Hands in the Real World

Robots face a rapidly expanding range of potential applications beyond controlled environments, from remote exploration and search-and-rescue to household assistance and agriculture. The focus of physical interaction is typically delegated to end-effectors -- fixtures, grippers or hands -- as these machines perform manual tasks. Yet, effective deployment of versatile robot hands in the real world is still limited to few examples, despite decades of dedicated research. In this paper we review hands that found application in the field, aiming to discuss open challenges with more articulated designs, discussing novel trends and perspectives. We hope to encourage swift development of capable robotic hands for long-term use in varied real world settings. The first part of the paper centers around progress in artificial hand design, identifying key functions for a variety of environments. The final part focuses on the overall trends in hand mechanics, sensors and control, and how performance and resiliency are qualified for real world deployment

A method to benchmark the balance resilience of robots

Robots that work in unstructured scenarios are often subjected to collisions with the environment or external agents. Accordingly, recently, researchers focused on designing robust and resilient systems. This work presents a framework that quantitatively assesses the balancing resilience of self-stabilizing robots subjected to external perturbations. Our proposed framework consists of a set of novel Performance Indicators (PIs), experimental protocols for the reliable and repeatable measurement of the PIs, and a novel testbed to execute the protocols. The design of the testbed, the control structure, the post-processing software, and all the documentation related to the performance indicators and protocols are provided as open-source material so that other institutions can replicate the system. As an example of the application of our method, we report a set of experimental tests on a two-wheeled humanoid robot, with an experimental campaign of more than 1100 tests. The investigation demonstrates high repeatability and efficacy in executing reliable and precise perturbations

The role of SPICA-like missions and the Origins Space Telescope in the quest for heavily obscured AGN and synergies with Athena

arXiv:2106.08345v1SPICA Collaboration Team.In the black hole (BH)–galaxy co-evolution framework, most of the star formation (SF) and the BH accretion are expected to take place in highly obscured conditions. The large amount of gas and dust absorbs most of the UV-to-soft-X radiation and re-emits it at longer wavelengths, mostly in the IR. Thus, obscured active galactic nuclei (AGN) are very difficult to identify in optical or X-ray bands but shine bright in the IR. Moreover, X-ray background (XRB) synthesis models predict that a large fraction of the yet-unresolved XRB is due to the most obscured (Compton thick, CT: NH ≥ 1024 cm−2) of these AGN. In this work, we investigate the synergies between putative IR missions [using SPace Infrared telescope for Cosmology and Astrophysics (SPICA), proposed for European Space Agency (ESA)/M5 but withdrawn in 2020 October, and Origins Space Telescope, OST, as ‘templates’] and the X-ray mission Athena (Advanced Telescope for High ENergy Astrophysics), which should fly in early 2030s, in detecting and characterising AGN, with a particular focus on the most obscured ones. Using an XRB synthesis model, we estimated the number of AGN and the number of those which will be detected in the X-rays by Athena. For each AGN, we associated an optical-to-Far InfraRed (FIR) spectral energy distribution (SED) from observed AGN with both X-ray data and SED decomposition and used these SEDs to check if the AGN will be detected by SPICA-like or OST at IR wavelengths. We expect that, with the deepest Athena and SPICA-like (or OST) surveys, we will be able to photometrically detect in the IR more than 90% of all the AGN (down to L2−10keV ∼ 1042 erg s−1 and up to z ∼ 10) predicted by XRB synthesis modeling, and we will detect at least half of them in the X-rays. The spectroscopic capabilities of the OST can provide ≈51 000 and ≈3 400 AGN spectra with R = 300 at 25–588µm in the wide and deep surveys, respectively, the last one up to z ≈ 4. Athena will be extremely powerful in detecting and discerning moderate- and high-luminosity AGN, allowing us to properly select AGN even when the mid-IR torus emission is ‘hidden’ by the host galaxy contribution. We will constrain the intrinsic luminosity and the amount of obscuration for ∼20% of all the AGN (and ∼50% of those with L2−10keV > 3.2 × 1043 erg s−1) using the X-ray spectra provided by Athena WFI. We find that the most obscured and elusive CT-AGN will be exquisitely sampled by SPICA-like mission or OST and that Athena will allow a fine characterisation of the most luminous ones. This will provide a significant step forward in the process of placing stronger constraints on the yet-unresolved XRB and investigating the BH accretion rate evolution up to very high redshift (z ≥ 4).FP, CV, CG, LB, and LS acknowledge financial support by the Agenzia Spaziale Italiana (ASI) under the research contract 2018-31-HH.0. FJC acknowledges financial support from the Spanish Ministry MCIU under project RTI2018-096686-B-C21 (MCIU/AEI/FEDER/UE), cofunded by FEDER funds and from the Agencia Estatal de Investigación, Unidad de Excelencia María de Maeztu, ref. MDM-2017-0765. MPS acknowledges support from the Comunidad de Madrid, Spain, through Atracción de Talento Investigador Grant 2018-T1/TIC-11035 and PID2019-105423GA-I00 (MCIU/AEI/FEDER,UE). AF acknowledges the support from grant PRIN MIUR2017-20173ML3WW_001.Peer reviewe

