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The development of a virtual scenario is desirable in a number of hostile environments such as in mining, or sewer pipelines to inspect its current condition and to identify possible failures. Obtaining a virtual image through the reconstruction of the mineshaft or inner pipe is a valuable tool for assessment and fault detection. In this paper, we present results for our 3D reconstruction approach,...
This paper presents an algorithm to compute precision grasps for bulky objects using two anthropomorphic hands. We use objects modeled as point clouds obtained from a sensor camera or from a CAD model. We process the point clouds dividing them into two set of slices, one for each hand, where we look for sets of triplets of points. Each triplet must accomplish some physical conditions based on the...
Way beyond its industrial roots, robotics evolved to be a highly interdisciplinary field with a variety of applications in a smart world. The eRobotics methodology addresses this evolution by providing platforms where roboticist can exchange ideas and collaborate with experts from other disciplines for developing complex technical systems and automated solutions. Virtual Testbeds are the central method...
This paper describes our experiences in developing multidisciplinary Wow experiences to boost business for small and medium-sized enterprises (SMEs). Wow experiences — outstandingly positive user experiences — are an increasingly important design target in product and service development contexts because they can help reveal customer needs. The basic idea in our Wow approach is to bring together various...
We propose a modeling and simulation method to control the pose of a projector mounted on a simple robotic device to be deployed in SAR (spatial augmented reality) application where a virtual content should be projected over a desired target area in the real world. For this purpose, the principal axis and four edges of a frustum, which are the key geometric features of projection, are kinematically...
In this article, a nonlinear adaptive impedance control strategy is proposed to adjust the impedance of a one-degree of freedom Falcon robot to a pre-defined nonlinear impedance which is an approximate mathematical representation of the sino-nasal tissue. Further developments can be used for a training simulator system for the otolaryngology surgery training purposes. The stability of the proposed...
Programmable matter i.e. matter that can change its physical properties, more likely its shape according to an internal or an external action is a good example of a cybermatics component. As it links a cyberized shape to real matter, it is a straight example of cyber-physical conjugation. But, this interaction between virtual and real worlds needs two elements. The first one is to find a way to represent...
Information technology tools are gaining increasing importance in surgical skill training and assessment, due to the need of objective and repeatable measurement of performance. This is especially true for Minimally Invasive Surgery (MIS), where complex tool manipulation should be mastered employing artificial phantoms and simulators — either in the case of manual or robotic laparoscopy. In this paper,...
Typing CAPTCHA is usually troublesome and is unpleasant for the users. But the security of some of the websites depends on it and causes that human being is distinguished from robots facing with different websites. Filling CAPTCHA by humans can be used effectively like electronization of books and different texts. In this article it has been attempted to examine using image processing for converting...
This article focuses on a newly built research platform (a robot). Using its vision system, it can identify round objects that are randomly scattered on a table. Then, using its gripper they are picked and placed inside a basket. The control system is tuned such that, the succession of operations runs fast and safe. In this paper we present how this has been achieved: going from concepts to design,...
This paper reviews the state of the art of models in robotic manufacturing applications. Moreover, a model architecture is proposed that is adequate for capturing knowledge of manufacturing processes in small and medium sized enterprises. The proposed architecture improves existing approaches by introducing a technology model that allows modeling of specific knowledge of manufacturing processes. This...
Considering the problem that the 18 DOF humanoid robot's joints connect with others part is weak. The finite element analysis is adopted to analyze the reasons why the connection of human robot's joints with others is weak. First of all, the 3D model of humanoid robot arm is set up on the SolidWorks; Secondly, the shoulder joint and elbow joint of the humanoid robot arm 3D model are applied to the...
Robotic tool changer can make robot complete a variety of tasks once enter the work environment. To predict and evaluate the performance of the device, the solid model is established through the software of UG, and multi-rigid body and rigid-flexible coupling dynamic simulation can be accomplished by using software ADAMS and ANSYS. At the same time, the stress and strain analysis of the flexible part...
This paper presents an approach to Simulation-Based Control of industrial robots. Data structures and algorithms are presented that adapt a simulation system, in order to meet the real-time constraints imposed by a real-time operating system and the actual robot hardware. It is exemplary shown that our approach is applicable even in challenging settings, while maintaining remarkable accuracy.
Automated bin-picking and manipulation of irregularly shaped objects remains a challenge for robotics. A class of irregular objects with articulated components that have motions with scales that are several orders of magnitude larger than each component's localized deformations is considered. Biomaterials with internal skeletal structures (such as bird carcasses in the poultry industry) fall into...
When an offline programming method is employed for an industrial robot, accurate work piece localization is critical as there always exist discrepancies between the actual and nominal work piece locations. By drawing upon the mathematical tools from group theory and differential geometry, three fundamental error models (i.e., point-to-point, line-to-line, and plane-to-plane models) are formulated...
System miniaturization remains an important challenge in the field of microrobotics. Several works have been raised in this context. Maybe the most known and widespread are MEMS devices based on clean room technologies. Although they give option to design small systems with mico/nano features, such technologies are limited to planar structures with two or three degrees of freedom (DOF). To tackle...
In teleoperation systems, operator performance can be significantly degraded even from small time-delays in visual feedback. This paper evaluated quantitatively tele-manipulation performance under different time delays from 0 to 4 seconds while controlling from 2 to 6 robot arm DOF's in an object alignment task. In our user study 15 subjects teleoperate 1650 alignment motions. Performance is quantitatively...
Concentric tube robots have potential for use in a wide variety of surgical procedures due to their small size, dexterity, and ability to move in highly curved paths. Unlike most existing clinical robots, the design of these robots can be developed and manufactured on a patient- and procedure-specific basis. The design of concentric tube robots typically requires significant computation and optimization,...
The virtual hand illusion is a body ownership illusion that occurs in a virtual environment. Previous studies reached different conclusions on the effect of realism of the controllable virtual hand model on the intensity of the perceived illusion. In our experiments, we compare participants' responses to virtual impacts and threats when using hand models with different levels of realism. Our findings...
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