confined spaces industrial inspection with micro aerial vehicles and laser range finder localization

This work addresses the problem of semi-automatic inspection and navigation in confined environments. A system that overcomes many challenges at the state of the art is presented. It comprises a mu..

Kinematic optimization for the design of a collaborative robot end-effector for tele-echography

Tele-examination based on robotic technologies is a promising solution to solve the current worsening shortage of physicians. Echocardiography is among the examinations that would benefit more from robotic solutions. However, most of the state-of-the-art solutions are based on the development of specific robotic arms, instead of exploiting COTS (commercial-off-the-shelf) arms to reduce costs and make such systems affordable. In this paper, we address this problem by studying the design of an end-effector for tele-echography to be mounted on two popular and low-cost collaborative robots, i.e., the Universal Robot UR5, and the Franka Emika Panda. In the case of the UR5 robot, we investigate the possibility of adding a seventh rotational degree of freedom. The design is obtained by kinematic optimization, in which a manipulability measure is an objective function. The optimization domain includes the position of the patient with regards to the robot base and the pose of the end-effector frame. Constraints include the full coverage of the examination area, the possibility to orient the probe correctly, have the base of the robot far enough from the patient’s head, and a suitable distance from singularities. The results show that adding a degree of freedom improves manipulability by 65% and that adding a custom-designed actuated joint is better than adopting a native seven-degrees-freedom robot

Application of Filtering Strategies to Multiple Sclerosis Tremor

Intention tremor severely compromises everyday life tasks in patients suffering from Multiple Sclerosis or Parkinson's disease. We report the result of our investigation on the properties of Multiple Sclerosis tremor. We analysed the case of handwriting and the effects of filtering tremor with proper numerical systems. An index for the evaluation of movements has been proposed, its properties have been verified with healthy users and used for evaluating efficiency of filtering on Multiple Sclerosis patients. The achieved results have been applied in the development of some technological aids for assisting therapist and patients in their work/lif

Technological Approach for Cultural Heritage: Augmented Reality

Augmented reality (AR) systems allow the user to see a combination of a mixed scenario, generated by a computer, in which virtual objects are merged with the real environment. The calibration between the two frames, the real world and the virtual environment, and the real time tracking of the user are the most important problems for the AR application implementations. Augmented reality systems are proposed as solutions in many application domains. In this paper we addressed the aspect related to the development of AR applications in the cultural heritage field. Possible future applications are described, including the use of haptic interfaces in AR systems, designed at PERCR

Real-Time Deformation of Hand Movements and Virtual Environments Lighting

Selected Video at IMAGINA 199

Training to juggle with a light weight juggler (LWJ)

The juggling skill is the mastery of performing juggling tricks. A trick requires performers to execute and monitor the concurrent tossing and catching of multiple objects (e.g., balls, cones) in consecutive cycles, which follow a predetermined pattern. These patterns, labeled tricks, vary in their spatial and sequential format and in the number of concurrent objects used. Three-ball cascade, five-ball cascade, three-ball snake, and four-ball shower are some examples of such tricks. Competent juggling entails the ability to perform a trick repeatedly, rhythmically, and accurately without dropping balls, as well as mastering an increasing number of different tricks and switching between them. As such, the juggling task provides both the learner and the researcher a rich environment for examining and exploring different aspects of skill acquisition

Art Touch with CREATE haptic interface

A novel approach to the synthesis and the interaction of (with) virtual Environment is presented. In the following paper, the description of a novel multi-point VE-haptic system is given. The system has been developed with the intent of interacting with an interactive VE, based on the constructivist approach. In what follow the main feature of the VE and of the interface are given. A special focus has been given to the design philosophy:sever al performances optimizations in terms of user interaction and object manipulation, devices joined workspace, isotropy, arms interferences, continuous force, VE and inter-arm positional coherence have been performed during the design

Technical considerations on the visualisation of Virtual Environments

The problem of dealing with the graphical representation of 3D environments by means of computer systems is introduced. The hardware and software tools that allow the 3D visualisation of virtual models by starting from an abstract representation of the virtual environment are presented. The objectives for the design of a software module allowing high performance interactive visualisation of complex virtual environments are give