Predictions for Ultra-Deep Radio Counts of Star-Forming Galaxies

We have worked out predictions for the radio counts of star-forming galaxies down to nJy levels, along with redshift distributions down to the detection limits of the phase 1 Square Kilometer Array MID telescope (SKA1-MID) and of its precursors. Such predictions were obtained by coupling epoch dependent star formation rate (SFR) functions with relations between SFR and radio (synchrotron and free-free) emission. The SFR functions were derived taking into account both the dust obscured and the unobscured star-formation, by combining far-infrared (FIR), ultra-violet (UV) and H_alpha luminosity functions up to high redshifts. We have also revisited the South Pole Telescope (SPT) counts of dusty galaxies at 95,GHz performing a detailed analysis of the Spectral Energy Distributions (SEDs). Our results show that the deepest SKA1-MID surveys will detect high-z galaxies with SFRs two orders of magnitude lower compared to Herschel surveys. The highest redshift tails of the distributions at the detection limits of planned SKA1-MID surveys comprise a substantial fraction of strongly lensed galaxies. We predict that a survey down to 0.25 microJy at 1.4 GHz will detect about 1200 strongly lensed galaxies per square degree, at redshifts of up to 10. For about 30% of them the SKA1-MID will detect at least 2 images. The SKA1-MID will thus provide a comprehensive view of the star formation history throughout the re-ionization epoch, unaffected by dust extinction. We have also provided specific predictions for the EMU/ASKAP and MIGHTEE/MeerKAT survey

PRISM (Polarized Radiation Imaging and Spectroscopy Mission): A White Paper on the Ultimate Polarimetric Spectro-Imaging of the Microwave and Far-Infrared Sky

PRISM (Polarized Radiation Imaging and Spectroscopy Mission) was proposed to ESA in response to the Call for White Papers for the definition of the L2 and L3 Missions in the ESA Science Programme. PRISM would have two instruments: (1) an imager with a 3.5m mirror (cooled to 4K for high performance in the far-infrared---that is, in the Wien part of the CMB blackbody spectrum), and (2) an Fourier Transform Spectrometer (FTS) somewhat like the COBE FIRAS instrument but over three orders of magnitude more sensitive. Highlights of the new science (beyond the obvious target of B-modes from gravity waves generated during inflation) made possible by these two instruments working in tandem include: (1) the ultimate galaxy cluster survey gathering 10e6 clusters extending to large redshift and measuring their peculiar velocities and temperatures (through the kSZ effect and relativistic corrections to the classic y-distortion spectrum, respectively) (2) a detailed investigation into the nature of the cosmic infrared background (CIB) consisting of at present unresolved dusty high-z galaxies, where most of the star formation in the universe took place, (3) searching for distortions from the perfect CMB blackbody spectrum, which will probe a large number of otherwise inaccessible effects (e.g., energy release through decaying dark matter, the primordial power spectrum on very small scales where measurements today are impossible due to erasure from Silk damping and contamination from non-linear cascading of power from larger length scales). These are but a few of the highlights of the new science that will be made possible with PRISM.Comment: 20 pages Late

Benchmarking Hand and Grasp Resilience to Dynamic Loads

In this work, we investigate the behavior of artificial hands under impulsive load conditions. Resilience to impacts has been seldom considered in grasp and manipulation literature and benchmarks, although it is one of the most relevant issues in a number of applications involving physical interactions with unstructured environments, in prosthetic as well as in robotic manipulation. We focus on two research questions: the capability of hands to withstand impacts before being damaged (Hand Resilience) and before losing the grasp on a object (Grasp Resilience). To these aims, we introduce an evaluation framework, including a precisely defined experimental set-up and test procedure. The proposed methodology, metrics, and test variables are discussed through analytical evaluation and with experimental data extracted from the testing of three different hand design

Damping in Compliant Actuation: A Review

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Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario

Today, human intervention is the only effective course of action after a natural or artificial disaster. This is true both for relief operations, where search and rescue of survivors is the priority, and for subsequent activities, such as those devoted to building assessment. In these contexts, the use of robotic systems would be beneficial to drastically reduce operators? risk exposure. However, the readiness level of robots still prevents their effective exploitation in relief operations, which are highly critical and characterized by severe time constraints. On the contrary, current robotic technologies can be profitably applied in procedures like building assessment after an earthquake. To date, these operations are carried out by engineers and architects who inspect numerous buildings over a large territory, with a high cost in terms of time and resources, and with a high risk due to aftershocks. The main idea is to have the robot acting as an alter ego of the human operator, who, thanks to a virtual-reality device and a body-tracking system based on inertial sensors, teleoperates the robot

PRISM (Polarized Radiation Imaging and Spectroscopy Mission): an extended white paper

Contains fulltext : 126057.pdf (preprint version ) (Open Access