A model-based residual approach for human-robot collaboration during manual polishing operations

A fully robotized polishing of metallic surfaces may be insufficient in case of parts with complex geometric shapes, where a manual intervention is still preferable. Within the EU SYMPLEXITY project, we are considering tasks where manual polishing operations are performed in strict physical Human-Robot Collaboration (HRC) between a robot holding the part and a human operator equipped with an abrasive tool. During the polishing task, the robot should firmly keep the workpiece in a prescribed sequence of poses, by monitoring and resisting to the external forces applied by the operator. However, the user may also wish to change the orientation of the part mounted on the robot, simply by pushing or pulling the robot body and changing thus its configuration. We propose a control algorithm that is able to distinguish the external torques acting at the robot joints in two components, one due to the polishing forces being applied at the end-effector level, the other due to the intentional physical interaction engaged by the human. The latter component is used to reconfigure the manipulator arm and, accordingly, its end-effector orientation. The workpiece position is kept instead fixed, by exploiting the intrinsic redundancy of this subtask. The controller uses a F/T sensor mounted at the robot wrist, together with our recently developed model-based technique (the residual method) that is able to estimate online the joint torques due to contact forces/torques applied at any place along the robot structure. In order to obtain a reliable residual, which is necessary to implement the control algorithm, an accurate robot dynamic model (including also friction effects at the joints and drive gains) needs to be identified first. The complete dynamic identification and the proposed control method for the human-robot collaborative polishing task are illustrated on a 6R UR10 lightweight manipulator mounting an ATI 6D sensor

Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization

In this letter, we address the problem of extracting a feasible set of dynamic parameters characterizing the dynamics of a robot manipulator. We start by identifying through an ordinary least squares approach the dynamic coefficients that linearly parametrize the model. From these, we retrieve a set of feasible link parameters (mass, position of center of mass, inertia) that is fundamental for more realistic dynamic simulations or when implementing in real time robot control laws using recursive NewtonEuler algorithms. The resulting problem is solved by means of an optimization method that incorporates constraints on the physical consistency of the dynamic parameters, including the triangle inequality of the link inertia tensors as well as other user-defined, possibly nonlinear constraints. The approach is developed for the increasingly popular Panda robot by Franka Emika, identifying for the first time its dynamic coefficients, an accurate joint friction model, and a set of feasible dynamic parameters. Validation of the identified dynamic model and of the retrieved feasible parameters is presented for the inverse dynamics problem using, respectively, a Lagrangian approach and Newton-Euler computations

Kinematic control of redundant robots with online handling of variable generalized hard constraints

We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and in a unified way by the algorithm, and may also be varied, inserted or deleted online. When a joint/Cartesian bound saturates, the robot redundancy is exploited to continue fulfilling the primary task. If no feasible solution exists, an optimal scaling procedure is applied to enforce directional consistency with the original task. Simulation and experimental results on different robotic systems demonstrate the efficiency of the approach. The proposed algorithm can be viewed as a generic platform that is easily applicable to any robotic application in which robots operate in an unstructured environment and online handling of joint and Cartesian constraints is critical.Comment: 8 pages, 10 figures. This work has been submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022 with RA-L option) for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

modelling and simulation for major incidents

In recent years, there has been a rise in Major Incidents with big impact on the citizens health and the society. Without the possibility of conducting live experiments when it comes to physical and/or toxic trauma, only an accurate in silico reconstruction allows us to identify organizational solutions with the best possible chance of success, in correlation with the limitations on available resources (e.g. medical team, first responders, treatments, transports, and hospitals availability) and with the variability of the characteristic of event (e.g. type of incident, severity of the event and type of lesions). Utilizing modelling and simulation techniques, a simplified mathematical model of physiological evolution for patients involved in physical and toxic trauma incident scenarios has been developed and implemented. The model formalizes the dynamics, operating standards and practices of medical response and the main emergency service in the chain of emergency management during a Major Incident

Measurement of ISR-FSR interference in the processes e+ e- --> mu+ mu- gamma and e+ e- --> pi+ pi- gamma

Charge asymmetry in processes e+ e- --> mu+ mu- gamma and e+ e- --> pi+ pi- gamma is measured using 232 fb-1 of data collected with the BABAR detector at center-of-mass energies near 10.58 GeV. An observable is introduced and shown to be very robust against detector asymmetries while keeping a large sensitivity to the physical charge asymmetry that results from the interference between initial and final state radiation. The asymmetry is determined as afunction of the invariant mass of the final-state tracks from production threshold to a few GeV/c2. It is compared to the expectation from QED for e+ e- --> mu+ mu- gamma and from theoretical models for e+ e- --> pi+ pi- gamma. A clear interference pattern is observed in e+ e- --> pi+ pi- gamma, particularly in the vicinity of the f_2(1270) resonance. The inferred rate of lowest order FSR production is consistent with the QED expectation for e+ e- --> mu+ mu- gamma, and is negligibly small for e+ e- --> pi+ pi- gamma.Comment: 32 pages,29 figures, to be submitted to Phys. Rev.

Differential cross section measurements for the production of a W boson in association with jets in proton–proton collisions at √s = 7 TeV

Measurements are reported of differential cross sections for the production of a W boson, which decays into a muon and a neutrino, in association with jets, as a function of several variables, including the transverse momenta (pT) and pseudorapidities of the four leading jets, the scalar sum of jet transverse momenta (HT), and the difference in azimuthal angle between the directions of each jet and the muon. The data sample of pp collisions at a centre-of-mass energy of 7 TeV was collected with the CMS detector at the LHC and corresponds to an integrated luminosity of 5.0 fb[superscript −1]. The measured cross sections are compared to predictions from Monte Carlo generators, MadGraph + pythia and sherpa, and to next-to-leading-order calculations from BlackHat + sherpa. The differential cross sections are found to be in agreement with the predictions, apart from the pT distributions of the leading jets at high pT values, the distributions of the HT at high-HT and low jet multiplicity, and the distribution of the difference in azimuthal angle between the leading jet and the muon at low values.United States. Dept. of EnergyNational Science Foundation (U.S.)Alfred P. Sloan Foundatio

Penilaian Kinerja Keuangan Koperasi di Kabupaten Pelalawan

This paper describe development and financial performance of cooperative in District Pelalawan among 2007 - 2008. Studies on primary and secondary cooperative in 12 sub-districts. Method in this stady use performance measuring of productivity, efficiency, growth, liquidity, and solvability of cooperative. Productivity of cooperative in Pelalawan was highly but efficiency still low. Profit and income were highly, even liquidity of cooperative very high, and solvability was good