Development of Modular Compliant Anthropomorphic Robot Hand

The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion

A Proposed Priority Pushing and Grasping Strategy Based on an Improved Actor-Critic Algorithm

The most basic and primary skills of a robot are pushing and grasping. In cluttered scenes, push to make room for arms and fingers to grasp objects. We propose a modified Actor-Critic (A-C) framework for deep reinforcement learning, Cross-entropy Softmax A-C (CSAC), and use the Prioritized Experience Replay (PER) based on the theoretical foundation and main methods of deep reinforcement learning, combining the advantages of algorithms based on value functions and policy gradients. The grasping model is trained using self-supervised learning to achieve end-to-end mapping from image to propulsion and grasping action. A vision module and an action module have been created out of the entire algorithm framework. The prioritized experience replay is improved to further improve the CSAC-PER algorithm for model sample diversity and robot exploration performance during robot grasping training. The experience replay buffer is dynamically sampled using the prior beta distribution and the dynamic sampling algorithm based on the beta distribution (CSAC-beta) is proposed based on the CSAC algorithm. Despite its low initial efficiency, the experimental simulation results show that the CSAC-beta algorithm eventually achieves good results and has a higher grasping success rate (90%)

Implementation architecture of a home robot assistant

This paper deals with development of a personal robot functioning as a part of a smart home. The overall system is based on the cloud computing model to leverage processing, data sensing and communication power of the robot. At the semantic level, it provides capabilities for improved perceiving and expressing the emotions based on analysis of collected and exchanged history data on emotional states and actions

Development of a prototype of an ambient-aware two-arm mobile service robot

This paper describes a prototype of an ambient-intelligent advanced service robot of anthropomorphic characteristics that is intended for operation in indoor environment as well as for safe interaction with people. The robot consists of a wheeled mobile platform with a spinal (segmented) torso, bi-manual manipulation system with hands, and a robot head with capabilities to see, hear and speak. It is equipped with a number of advanced sensors, including indoor laser range finder, several ultrasonic probes as distance sensors and obstacle detectors, 3-axis inertial sensors with gyroscope, stereo vision system, 2 wide-range microphones, and 2 speakerphones. Its operation is autonomous but it may be controlled from a host computer through a wireless link. The robot prototype is expected to express advanced cognitive capabilities including spatial understanding, autonomous motion, affective and social behavior. The development of the robot is a joint effort of four Serbian academic institutions and it is expected to have it fully operational in the second half of 2015

CONTROL ALGORITHMS FOR GROUPS OF KINEMATIC UNICYCLE AND SKID-STEERING MOBILE ROBOTS WITH RESTRICTED INPUTS

Abstract. The paper presents analytical and practical studies concerning the control problems of a group of Wheeled Mobile Robots (WMRs) subject to physical constraints. Firstly, controllers for achieving trajectory tracking for kinematic unicycle-like and skidsteering mobile robots with restricted control inputs are established. Next, the underlying tracking controllers are applied for group control under the condition of actuator constraints. In particular we are developing control strategies for establishing rigid and convoy-like formations for vehicles with bounded inputs. The group control approach is based on the concepts of virtual robot and virtual formation. The proposed controllers employ smooth bounded functions that can easily be realized. The performance of the resulting controllers are demonstrated by means of numerical and simulation results

The importance of genomic profiling for differential diagnosis of pediatric lung disease patients with suspected ciliopathies

