Tactile sensing and control of robotic manipulator integrating fiber Bragg grating strain-sensor

Tactile sensing is an instrumental modality of robotic manipulation, as it provides information that is not accessible via remote sensors such as cameras or lidars. Touch is particularly crucial in unstructured environments, where the robot’s internal representation of manipulated objects is uncertain. In this study we present the sensorization of an existing artificial hand, with the aim to achieve fine control of robotic limbs and perception of object’s physical properties. Tactile feedback is conveyed by means of a soft sensor integrated at the fingertip of a robotic hand. The sensor consists of an optical fiber, housing Fiber Bragg Gratings (FBGs) transducers, embedded into a soft polymeric material integrated on a rigid hand. Through several tasks involving grasps of different objects in various conditions, the ability of the system to acquire information is assessed. Results show that a classifier based on the sensor outputs of the robotic hand is capable of accurately detecting both size and rigidity of the operated objects (99.36 and 100% accuracy, respectively). Furthermore, the outputs provide evidence of the ability to grab fragile objects without breakage or slippage e and to perform dynamic manipulative tasks, that involve the adaptation of fingers position based on the grasped objects’ condition

Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor

Tactile sensing is an instrumental modality of robotic manipulation, as it provides information that is not accessible via remote sensors such as cameras or lidars. Touch is particularly crucial in unstructured environments, where the robot's internal representation of manipulated objects is uncertain. In this study we present the sensorization of an existing artificial hand, with the aim to achieve fine control of robotic limbs and perception of object's physical properties. Tactile feedback is conveyed by means of a soft sensor integrated at the fingertip of a robotic hand. The sensor consists of an optical fiber, housing Fiber Bragg Gratings (FBGs) transducers, embedded into a soft polymeric material integrated on a rigid hand. Through several tasks involving grasps of different objects in various conditions, the ability of the system to acquire information is assessed. Results show that a classifier based on the sensor outputs of the robotic hand is capable of accurately detecting both size and rigidity of the operated objects (99.36 and 100% accuracy, respectively). Furthermore, the outputs provide evidence of the ability to grab fragile objects without breakage or slippage e and to perform dynamic manipulative tasks, that involve the adaptation of fingers position based on the grasped objects' condition

A robust Logistics-Electric framework for optimal power management of electrified ports under uncertain vessel arrival time

\ua9 2024Maritime transport is responsible for producing a considerable amount of environmental pollution due to the reliance of ports and ships on the carbon-based energy sources. With the increasing trend towards port electrification to reduce carbon emissions, the operation of ports will be increasingly relying on the electricity network. This interconnection creates multiple challenges due to the complexity of power flow in the port network, uncertainty of vessel arrival time and fluctuation of power generation of renewable energy sources. These uncertainties can lead to an overload in electricity networks and delays in cargo-handling activities, resulting in increased vessel handling times and environmental emissions. This paper presents a joint logistics-electric framework for optimal operation and power management of electrified ports, considering multiple uncertainties in the arrival time of vessels, network demand, and renewable power generation. An optimal power flow method is developed for a real-life port, with consideration for multiple port logistic assets such as cargo handling equipment, reefers, and renewable energy sources. The proposed model ensures feasible port operation for all uncertainty realisations defined by robust optimisation, while minimising operational costs. Simulation results demonstrate that the probability of a network constraint violation can be as high as 70% for an electrified major UK port if the uncertainty in the port operation is neglected, presenting an unacceptable risk of disruption to port activities. Furthermore, such uncertainty can cause 150% increase in emissions if the ships use their auxiliary engine instead of using shore power. The numerical study shows that such challenges can be handled by a 0.3% increase in the robustness in face of uncertainty, while the cost increase in the worst case does not exceed 4.7%. This shows the effectiveness of the proposed method enhancing robustness against uncertainty at the minimum cost

Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor

Tactile sensing is an instrumental modality of robotic manipulation, as it provides information that is not accessible via remote sensors such as cameras or lidars. Touch is particularly crucial in unstructured environments, where the robot's internal representation of manipulated objects is uncertain. In this study we present the sensorization of an existing artificial hand, with the aim to achieve fine control of robotic limbs and perception of object's physical properties. Tactile feedback is conveyed by means of a soft sensor integrated at the fingertip of a robotic hand. The sensor consists of an optical fiber, housing Fiber Bragg Gratings (FBGs) transducers, embedded into a soft polymeric material integrated on a rigid hand. Through several tasks involving grasps of different objects in various conditions, the ability of the system to acquire information is assessed. Results show that a classifier based on the sensor outputs of the robotic hand is capable of accurately detecting both size and rigidity of the operated objects (99.36 and 100% accuracy, respectively). Furthermore, the outputs provide evidence of the ability to grab fragile objects without breakage or slippage e and to perform dynamic manipulative tasks, that involve the adaptation of fingers position based on the grasped objects' condition

Genetic stock identification of Atlantic salmon (Salmo salar) populations in the southern part of the European range

notes: PMCID: PMC2882343© 2010 Griffiths et al; licensee BioMed Central Ltd. This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/2.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Anadromous migratory fish species such as Atlantic salmon (Salmo salar) have significant economic, cultural and ecological importance, but present a complex case for management and conservation due to the range of their migration. Atlantic salmon exist in rivers across the North Atlantic, returning to their river of birth with a high degree of accuracy; however, despite continuing efforts and improvements in in-river conservation, they are in steep decline across their range. Salmon from rivers across Europe migrate along similar routes, where they have, historically, been subject to commercial netting. This mixed stock exploitation has the potential to devastate weak and declining populations where they are exploited indiscriminately. Despite various tagging and marking studies, the effect of marine exploitation and the marine element of the salmon lifecycle in general, remain the "black-box" of salmon management. In a number of Pacific salmonid species and in several regions within the range of the Atlantic salmon, genetic stock identification and mixed stock analysis have been used successfully to quantify exploitation rates and identify the natal origins of fish outside their home waters - to date this has not been attempted for Atlantic salmon in the south of their European range.European Union INTERREG IIIB programme (Atlantic Salmon Arc Project [ASAP], Project No. 040)

Thermal Evolution of the Proton Irradiated Structure in Tungsten–5 wt% Tantalum

We have monitored the thermal evolution of the proton irradiated structure of W–5 wt% Ta alloy by in-situ annealing in a transmission electron microscope at fusion reactor temperatures of 500–1300 °C. The interstitial-type a/2 dislocation loops emit self-interstitial atoms and glide to the free sample surface during the early stages of annealing. The resultant vacancy excess in the matrix originates vacancy-type a/2 dislocation loops that grow by loop and vacancy absorption in the temperature range of 600–900 °C. Voids form at 1000 °C, by either vacancy absorption or loop collapse, and grow progressively up to 1300 °C. Tantalum delays void formation by a vacancy-solute trapping mechanism

Experimental Studies of Atomic Behavior at Crystal Surfaces

Coordinated Science Laboratory was formerly known as Control Systems LaboratoryJoint Services Electronics Program / DAAB-07-67-C-019