Dynamic Trajectory Planning for Failure Recovery in Cable-Suspended Camera Systems

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Chiara Passarini ◽  
Damiano Zanotto ◽  
Giovanni Boschetti
Keyword(s):  
Trajectory Planning ◽  
Real World ◽  
Parallel Robots ◽  
Research Topic ◽  
Failure Recovery ◽  
Relevant Research ◽  
End Effector ◽  
Camera Systems ◽  
Real World Applications ◽  
Dynamic Trajectory

The use of cable-driven parallel robots (CDPR) in real-world applications makes safety a major concern for these devices and a relevant research topic. Cable-suspended camera systems are among the earliest and most common applications of CDPRs. In this paper, we propose a novel after-failure approach for cable-suspended camera systems. This strategy, which is applied after a cable breaks, seeks to drive the end effector, i.e., the camera, toward a safe pose, following an oscillatory trajectory that guarantees positive and bounded tensions in the remaining cables. The safe landing location is optimized to minimize the trajectory time while avoiding collisions with the physical boundaries of the workspace. Results of numerical simulations indicate the feasibility of the proposed approach.

scholarly journals Emotions in texts

2020 ◽  
Vol 4 (2) ◽  
pp. 59-69
Author(s):  
Leeveshkumar Pokhun ◽  
M Yasser Chuttur
Keyword(s):  
Real World ◽  
Gold Standard ◽  
Relevant Research ◽  
Emotion Analysis ◽  
Real World Applications ◽  
Emotion Model ◽  
No Gold Standard ◽  
Further Development ◽  
Emotion Models ◽  
Common Platform

Several studies have used different techniques to detect and identify emotions expressed in various sets of texts corpora. In this paper, we review different emotion models, emotion datasets and the corresponding techniques used for emotion analysis in past studies. We observe that researchers have been using a wide variety of techniques to detect emotions in texts and that there is currently no gold standard on which dataset or which emotion model to use. Consequently, although the field of emotion analysis has gained much momentum in previous years, there seems to be little progress into relevant research with findings that may be useful in real world applications. From our analysis and findings, we urge researchers to consider the development of datasets, evaluation benchmarks and a common platform for sharing achievements in emotion analysis to see further development in the field.

Dynamic trajectory planning study of planar two-dof redundantly actuated cable-suspended parallel robots

Mechatronics ◽  
2015 ◽  
Vol 30 ◽  
pp. 187-197 ◽  
Author(s):  
Lewei Tang ◽  
Xiaoqiang Tang ◽  
Xiaoling Jiang ◽  
Clément Gosselin
Keyword(s):  
Trajectory Planning ◽  
Parallel Robots ◽  
Planning Study ◽  
Redundantly Actuated ◽  
Dynamic Trajectory

Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots

2017 ◽  
Vol 9 (3) ◽  
Author(s):  
Saeed Abdolshah ◽  
Damiano Zanotto ◽  
Giulio Rosati ◽  
Sunil K. Agrawal
Keyword(s):  
Trajectory Planning ◽  
Performance Index ◽  
Elastic Stiffness ◽  
Parallel Robots ◽  
Kinematic Redundancy ◽  
Performance Indices ◽  
Systematic Method ◽  
End Effector ◽  
Driven Systems ◽  
Optimal Values

Adaptive cable-driven parallel robots are a special subclass of cable-driven systems in which the locations of the pulley blocks are modified as a function of the end-effector pose to obtain optimal values of given performance indices within a target workspace. Due to their augmented kinematic redundancy, such systems enable larger workspace volume and higher performance compared to traditional designs featuring the same number of cables. Previous studies have introduced a systematic method to optimize design and trajectory planning of the moving pulley-blocks for a given performance index. In this paper, we study the motions of the pulley blocks that optimize two performance indices simultaneously: stiffness and dexterity. Specifically, we present a method to determine the pulley blocks motions that guarantee ideal dexterity with the best feasible elastic stiffness, as well as those that guarantee isotropic elastic stiffness with the best feasible dexterity. We demonstrate the proposed approach on some practical cases of planar adaptive cable-driven parallel robots.

scholarly journals Electronic Phenomena of Transition Metal Oxides

Crystals ◽  
2021 ◽  
Vol 11 (3) ◽  
pp. 256
Author(s):  
Christian Rodenbücher ◽  
Kristof Szot
Keyword(s):  
Solid State ◽  
Transition Metal ◽  
Metal Oxides ◽  
Real World ◽  
Transition Metal Oxides ◽  
Major Research ◽  
Research Fields ◽  
Real World Applications

Transition metal oxides with ABO3 or BO2 structures have become one of the major research fields in solid state science, as they exhibit an impressive variety of unusual and exotic phenomena with potential for their exploitation in real-world applications [...]

Sign in / Sign up

Export Citation Format

Share Document