7,306 research outputs found
Multi fingered robot hand in industrial robot application using tele-operation
This research focuses on the working and development of wireless robotic hand system.
In this research previously developed models have been studied. After analysis of those
models, a better approach has been presented in this research. The objective of this
research is to design and develop a tele-operated robotic hand system. The robotic hand
is intended for providing solutions to industrial problems like robot reprogramming,
industrial automation and safety of the workers working in hostile environments. The
robotic hand system works in the master slave configuration where Bluetooth is being
used as the communication channel for the tele-operation. The master is a glove,
embedded with sensors to detect the movement of every joint present in the hand, which
a human operator can wear. This joint movement is transferred to the slave robotic hand
which will mimic the movement of human operator. The robotic hand is a multi
fingered dexterous and anthropomorphic hand. All the fingers are capable of performing
flexion, extension, abduction, adduction and hence circumduction. A new combination
of pneumatic muscles and springs has been used for the actuation purpose. As a result,
this combination reduces the size of the robotic hand by decreasing the number of
pneumatic muscles used. The pneumatic muscles are controlled by the opening and
closing of solenoid valves. A novel technique has been used in the robotic hand for
tendon routing, which gives the ability of independence to all finger joints. The heart of
all the control mechanism of the system is mbed microcontroller. The designed system
was tested at different module levels. The results show the successful establishment of
communication between master and slave at a rate of 10 packets per second, which was
sufficient for smooth motion of the system. The amount of torque produced at all the
joints in the robotic hand has been presented in this research. The posture tests have
been performed in which two fingers were actuated which followed the master. This
system has achieved motion of fingers without any tendon coupling problem. The
system is able to replace the human industrial workers performing dexterous tasks
Ensembles of Randomized Time Series Shapelets Provide Improved Accuracy while Reducing Computational Costs
Shapelets are discriminative time series subsequences that allow generation
of interpretable classification models, which provide faster and generally
better classification than the nearest neighbor approach. However, the shapelet
discovery process requires the evaluation of all possible subsequences of all
time series in the training set, making it extremely computation intensive.
Consequently, shapelet discovery for large time series datasets quickly becomes
intractable. A number of improvements have been proposed to reduce the training
time. These techniques use approximation or discretization and often lead to
reduced classification accuracy compared to the exact method.
We are proposing the use of ensembles of shapelet-based classifiers obtained
using random sampling of the shapelet candidates. Using random sampling reduces
the number of evaluated candidates and consequently the required computational
cost, while the classification accuracy of the resulting models is also not
significantly different than that of the exact algorithm. The combination of
randomized classifiers rectifies the inaccuracies of individual models because
of the diversity of the solutions. Based on the experiments performed, it is
shown that the proposed approach of using an ensemble of inexpensive
classifiers provides better classification accuracy compared to the exact
method at a significantly lesser computational cost
Exchange Rate Pass-through to Consumer Prices in Pakistan: Does Misalignment Matter?
This study investigates the impact of exchange rate changes on consumer prices (commonly known as exchange rate pass-through (ERPT)) in Pakistan for the period 1995M1 to 2009M3. The study estimates short-run and long-run ERPT in Pakistan while taking into account the existing real exchange rate misalignment (RERM). The results suggest that the ERPT to consumer price inflation in Pakistan is very low (close to zero). The impact of the previous periods’ misalignment on inflation is found significant in managed exchange rate regime. However, the overall sample misalignment does not affect inflation. The impact of foreign inflation on domestic inflation is positive and statistically significant.Pass-through, Misalignment, Inflation
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