Robotic grasping of complex objects without full geometrical knowledge of the shape

Author(s):  
M.A. Rodrigues ◽  
Y.F. Li ◽  
M.H. Lee ◽  
J.J. Rowland ◽  
C. King
Robotica ◽  
1995 ◽  
Vol 13 (5) ◽  
pp. 499-506 ◽  
Author(s):  
M. A. Rodrigues ◽  
Y. E. Li ◽  
M. H. Lee ◽  
J. J. Rowland

SummaryThis paper aims at contributing to a sub-symbolic, feedback-based “theory of robotic grasping” where no full geometrical knowledge of the shape is assumed. We describe experimental results on grasping 2D generic shapes without traditional geometrical processing. Grasping algorithms are used in conjunction with a vision system and a robot manipulator with a three-fingered gripper is used to grasp several different shapes. The altorithms are run on the shape as it appears on the computer screen (i.e. directly from a vision system). Simulated gripper ringer with virtual sensors are configured and positioned on the screen whose inputs are controlled by moving their position relative to the image until an equilibrium is reached among the control systems involved.


Author(s):  
D. N. Radnaev ◽  
Yu. А. Sergeev ◽  
А. А. Abiduev ◽  
S. V. Petunov

Currently, agricultural science and practice has a large amount of experimental data that need to be taken into account in the development of new technological processes and working bodies. Therefore, there is a need to design technical processes in order to identify their effectiveness. In this regard, the use of methods of synthesis of technological processes based on the characteristics of tillage, seeding and production system of the economy, in which it is necessary to implement the projected process. In the General statement of the problem, the design of technological processes is one of the complex problems with the following characteristic feature: lack of knowledge about the methods of designing technological processes, suitable for system - structural modeling and algorithmization of design processes. To overcome this incompleteness, a systematic approach is needed. The system approach proceeds from the fact that the specificity of complex objects and processes is not limited to the features of its constituent parts and elements, but lies in the nature of relationships and relationships between them. In this paper, the design methodology is based on the formulated fundamental assumptions and principles of the whole system of more specific statements, revealing the structure and content of design operations, the synthesis of the choice of solutions. The principles of technological compatibility and emergence suitable for system-structural analysis of complex technical means and technological processes, consisting of statements having a hierarchical structure, where the degree of detail of the goals from level to level increases, and the approval of the last level determines the direction of the search for the optimal solution to the problem.


2020 ◽  
Author(s):  
Anna Nowakowska ◽  
Alasdair D F Clarke ◽  
Jessica Christie ◽  
Josephine Reuther ◽  
Amelia R. Hunt

We measured the efficiency of 30 participants as they searched through simple line segment stimuli and through a set of complex icons. We observed a dramatic shift from highly variable, and mostly inefficient, strategies with the line segments, to uniformly efficient search behaviour with the icons. These results demonstrate that changing what may initially appear to be irrelevant, surface-level details of the task can lead to large changes in measured behaviour, and that visual primitives are not always representative of more complex objects.


2019 ◽  
Author(s):  
Michiru Makuuchi

Symbolic behaviours such as language, music, drawing, dance, etc. are unique to humans and are found universally in every culture on earth1. These behaviours operate in different cognitive domains, but they are commonly characterised as linear sequences of symbols2,3. One of the most prominent features of language is hierarchical structure4, which is also found in music5,6 and mathematics7. Current research attempts to address whether hierarchical structure exists in drawing. When we draw complex objects, such as a face, we draw part by part in a hierarchical manner guided by visual semantic knowledge8. More specifically, we predicted how hierarchical structure emerges in drawing as follows. Although the drawing order of the constituent parts composing the target object is different amongst individuals, some parts will be drawn in succession consistently, thereby forming chunks. These chunks of parts would then be further integrated with other chunks into superordinate chunks, while showing differential affinity amongst chunks. The integration of chunks to an even higher chunk level repeats until finally reaching the full object. We analysed the order of drawing strokes of twenty-two complex objects by twenty-five young healthy adult participants with a cluster analysis9 and demonstrated reasonable hierarchical structures. The results suggest that drawing involves a linear production of symbols with a hierarchical structure. From an evolutionary point of view, we argue that ancient engravings and paintings manifest Homo sapiens’ capability for hierarchical symbolic cognition.