Uvod/Cilj Izmenjena funkcija aksonemalne strukture dovodi do ciliopatija (motornih i senzornih), koje su do sada povezane sa brojnim pedijatrijskim poremećajima, uključujući i respiratorne. Primarna cilijarna diskinezija (PCD) najčešća je ciliopatija, koja nastaje kao posledica poremećaja u motornim cilijama. Promenjena struktura i/ ili funkcija motornih cilija dovodi do neonatalnog respiratornog distresa, hroničnog vlažnog kašlja, simptoma nazalne sekrecije, bronhoektazija, hronične upale sinusa i uha, a 50% bolesnika ima i situs inversus. Ovi simptomi su prilično uobičajeni kod male dece i u drugim stanjima; stoga je uspostavljanje precizne dijagnoze otežano. Cilj ovog istraživanja je ukazivanje na značaj genomskog profilisanja bolesnika i dizajniranje strategije za genetičku analizu podataka kod bolesnika suspektnih na ciliopatije sa kliničkom slikom sličnom drugim bolestima pluća. Metode Sproveli smo bioinformatičku analizu podataka dobijenih metodom sekvenciranja nove generacije 21 bolesnika sa potvrđenom ili suspektnom dijagnozom PCD-a. Analizirano je 93 gena: 29 PCD gena, 45 gena asociranih sa pojedinačnim simptomima plućnih bolesti i 19 gena asociranih sa senzornim ciliopatijama. Rezultati Dizajnirani algoritam za genetičku analizu NAM je omogućio da potvrdimo kliničku i uspostavimo genetičku dijagnozu kod 17/21 (80,95%) bolesnika, među kojima je 11/21 (52,38%) PCD bolesnika. Kod 3/21 (14,28%) bolesnika detektovane su monoalelske varijante u PCD genima, kod 6/21 (28,57%) bolesnika detektovane su varijante u genima relevantnim za druga plućna oboljenja, dok je kod 1/21 (4,76%) bolesnika genetička osnovna bolesti ostala nerazjašnjena. Zaključak Dizajniranje strategije za lakše i brže uspostavljanje konačne dijagnoze ciliopatija je obavezno i uključuje i kliničku i genetičku potvrdu bolesti.Introduction/Objective Dysfunction of the axonemal structure leads to ciliopathies. Sensory and mo-tile ciliopathies have been associated with numerous pediatric diseases, including respiratory diseases. Primary ciliary dyskinesia (PCD) is ciliopathy linked to the dysfunction of motile cilia. Motile ciliary dys-function in childhood leads to chronic rhinosinusitis, persistent cough, neonatal respiratory distress, bronchiectasis, and situs inversus (SI) have 50% of patients. These symptoms are common among pediatric lung diseases, which additionally makes it difficult to establish the accurate diagnosis. The aim of the study was to point out the significance of genomic profiling for patients with suspected ciliopathies and to design a strategy for genomic analysis relevant for differential diagnosis of lung disease patients with suspected ciliopathies. Methods We conducted a bioinformatic analysis of data generated by New Generation Sequencing (NGS) approach of 21 patients with final or suspected diagnosis of PCD. It was analyzed 93 genes: 29 PCD genes, 45 genes related to individual symptoms of lung diseases, and 19 genes related to sensory ciliopathies. Results the algorithm we have designed, enabled us to establish the clinical and genetic diagnosis for 17/21 (80.95%) patients, among which 11/21 (52.38%) were PCD patients. In 3/21 (14.28%) patients we detected monoallelic variants in PCD disease-causing genes. In 6/21 (28.57%) patients, variants in genes for other pulmonary diseases were detected, and for one patient, genetic background of disease remained unclear. Conclusion an improved strategy for easier and faster establishment of final diagnosis of ciliopathies is mandatory and includes both, clinical and genetic confirmation of disease

Reaction of a 3-aryilidene-2-thiohydantoin derivative with polymeric trans-[CuCl2(DMSO)(2)](n) complex: unexpected isomerization to dinuclear cis-[{CuCl(DMSO)(2)}(mu-Cl)](2)

The 3-arylidene-2-thiohydantoin derivative, 3-[(2-hydroxybenzylidene)amino]-2-thioxoimidazolidin-4-one, was synthesized in a two-step condensation reaction of 2-hydroxybenzaldehyde, thiosemicarbazide and ethyl chloroacetate. The ligand was structurally characterized by NMR and IR spectroscopy, as well as by elemental analysis. In the reaction of the well-known polymeric trans-[CuCl2(DMSO)(2)](n) complex with the polydentate thiohydantoin type ligand, instead of the corresponding copper thiohydantoin complex, unexpectedly, the dinuclear cis-[{CuCl(DMSO)(2)}(mu-Cl)](2) complex (1) was formed predominantly as the final stable product. The structure of the complex 1 was confirmed by single crystal X-ray diffraction analysis. The cis-complex is obtained through assisted isomerization of the trans-form, in which the thiohydantoin derivative has a crucial role

Supplementary data for article: Filipović, N. R.; Elshaflu, H.; Grubišić, S.; Jovanović, L. S.; Rodić, M.; Novaković, I.; Malešević, A.; Djordjević, I. S.; Li, H.; Šojić, N.; et al. Co(III) Complexes of (1,3-Selenazol-2-Yl)Hydrazones and Their Sulphur Analogues. Dalton Transactions 2017, 46 (9), 2910–2924. https://doi.org/10.1039/c6dt04785h

Supplementary material for: [https://doi.org/10.1039/c6dt04785h]Related to published version: [http://cherry.chem.bg.ac.rs/handle/123456789/2430

A grey fuzzy approach to the selection of cutting process from the aspect of technological parameters

This study deals with the selection of the cutting process using the grey fuzzy relation approach. The analysis was performed using plasma arc machining, laser beam machining, and abrasive waterjet machining on three different workpiece thicknesses with different cutting speeds. The objective was to select the best cutting process considering several performance characteristics such as machining time, dimensional accuracy, kerf width, and surface roughness. Data normalization, grey relation coefficients, fuzzy inference system, and grey fuzzy relation grade are used to evaluate the machining performances of the machining processes. The developed fuzzy model can be used to study the effects of different cutting processes on technological features. The results show that the grey fuzzy technique can be effectively used for the analysis and selection of cutting processes.Web of Science1224art. no. 1258

Design, synthesis, and biological evaluation of thiazole bioisosteres of goniofufurone through in vitro antiproliferative activity and in vivo toxicity (vol 121, 105691, 2022)

The contribution corrects an equation from the paper: Delasoie, J., Radakovic, N., Pavic, A., & Zobi, F. (2020). Neovascularization Effects of Carbon Monoxide Releasing Drugs Chemisorbed on Coscinodiscus Diatoms Carriers Characterized by Spectromicroscopy Imaging. Applied Sciences, 10(20), 7380. [https://doi.org/10.3390/app10207380