27 research outputs found

    Design and Development of Sensor Integrated Robotic Hand

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    Most of the automated systems using robots as agents do use few sensors according to the need. However, there are situations where the tasks carried out by the end-effector, or for that matter by the robot hand needs multiple sensors. The hand, to make the best use of these sensors, and behave autonomously, requires a set of appropriate types of sensors which could be integrated in proper manners. The present research work aims at developing a sensor integrated robot hand that can collect information related to the assigned tasks, assimilate there correctly and then do task action as appropriate. The process of development involves selection of sensors of right types and of right specification, locating then at proper places in the hand, checking their functionality individually and calibrating them for the envisaged process. Since the sensors need to be integrated so that they perform in the desired manner collectively, an integration platform is created using NI PXIe-1082. A set of algorithm is developed for achieving the integrated model. The entire process is first modelled and simulated off line for possible modification in order to ensure that all the sensors do contribute towards the autonomy of the hand for desired activity. This work also involves design of a two-fingered gripper. The design is made in such a way that it is capable of carrying out the desired tasks and can accommodate all the sensors within its fold. The developed sensor integrated hand has been put to work and its performance test has been carried out. This hand can be very useful for part assembly work in industries for any shape of part with a limit on the size of the part in mind. The broad aim is to design, model simulate and develop an advanced robotic hand. Sensors for pick up contacts pressure, force, torque, position, surface profile shape using suitable sensing elements in a robot hand are to be introduced. The hand is a complex structure with large number of degrees of freedom and has multiple sensing capabilities apart from the associated sensing assistance from other organs. The present work is envisaged to add multiple sensors to a two-fingered robotic hand having motion capabilities and constraints similar to the human hand. There has been a good amount of research and development in this field during the last two decades a lot remains to be explored and achieved. The objective of the proposed work is to design, simulate and develop a sensor integrated robotic hand. Its potential applications can be proposed for industrial environments and in healthcare field. The industrial applications include electronic assembly tasks, lighter inspection tasks, etc. Application in healthcare could be in the areas of rehabilitation and assistive techniques. The work also aims to establish the requirement of the robotic hand for the target application areas, to identify the suitable kinds and model of sensors that can be integrated on hand control system. Functioning of motors in the robotic hand and integration of appropriate sensors for the desired motion is explained for the control of the various elements of the hand. Additional sensors, capable of collecting external information and information about the object for manipulation is explored. Processes are designed using various software and hardware tools such as mathematical computation MATLAB, OpenCV library and LabVIEW 2013 DAQ system as applicable, validated theoretically and finally implemented to develop an intelligent robotic hand. The multiple smart sensors are installed on a standard six degree-of-freedom industrial robot KAWASAKI RS06L articulated manipulator, with the two-finger pneumatic SHUNK robotic hand or designed prototype and robot control programs are integrated in such a manner that allows easy application of grasping in an industrial pick-and-place operation where the characteristics of the object can vary or are unknown. The effectiveness of the actual recommended structure is usually proven simply by experiments using calibration involving sensors and manipulator. The dissertation concludes with a summary of the contribution and the scope of further work

    NASA SBIR abstracts of 1991 phase 1 projects

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    The objectives of 301 projects placed under contract by the Small Business Innovation Research (SBIR) program of the National Aeronautics and Space Administration (NASA) are described. These projects were selected competitively from among proposals submitted to NASA in response to the 1991 SBIR Program Solicitation. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 301, in order of its appearance in the body of the report. Appendixes to provide additional information about the SBIR program and permit cross-reference of the 1991 Phase 1 projects by company name, location by state, principal investigator, NASA Field Center responsible for management of each project, and NASA contract number are included

    Aeronautical engineering: A continuing bibliography with indexes (supplement 284)

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    This bibliography lists 974 reports, articles, and other documents introduced into the NASA scientific and technical information system in Oct. 1992. The coverage includes documents on design, construction, evaluation, testing, operation, and performance of aircraft (including aircraft engines) and associated components, equipment, and systems. It also includes research and development in aerodynamics, aeronautics, and ground support equipment for aeronautical vehicles

    Anatomy of a Pin-Up: A Genealogy of Sexualized Femininity Since the Industrial Age

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    Pin-up images have played an important role in American culture, in both their illustrated and photographic configurations. The pin-up is viewed as a significant representational cultural artifact of idealistic and aspirational femininity and of consumerism and material wealth, especially reflective of the mid-twentieth century period in America spanning the 1930s to the 1960s. These images not only reflect great shifts in social mores and women’s social status, but also affected changes in both areas in turn. Furthermore, pin-up images internationally circulated in magazines, advertising and promotional material, contributed to the manner in which America was idealized in Europe and beyond. Crucially, they influenced how an eroticized and glamorous, yet unrealistic, example of femininity came to be generalized as a desirous model of femininity. In recent years there has been vital, though limited, scholarly research into the cultural and social impact of pin-up imagery, to which this thesis adds to. This thesis takes a genealogical approach, charting the development of popular female-centric “pin-up” imagery in America since the 1860s and up to the 1960s, and its resurgence since the 1980s onwards. In doing so this thesis aims to provide a social, political and cultural context to the emergence of a specific archetypal sexualized femininity, with the aim of challenging the tendency to dismiss sexualized imagery as “anti-feminist” or as trivial. Toward that end, I examine the complexity of intentions behind the production of “pin-up” images. In taking this revisionist approach I am better able to conclusively analyze the reasons for the resurgence and reappropriation of pin-up imagery in late-twentieth- and early-twenty-first-century popular culture, and consider what the gendered cultural implications may be

    NASA SBIR abstracts of 1992, phase 1 projects

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    The objectives of 346 projects placed under contract by the Small Business Innovation Research (SBIR) program of the National Aeronautics and Space Administration (NASA) are described. These projects were selected competitively from among proposals submitted to NASA in response to the 1992 SBIR Program Solicitation. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 346, in order of its appearance in the body of the report. Appendixes to provide additional information about the SBIR program and permit cross-reference of the 1992 Phase 1 projects by company name, location by state, principal investigator, NASA Field Center responsible for management of each project, and NASA contract number are included

    Technology 2000, volume 1

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    The purpose of the conference was to increase awareness of existing NASA developed technologies that are available for immediate use in the development of new products and processes, and to lay the groundwork for the effective utilization of emerging technologies. There were sessions on the following: Computer technology and software engineering; Human factors engineering and life sciences; Information and data management; Material sciences; Manufacturing and fabrication technology; Power, energy, and control systems; Robotics; Sensors and measurement technology; Artificial intelligence; Environmental technology; Optics and communications; and Superconductivity

    Aeronautical engineering: A continuing bibliography with indexes (supplement 258)

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    This bibliography lists 536 reports, articles, and other documents introduced into the NASA scientific and technical information system in October 1990. Subject coverage includes: design, construction and testing of aircraft and aircraft engines; aircraft components, equipment and systems; ground support systems; and theoretical and applied aspects of aerodynamics and general fluid dynamics
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