564 research outputs found
Machine Learning Meets Advanced Robotic Manipulation
Automated industries lead to high quality production, lower manufacturing
cost and better utilization of human resources. Robotic manipulator arms have
major role in the automation process. However, for complex manipulation tasks,
hard coding efficient and safe trajectories is challenging and time consuming.
Machine learning methods have the potential to learn such controllers based on
expert demonstrations. Despite promising advances, better approaches must be
developed to improve safety, reliability, and efficiency of ML methods in both
training and deployment phases. This survey aims to review cutting edge
technologies and recent trends on ML methods applied to real-world manipulation
tasks. After reviewing the related background on ML, the rest of the paper is
devoted to ML applications in different domains such as industry, healthcare,
agriculture, space, military, and search and rescue. The paper is closed with
important research directions for future works
Path and Motion Planning for Autonomous Mobile 3D Printing
Autonomous robotic construction was envisioned as early as the ‘90s, and yet, con-
struction sites today look much alike ones half a century ago. Meanwhile, highly
automated and efficient fabrication methods like Additive Manufacturing, or 3D
Printing, have seen great success in conventional production. However, existing
efforts to transfer printing technology to construction applications mainly rely on
manufacturing-like machines and fail to utilise the capabilities of modern robotics.
This thesis considers using Mobile Manipulator robots to perform large-scale
Additive Manufacturing tasks. Comprised of an articulated arm and a mobile base,
Mobile Manipulators, are unique in their simultaneous mobility and agility, which
enables printing-in-motion, or Mobile 3D Printing. This is a 3D printing modality,
where a robot deposits material along larger-than-self trajectories while in motion.
Despite profound potential advantages over existing static manufacturing-like large-
scale printers, Mobile 3D printing is underexplored. Therefore, this thesis tack-
les Mobile 3D printing-specific challenges and proposes path and motion planning
methodologies that allow this printing modality to be realised. The work details
the development of Task-Consistent Path Planning that solves the problem of find-
ing a valid robot-base path needed to print larger-than-self trajectories. A motion
planning and control strategy is then proposed, utilising the robot-base paths found
to inform an optimisation-based whole-body motion controller. Several Mobile 3D
Printing robot prototypes are built throughout this work, and the overall path and
motion planning strategy proposed is holistically evaluated in a series of large-scale
3D printing experiments
Advances in flexible manipulation through the application of AI-based techniques
282 p.Objektuak hartu eta uztea oinarrizko bi eragiketa dira ia edozein aplikazio robotikotan. Gaur egun, "pick and place" aplikazioetarako erabiltzen diren robot industrialek zeregin sinpleak eta errepikakorrak egiteko duten eraginkortasuna dute ezaugarri. Hala ere, sistema horiek oso zurrunak dira, erabat kontrolatutako inguruneetan lan egiten dute, eta oso kostu handia dakarte beste zeregin batzuk egiteko birprogramatzeak. Gaur egun, industria-ingurune desberdinetako zereginak daude (adibidez, logistika-ingurune batean eskaerak prestatzea), zeinak objektuak malgutasunez manipulatzea eskatzen duten, eta oraindik ezin izan dira automatizatu beren izaera dela-eta. Automatizazioa zailtzen duten botila-lepo nagusiak manipulatu beharreko objektuen aniztasuna, roboten trebetasun falta eta kontrolatu gabeko ingurune dinamikoen ziurgabetasuna dira.Adimen artifizialak (AA) gero eta paper garrantzitsuagoa betetzen du robotikaren barruan, robotei zeregin konplexuak betetzeko beharrezko adimena ematen baitie. Gainera, AAk benetako esperientzia erabiliz portaera konplexuak ikasteko aukera ematen du, programazioaren kostua nabarmen murriztuz. Objektuak manipulatzeko egungo sistema robotikoen mugak ikusita, lan honen helburu nagusia manipulazio-sistemen malgutasuna handitzea da AAn oinarritutako algoritmoak erabiliz, birprogramatu beharrik gabe ingurune dinamikoetara egokitzeko beharrezko gaitasunak emanez
Robots learn to behave: improving human-robot collaboration in flexible manufacturing applications
L'abstract è presente nell'allegato / the abstract is in the attachmen
Literacy for digital futures : Mind, body, text
The unprecedented rate of global, technological, and societal change calls for a radical, new understanding of literacy. This book offers a nuanced framework for making sense of literacy by addressing knowledge as contextualised, embodied, multimodal, and digitally mediated.
In today’s world of technological breakthroughs, social shifts, and rapid changes to the educational landscape, literacy can no longer be understood through established curriculum and static text structures. To prepare teachers, scholars, and researchers for the digital future, the book is organised around three themes – Mind and Materiality; Body and Senses; and Texts and Digital Semiotics – to shape readers’ understanding of literacy. Opening up new interdisciplinary themes, Mills, Unsworth, and Scholes confront emerging issues for next-generation digital literacy practices. The volume helps new and established researchers rethink dynamic changes in the materiality of texts and their implications for the mind and body, and features recommendations for educational and professional practice
Randomized Control Trials in the Field of Development
In October 2019, Abhijit Banerjee, Esther Duflo, and Michael Kremer jointly won the 51st Sveriges Riksbank Prize in Economic Sciences in Memory of Alfred Nobel "for their experimental approach to alleviating global poverty." But what is the exact scope of their experimental method, known as randomized control trials (RCTs)? Which sorts of questions are RCTs able to address and which do they fail to answer? This book provides answers to these questions, explaining how RCTs work, what they can achieve, why they sometimes fail, how they can be improved and why other methods are both useful and necessary. Chapters contributed by leading specialists in the field present a full and coherent picture of the main strengths and weaknesses of RCTs in the field of development. Looking beyond the epistemological, political, and ethical differences underlying many of the disagreements surrounding RCTs, it explores the implementation of RCTs on the ground, outside of their ideal theoretical conditions and reveals some unsuspected uses and effects, their disruptive potential, but also their political uses. The contributions uncover the implicit worldview that many RCTs draw on and disseminate, and probe the gap between the method's narrow scope and its success, while also proposing improvements and alternatives. This book warns against the potential dangers of their excessive use, arguing that the best use for RCTs is not necessarily that which immediately springs to mind, and offering opportunity to come to an informed and reasoned judgement on RCTs and what they can bring to development
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