Hierarchical-Architecture Oriented to Multi-task Planning for Prosthetic Hands Controlling

2017 ◽  
pp. 157-166
Author(s):  
César Quinayás ◽  
Andrés Ruiz ◽  
Leonardo Torres ◽  
Carlos Gaviria
Keyword(s):  
Hierarchical Architecture ◽  
Task Planning ◽  
Prosthetic Hands

Technical and economic analysis of certain types of service robots

2020 ◽  
Vol 19 (10) ◽  
pp. 1965-1986
Author(s):  
T.A. Komkina ◽  
M.A. Nikonova ◽  
M.G. Dubinina
Keyword(s):  
Dynamic Models ◽  
Unit Price ◽  
Service Robots ◽  
Technical Level ◽  
Positive Correlation ◽  
Technical Indicators ◽  
Technical Parameters ◽  
Prosthetic Hands ◽  
Remotely Piloted Aircraft ◽  
Aircraft System

Subject. The article analyzes development trends in certain types of service robots, namely, hybrid UAVs, bionic prosthetic hands, robotic vacuum cleaners. Objectives. We focus on identifying the main trends in the development of certain types of service robots, building dynamic models of their technical indicators and models of dependence of their price and weight on absolute characteristics and technical parameters. Methods. The study employs methods of correlation and multiple regression analysis. The data of the IFR, the Remotely Piloted Aircraft System, and websites of robot manufacturers serve as the informational basis of the paper. Results. The modeling unveils positive correlation between the integrated indicator of the technical level of hybrid UAVs of convertiplane type and the wingspan. The analysis of modern bionic prosthetic hands shows that the developers focus on optimizing the structure of the prosthetic, however, as the functions of the hand improve, the weight of bionic hand increases. The main factors influencing the price of robot vacuum cleaners are their power, weight, and operating hours. Conclusions. The unit price of a complex indicator of the technical level of hybrid UAVs is lower than the corresponding indicator of fixed-wing UAVs, reflecting a greater efficiency of hybrid UAVs. The analysis of technical indicators of robotic prosthetics (using the case of bionic hands) shows that any improvement of functional characteristics leads to deterioration of weight. The analysis of technical and economic indicators of robotic vacuum cleaners reveals a positive correlation between the price and weight, operating hours and power.

A simplified model of a multi-jointed mechanical finger calibrated with experimental data by vision system

2021 ◽  
Vol 235 (1) ◽  
pp. 164-175
Author(s):  
C Cosenza ◽  
V Niola ◽  
S Savino
Keyword(s):  
Experimental Data ◽  
Vision System ◽  
Control Strategies ◽  
Image Correlation ◽  
Robotic Hand ◽  
Prosthetic Device ◽  
Prosthetic Hands ◽  
Mechanical Hand ◽  
Free Mode ◽  
Mechanical Finger

The development of suitable models for mechanical fingers, whether they are part of prosthetic device or of a robotic hand, is a powerful tool to predict the behaviour of their components since the early stages of design, especially for underactuated mechanisms. Experimental data can improve the reliability of such models and promote their application to build proper control strategies especially for prosthetic hands. Here, we have developed a multi-jointed model of a mechanical finger. The finger is part of the Federica hand: an underactuated mechanical hand that was conceived for prosthetic purpose. The model accounts for friction phenomena in the finger and it is tuned with experimental data acquired through a digital image correlation device. The model allowed us to write kinematics relations of the phalanges and evaluate finger configurations in relation to the closure velocity. Moreover, it was possible to estimate the tendon force and the work analysis occurring during the closure tasks, both in free mode and in presence of objects.

scholarly journals Effect of Morphological Characteristics and Biomineralization of 3D-Printed Gelatin/Hyaluronic Acid/Hydroxyapatite Composite Scaffolds on Bone Tissue Regeneration

2021 ◽  
Vol 22 (13) ◽  
pp. 6794
Author(s):  
Jae-Woo Kim ◽  
Yoon-Soo Han ◽  
Hyun-Mee Lee ◽  
Jin-Kyung Kim ◽  
Young-Jin Kim
Keyword(s):  
Hyaluronic Acid ◽  
Bone Tissue ◽  
Double Layer ◽  
Tissue Regeneration ◽  
Great Influence ◽  
Morphological Characteristics ◽  
Bone Tissue Regeneration ◽  
Hierarchical Architecture ◽  
Uniform Structure ◽  
Composite Scaffolds