2012 ◽  
pp. 15-19
Author(s):  
Thi Chau Anh Nguyen ◽  
Hoang Bach Nguyen ◽  
Hai Duong Huynh ◽  
Nu Xuan Thanh Le ◽  
Xuan Cuong Le ◽  
...  

Background: The Nested IS6110 PCR is used for detecting tuberculosis, however IS6110 sequence is not present in the genome of all strains of M.tuberculosis, the result may be false negative. The gene coding 16S ribosome always contains a short sequence specific to M. tuberculosis complex. Objects: Performance of the 16S Real-time PCR to detect M. tuberculosis and combining to the nested IS6110 PCR to determine the rate of Mtb strains without IS6110 from clinical samples. Materials and method: Performance of 16S rDNA PCR by commercial kit of Viet A Inc. for all 480 samples, the samples which were positive with the 16S rDNA PCR were retested in IS6110 PCR assay by in-house kit. Results: The Realtime 16S rDNA PCR detected 258 cases (53.8%) of tuberculosis. There were 3 (1.2 %) M. tuberculosis strains which do not harbor IS6110 sequence in genome. Conclusion: The IS6110 nested PCR can be applied more widely than the 16S rDNA realtime PCR. In case of using IS6110 PCR assay, results may show a low proportion of false negative. Combining 16S rDNA PCR with the IS6110 based PCR allowed detection of deletion of IS6110 sequence in M. tuberculosis isolates.


2018 ◽  
Vol 28 (3) ◽  
pp. 997-1003
Author(s):  
Gergana Hristova

The knowledge on geometry are of great importance for the understanding of reality. Spatial notion and geometrical concepts, graphical skills and habits are an important part of the study of geometrical knowledge in elementary school as propedeutics of the system course on geometry in the next school levels. In the recent years, education in Bulgaria follows the trends imposed by the European Union related to the acquiring of some basic key competencies. They promote to the improvement of knowledge, skills, abilities and attitudes of students and their more successful social development. From the school year 2016/2017, the education in the Bulgarian schools is in accordance with the new Law on pre-school and school education. Under this law, students are teached under new curriculum and teaching kits for the corresponding class. According to the new curriculum, the general education of the students of I-IV grade, covers basic groups of key competencies. Here, much more attention is paid also to the results of international researches on the students’ performance in mathematics. Primary school students participate in international competitions and Olympiads, which lead to the need of working on more mathematical problems with geometric content of the relevant specific types. This allows to study and use author’s various mathematical problems for teaching geometry. Their purpose is to contribute to the expansion of space notions of the students, to develop their thinking and imagination. This article is dedicated to the application of author’s various mathematical problems and exercises for teaching students from the third grade through which the geometrical knowledge and skills of the students develop and build. The solving of the mathematical problems is realized on a rich visual-practical basis, providing conditions for inclusion of the students in various activities. The proposed various mathematical problems are developed by themes including fully geometric problems and exercises for teaching mathematics to third grade students. Teaching by using the various mathematical problems was held with 149 students from third grade, from five schools - three in Sofia and two in smaller towns, in the school year 2016/2017.


Author(s):  
Joseph F. Boudreau ◽  
Eric S. Swanson

Specialized techniques for solving the classical many-body problem are explored in the context of simple gases, more complicated gases, and gravitating systems. The chapter starts with a brief review of some important concepts from statistical mechanics and then introduces the classic Verlet method for obtaining the dynamics of many simple particles. The practical problems of setting the system temperature and measuring observables are discussed. The issues associated with simulating systems of complex objects form the next topic. One approach is to implement constrained dynamics, which can be done elegantly with iterative methods. Gravitational systems are introduced next with stress on techniques that are applicable to systems of different scales and to problems with long range forces. A description of the recursive Barnes-Hut algorithm and particle-mesh methods that speed up force calculations close out the chapter.


Sign in / Sign up

Export Citation Format

Share Document