurs with consequent removal of porosity at 8 minutes microwave processing. When graphite is present, iron phosphate crystalline phases are formed with much higher levels of residual porosity of up to 43 % than in the samples prepared using conventional sintering under argon. It is found that graphite reacts with the microwave field when in powder form but this reaction is minimised when the graphite is incorporated into a pellet, and that the graphite also impedes sintering of the glass. Mössbauer spectroscopy indicates that reduction of iron occurs with concomitant graphite oxidation. The production of graphite-glass samples using various powdered glass compositions by conventional sintering method still resulted in high porosity with an average of 6-17 % for graphite loadings of 20-25 wt%. Due to the use of pre-made glasses and controlled sintering parameters, the loss of graphite from the total mass is reduced compared to the microwaved samples; the average mass loss is < 0.8 %. The complication of iron oxidation and reduction is present in all the iron containing base glasses considered and this increases the total porosity of the graphite-glass samples. It is concluded that the presence of iron in the raw materials or base glasses as an encapsulation media for the immobilisation of the irradiated graphite waste is not advisable. The production of glass and graphite-glass samples based calcium aluminosilicate composition by spark plasma sintering method is found highly suitable for the immobilisation of irradiated graphite wastes. The advantages of the method includes short processing time i.e. < 40 minutes, improved sintering transport mechanisms, limited graphite oxidation, low porosity (1-4 %) and acceptable tensile strength (2-7 MPa). The most promising samples prepared using spark plasma sintering method were loaded with 30-50 wt% graphite

DESIGN & IMPLEMENTATION OF A TWO-LEGGED HUMANOID ROBOT

Nowadays, the development of robotic field is developing rapidly. The effort in developing a robot that can act and think like human has been done by various parties including the institutions of higher learning and the private company. This paper presents the design and implementation of a two-legged humanoid robot that capable of walking forward and backward. The robot is having a total of five degree of freedom (DOF), which comprises of two DOFon each knee, two DOFon each pelvis and one DOF used as balancing mechanism. These DOF is implemented using servomotors and are controlled using microchip PIC16F877 and PIC16F84A. The most critical part in designing this robot is to achieve its stability especially when it begins to walk. The stability of the structure is solves using the counterweight mechanism. The development of this biped is done stage by stage through developing and modifying the structure, constructing the circuit, programming the controller and combining both the hardware and software part. The results that have been achieved are the stable and rigid structure and the walking motion and it will be discussed in detail in the result part of this report

The Effect of Participation in Government Consortia on the R&D Productivity of Firms: A Case Study of Robot Technology in Japan

This paper examines the effect of participation in government-sponsored R&D consortia on the R&D productivity of firms in the case of robot technology in Japan. We attempt to provide a new empirical analysis and discussions on the issue of government project evaluation by using indicators of the quality of patents, by investigating the impact of the evolution of government programs, and comparing government-sponsored R&D consortia with collaborative R&D among firms. Using indicators of the quality of patents which enables us to provide an estimation of quality-adjusted research productivity, we find that participation in government programs has a positive impact on the research productivity of participating firms, but the impact of participation became much higher after the design of government programs in this field changed in the late 1990s. Also, we find that participation in government-sponsored consortia has a greater impact on research productivity than participation in collaborative R&D among firms. This may support government involvement in R&D as a coordinator of R&D collaboration.industrial policy, robot thchnology, Japanese innovation system, collaborative R&D