The use of porous three-dimensional (3D) composite scaffolds has attracted great attention in bone tissue engineering applications because they closely simulate the major features of the natural extracellular matrix (ECM) of bone. This study aimed to prepare biomimetic composite scaffolds via a simple 3D printing of gelatin/hyaluronic acid (HA)/hydroxyapatite (HAp) and subsequent biomineralization for improved bone tissue regeneration. The resulting scaffolds exhibited uniform structure and homogeneous pore distribution. In addition, the microstructures of the composite scaffolds showed an ECM-mimetic structure with a wrinkled internal surface and a porous hierarchical architecture. The results of bioactivity assays proved that the morphological characteristics and biomineralization of the composite scaffolds influenced cell proliferation and osteogenic differentiation. In particular, the biomineralized gelatin/HA/HAp composite scaffolds with double-layer staggered orthogonal (GEHA20-ZZS) and double-layer alternative structure (GEHA20-45S) showed higher bioactivity than other scaffolds. According to these results, biomineralization has a great influence on the biological activity of cells. Hence, the biomineralized composite scaffolds can be used as new bone scaffolds in bone regeneration.

scholarly journals A Hierarchical Architecture of Functionalized Polyaniline/Manganese Dioxide Composite with Stable-Enhanced Electrochemical Performance

2021 ◽  
Vol 5 (5) ◽  
pp. 129
Author(s):  
Yapeng Wang ◽  
Yanxiang Wang ◽  
Chengjuan Wang ◽  
Yongbo Wang
Keyword(s):  
Electrochemical Performance ◽  
Manganese Dioxide ◽  
Specific Capacitance ◽  
Current Density ◽  
Electrode Materials ◽  
High Efficiency ◽  
Scanning Speed ◽  
Hierarchical Architecture ◽  
Electrochemical Window ◽  
A Current

As one of the most outstanding high-efficiency and environmentally friendly energy storage devices, the supercapacitor has received extensive attention across the world. As a member of transition metal oxides widely used in electrode materials, manganese dioxide (MnO2) has a huge development potential due to its excellent theoretical capacitance value and large electrochemical window. In this paper, MnO2 was prepared at different temperatures by a liquid phase precipitation method, and polyaniline/manganese dioxide (PANI/MnO2) composite materials were further prepared in a MnO2 suspension. MnO2 and PANI/MnO2 synthesized at a temperature of 40 °C exhibit the best electrochemical performance. The specific capacitance of the sample MnO2-40 is 254.9 F/g at a scanning speed of 5 mV/s and the specific capacitance is 241.6 F/g at a current density of 1 A/g. The specific capacitance value of the sample PANI/MnO2-40 is 323.7 F/g at a scanning speed of 5 mV/s, and the specific capacitance is 291.7 F/g at a current density of 1 A/g, and both of them are higher than the specific capacitance value of MnO2. This is because the δ-MnO2 synthesized at 40 °C has a layered structure, which has a large specific surface area and can accommodate enough electrolyte ions to participate the electrochemical reaction, thus providing sufficient specific capacitance.

scholarly journals End-to-End Autonomous Driving Through Dueling Double Deep Q-Network

2021 ◽  
Author(s):  
Baiyu Peng ◽  
Qi Sun ◽  
Shengbo Eben Li ◽  
Dongsuk Kum ◽  
Yuming Yin ◽  
...  
Keyword(s):  
Neural Network ◽  
State Space ◽  
Learning Algorithm ◽  
Rapid Development ◽  
Autonomous Driving ◽  
Saliency Map ◽  
Hierarchical Architecture ◽  
Link Type ◽  
The Neural Network ◽  
End To End

AbstractRecent years have seen the rapid development of autonomous driving systems, which are typically designed in a hierarchical architecture or an end-to-end architecture. The hierarchical architecture is always complicated and hard to design, while the end-to-end architecture is more promising due to its simple structure. This paper puts forward an end-to-end autonomous driving method through a deep reinforcement learning algorithm Dueling Double Deep Q-Network, making it possible for the vehicle to learn end-to-end driving by itself. This paper firstly proposes an architecture for the end-to-end lane-keeping task. Unlike the traditional image-only state space, the presented state space is composed of both camera images and vehicle motion information. Then corresponding dueling neural network structure is introduced, which reduces the variance and improves sampling efficiency. Thirdly, the proposed method is applied to The Open Racing Car Simulator (TORCS) to demonstrate its great performance, where it surpasses human drivers. Finally, the saliency map of the neural network is visualized, which indicates the trained network drives by observing the lane lines. A video for the presented work is available online, https://youtu.be/76ciJmIHMD8 or https://v.youku.com/v_show/id_XNDM4ODc0MTM4NA==.html.

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