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Food processing provides a lot of possibilities to apply robotics and automation. In this paper, we identify disordered and ordered states of discrete food products. The concept of Degree of Disarray is introduced. Food ordering processes such as vibratory feeders, multi-head weighers, pick and place operations are common automation in food industry to transfer products from a higher to a lower Degree...
Current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue palpation. Haptic information could improve the clinical outcomes significantly and help to detect hard inclusions within soft-tissue organs indicating potential abnormalities. However, system instability is often caught by direct force feedback. In this paper, a new approach to intra-operative tumor localization...
Advanced tactile tools in minimally invasive surgery have become a pressing need in order to reduce time and improve accuracy in localizing potential tissue abnormalities. In this regard, one of the main challenges is to be able to estimate tissue parameters in real time. In palpation, tactile information felt at a given location is identified by the viscoelastic dynamics of the neighboring tissue...
Robot-assisted minimal invasive surgery made it possible to improve the quality of surgical procedures and to enhance clinical outcomes. However, the need to palpate soft tissue organs with the aim to localize potential sites of abnormalities in real time has been recognized. For this work, ten subjects were recruited to perform a remote palpation procedure on a silicone phantom utilizing a tele-manipulation...
This paper presents a novel anthropomorphic metamorphic hand with a reconfigurable palm. Structure of the metamorphic hand is briefly introduced, followed by prehension analysis based on the opposition-space model. Manipulability of the hand is then studied combining the characteristic matrix equation and singular value decomposition, leading to the explicit symbolic closed-form solutions. Further,...
This research paper investigates a new 3D handling process in food industry: bin picking. Machines only function effectively when the input of product is physically well organised, well structured, and consistent. At many stages in a typical production line, foodstuffs are physically arranged as they move through a machine or equipment, however, this order is then lost again as products are ejected...
The food industry presents an important area to apply new technology and automation. Especially, food ordering processes, that describe the transition of products’ physical arrangement from disarray to a structural order, play a major role and will be considered in this paper. This kind of food processes will be extracted from other types of processes and clearly defined. Current ordering processes...
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