Online Motion Planning for Safe Human–Robot Cooperation Using B-Splines and Hidden Markov Models

When humans and robots work together, ensuring safe cooperation must be a priority. This research aims to develop a novel real-time planning algorithm that can handle unpredictable human movements by both slowing down task execution and modifying the robot’s path based on the proximity of the human operator. To achieve this, an efficient method for updating the robot’s motion is developed using a two-fold control approach that combines B-splines and hidden Markov models. This allows the algorithm to adapt to a changing environment and avoid collisions. The proposed framework is thus validated using the Franka Emika Panda robot in a simple start–goal task. Our algorithm successfully avoids collision with the moving hand of an operator monitored by a fixed camera

Modelling and Controlling the Compliance of a Robotic Hand with Soft Finger-pads

[CAPITOLO DI LIBRO

Novel synthetic approach to heteroatom doped polycyclic aromatic hydrocarbons: Optimizing the bottom-up approach to atomically precise doped nanographenes

The success of the rational bottom-up approach to nanostructured carbon materials and the discovery of the importance of their doping with heteroatoms puts under the spotlight all synthetic organic approaches to polycyclic aromatic hydrocarbons. The construction of atomically precise heteroatom doped nanographenes has evidenced the importance of controlling its geometry and the position of the doping heteroatoms, since these parameters influence their chemical–physical properties and their applications. The growing interest towards this research topic is testified by the large number of works published in this area, which have transformed a once “fundamental research” into applied research at the cutting edge of technology. This review analyzes the most recent synthetic approaches to this class of compounds

Integration of robotic systems in a packaging machine: A tool for design and simulation of efficient motion trajectories

In this paper, the advantages of CACSD (Computer Aided Control System Design) tools for integrating a robotic system in a packaging machine are illustrated. Beside the mechanical integration of the robot into the machine architecture, it is necessary a functional integration, that requires a precise synchronization with the other parts of the system. In the proposed application, a robot with a parallel kinematics is used for pick-and-place tasks between two conveyor belts. It is therefore necessary a proper motion planning which allows to synchronize the grasp and release phases with the conveyor belts, avoiding obstacles and guaranteeing the compliance with bounds on velocity, acceleration and limits in the workspace. A trajectory composed by quintic polynomials has been considered and a specific tool has been designed in the Matlab environment, which allows to modify the parameters of the trajectory and to analyze the obtained motion profiles from both the kinematic and dynamic point of view

Robot Programming by Demonstration: Trajectory Learning Enhanced by sEMG-Based User Hand Stiffness Estimation

Trajectory learning is one of the key components of robot Programming by Demonstration approaches, which in many cases, especially in industrial practice, aim at defining complex manipulation patterns. In order to enhance these methods, which are generally based on a physical interaction between the user and the robot, guided along the desired path, an additional input channel is considered in this article. The hand stiffness, that the operator continuously modulates during the demonstration, is estimated from the forearm surface electromyography and translated into a request for a higher or lower accuracy level. Then, a constrained optimization problem is built (and solved) in the framework of smoothing B-splines to obtain a minimum curvature trajectory approximating, in this manner, the taught path within the precision imposed by the user. Experimental tests in different applicative scenarios, involving both position and orientation, prove the benefits of the proposed approach in terms of the intuitiveness of the programming procedure for the human operator and characteristics of the final motion

Combined joint-cartesian mapping for simultaneous shape and precision teleoperation of anthropomorphic robotic hands

There are many applications involving robotic hands in which teleoperation-based approaches are preferred to autonomous solutions. The main reason is that cognitive skills of human operators are desirable in some task scenarios, in order to overcome limitations of robotic hands abilities in dealing with unstructured environments and/or unpredetermined requirements. In particular, in this work we focus on the use of anthropomorphic grasping devices and, specifically, on their teleoperation based on movements of the human operator's hand (the master hand.) Indeed, the mapping of human hand configurations to an anthropomorphic robotic hand (the slave device) is still an open problem, because of the presence of dissimilar kinematics between master and slave that produce shape and/or Cartesian errors - as addressed within our study. In this work, we propose a novel algorithm that combines joint and Cartesian mappings in order to enhance the preservation of both finger shapes and fingertip positions during the teleoperation of the robotic hand. In particular, a transition between the joint and Cartesian mappings is realized on the basis of the distance between the fingertip of the master hands' thumb and the opposite fingers, in which the mapping of the thumb fingertip is specifically addressed. The result of the testing of the algorithm with a ROS-based simulator of a commercially available robotic hand is reported, showing the effectiveness of the proposed mapping

Prenatal diagnosis of X-linked adrenoleukodystrophy associated with isolated pericardial effusion

This is the first reported case of fetal pericardial effusion in association with X-linked adrenoleukodystrophy and hypocortisolism from a nonautoimmune cause. Our hypothesis is that in experienced hands and after accurate genetic counseling, isolated pericardial effusion can constitute an indication for a severe metabolic disease

Chemistry of α-mangostin : studies on the semisynthesis of minor xanthones from Garcinia mangostana

\u3b1-Mangostin is the major prenylated xanthone from Garcinia mangostana and it has been used also in recent times as starting material for the semisynthetic preparation of various biologically active derivatives. Its structure is characterised by the presence of few functional groups amenable to chemical manipulations, but present in the molecule in multiple instances (three phenolic hydroxyl groups, two prenyl chains and two unsubstituted aromatic carbons). This study represents a first approach to the systematic investigation of the reactivity of \u3b1-mangostin and describes the semisynthesis of some minor xanthones isolated from G. mangostana