Stable Object Grasping With Dextrous Hand In Three-Dimension

This paper considers a grasp planning scheme for dextrous hands. The grasp is assumed to be a precise one, which means that only the fingertips of the hand are in contact. The most important algorithm of the grasp planner is the placement of contact points in the presence of friction. Based on a heuristic search, a number of grasp configurations are generated. A proposed method for evaluation of the configurations and determination whether a grasp is a force closure, is introduced. These algorithms are used in the experimental control system of an industrial robot, which the dextrous hand is attached to. A two-level robot programming language, which was written for the robot-hand system, is briefly introduced

Using geophysical log data to predict the fracture density in a claystone host rock for storing high-level nuclear waste

Previously drilled boreholes of a host rock for a potential nuclear waste repository in Hungary revealed a highly fractured claystone rock body. A crucial step for characterizing the hydrodynamic behavior of such a fractured reservoir is fracture identification and accurate calculation of the fracture density. Although acoustic borehole televiewers provide a reliable base for determining the fracture density, older boreholes usually lack such data. However, conventional borehole geophysical measurements are often accessible in such cases. The aim of this study was to identify any correlations between well log data and fracture density. Multiple linear regression analysis was performed on data from two boreholes penetrating the Boda Claystone Formation in southwest Hungary. The upper section of the BAF-4 borehole was used for training, where the fracture density was estimated with a fit of R 2 = 0.767. The computed regression function predicted the fracture density with high accuracy in both boreholes for all intervals with typical lithological features. However, in some sections where anomalous well log data indicated changes in the lithology, the prediction accuracy decreased. For example, the function underestimated the fracture density in sandy intervals