Grasping and Control Issues in Adaptive End Effectors

Research into robotic grasping and manipulation has led to the development of a large number of tendon based end effectors. Many are, however, developed as a research tool, which are limited in application to the laboratory environment. The main reason being that the designs requiring a large number of actuators to be controlled. Due to the space and safety requirements, very few have been developed and commissioned for industrial applications. This paper presents design of a rigid link finger operated by a minimum number of actuators, which may be suitable for a number of adaptive end effectors. The adaptive nature built into the end effector (due to limited number of actuators) presents considerable problems in grasping and control. The paper discusses the issues associated with such designs. The research can be applicable to any adaptive end effectors that are controlled by limited number of actuators and evaluates their suitability in industrial environments

A dynamic tactile sensor on photoelastic effect

Certain photoelastic materials exhibit birefringent characteristics at a very low level of strain. This property of material may be suitable for dynamic or wave propagation studies, which can be exploited for designing tactile sensors. This paper presents the design, construction and testing of a novel dynamic sensor based on photoelastic effect, which is capable of detecting object slip as well as providing normal force information. The paper investigates the mechanics of object slip, and develops an approximate model of the sensor. This allows visualization of various parameters involved in the sensor design. The model also explains design improvements necessary to obtain continuous signal during object slip. The developed sensor has been compared with other existing sensors and experimental results from the sensor have been discussed. The sensor is calibrated for normal force which is in addition to the dynamic signal that it provides from the same contact location. The sensor has a simple design and is of a small size allowing it to be incorporated into robotic fingers, and it provides output signals which are largely unaffected by external disturbances

Validation of Serious Games Attributes Using the Technology Acceptance Model

The paper introduces a conceptual model for the design of serious games and uses the Technology Acceptance Model (TAM) for its validation. A specially developed game introduced international students to public transport in Southampton. After completing the game, participants completed a short questionnaire and the data was analysed using structural equation modelling (SEM). The results identified the attributes and combinations of attributes that led the learner to accept and to use the serious game for learning. These findings are relevant in helping game designers and educational practitioners design serious games for effective learning

Designing a dexterous reconfigurable packaging system for flexible automation

This paper presents a design for a reconfigurable packaging system that can handle cartons of different shape and sizes and is amenable to ever changing demands of packaging industries for perfumery and cosmetic products. The system takes structure of a multi-fingered robot hand, which can provide fine motions, and dexterous manipulation capability that may be required in a typical packaging-assembly line. The paper outlines advanced modeling and simulation undertaken to design the packaging system and discusses the experimental work carried out. The new packaging system is based on the principle of reconfigurability, that shows adaptability to simple as well as complex carton geometry. The rationale of developing such a system is presented with description of its human equivalent. The hardware and software implementations are also discussed together with directions for future research

A finger mechanism for adaptive end effectors

This paper presents design and analysis of a rigid link finger, which may be suitable for a number of adaptive end effectors. The design has evolved from an industrial need for a tele-operated system to be used in nuclear environments. The end effector is designed to assist repair work in nuclear reactors during retrieval operation, particularly for the purpose of grasping objects of various shape, size and mass. The work is based on the University of Southampton's Whole Arm Manipulator, which has a special design consideration for safety and flexibility. The paper discusses kinematic issues associated with the finger design, and to the end of the paper specifies the limits of finger operating parameters for implementing control law

Academic procrastination among graduate vs. undergraduate students and differences in the experience of affective and cognitive factors

While not completely understood, the issue of procrastination is well known to the education field, and has been shown to be a significant problem affecting the academic achievement of college students. Research has examined the effects of procrastination across a variety of populations. However, research in the area of procrastination in relation to outcomes in graduate students compared to undergraduate students is lacking. Similarly, there is conflicting evidence as to whether academic procrastination results in lower grade point averages in college students, or whether differences exist in relation to gender and procrastination. Further, research is limited in the area of cognitive and affective factors in relation to procrastination. To investigate these areas, 74 participants (25 males and 49 females) enrolled at Rowan University participated in the study. Participants completed a confidential demographic information sheet, the Procrastination Assessment Scale-Students (PASS), the Rosenberg Self-Esteem Scale, the Taylor Manifest Anxiety Scale (TMAS), and the Center for Epidemiologic Studies Depression Scale (CES-D)

Optimal object grasp using Tactile sensors and fuzzy logic

Robotica, Volume 17, Issue 06, Nov 1999, pp 685-693 doi

Design issues for agent-based resource locator systems

While knowledge is viewed by many as an asset, it is often difficult to locate particularitems within a large electronic corpus. This paper presents an agent based framework for the location of resources to resolve a specific query, and considers the associated design issue. Aspects of the work presented complements current research into both expertise finders and recommender systems. The essential issues for the proposed design are scalability, together ith the ability to learn and adapt to changing resources. As knowledge is often implicit within electronic resources, and therefore difficult to locate, we have proposed the use of ontologies, to extract the semantics and infer meaning to obtain the results required. We explore the use of communities of practice, applying ontology-based networks, and e-mail message exchanges to aid the resource discovery process