A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics

2018 ◽  
Vol 3 (24) ◽  
pp. eaau6914 ◽  
Author(s):  
Clementine M. Boutry ◽  
Marc Negre ◽  
Mikael Jorda ◽  
Orestis Vardoulis ◽  
Alex Chortos ◽  
...  
Keyword(s):  
Real Time ◽  
Applied Pressure ◽  
Three Dimensional ◽  
Tactile Feedback ◽  
Dimensional Structure ◽  
Robot Arm ◽  
Dexterous Manipulation ◽  
Tangential Forces ◽  
Increased Sensitivity ◽  
Millisecond Range

Tactile sensing is required for the dexterous manipulation of objects in robotic applications. In particular, the ability to measure and distinguish in real time normal and shear forces is crucial for slip detection and interaction with fragile objects. Here, we report a biomimetic soft electronic skin (e-skin) that is composed of an array of capacitors and capable of measuring and discriminating in real time both normal and tangential forces. It is enabled by a three-dimensional structure that mimics the interlocked dermis-epidermis interface in human skin. Moreover, pyramid microstructures arranged along nature-inspired phyllotaxis spirals resulted in an e-skin with increased sensitivity, minimal hysteresis, excellent cycling stability, and response time in the millisecond range. The e-skin provided sensing feedback for controlling a robot arm in various tasks, illustrating its potential application in robotics with tactile feedback.

An Assistant Interface to Design and Produce a Pop-Up Card

2010 ◽  
Vol 1 (2) ◽  
pp. 40-50
Author(s):  
Sosuke Okamura ◽  
Takeo Igarashi
Keyword(s):  
Real Time ◽  
Design Process ◽  
Collision Detection ◽  
User Study ◽  
Three Dimensional ◽  
Dimensional Structure ◽  
Design Activity ◽  
Three Dimensional Structure ◽  
Design And Production

This article describes an assistant interface to design and produce pop-up cards. A pop-up card is a piece of folded paper from which a three-dimensional structure pops up when opened. The authors propose an interface to assist the user in the design and production of a pop-up card. During the design process, the system examines whether the parts protrude from the card or whether the parts collide with one another when the card is closed. The user can concentrate on the design activity because the error occurrence and the error resolution are continuously fed to the user in real time. The authors demonstrate the features of their system by creating two pop-up card examples and perform an informal preliminary user study, showing that automatic protrusion and collision detection are effective in the design process.

An Assistant Interface to Design and Produce a Pop-Up Card

2012 ◽  
pp. 119-130
Author(s):  
Sosuke Okamura ◽  
Takeo Igarashi
Keyword(s):  
Real Time ◽  
Design Process ◽  
Collision Detection ◽  
User Study ◽  
Three Dimensional ◽  
Dimensional Structure ◽  
Design Activity ◽  
Three Dimensional Structure ◽  
Design And Production

This article describes an assistant interface to design and produce pop-up cards. A pop-up card is a piece of folded paper from which a three-dimensional structure pops up when opened. The authors propose an interface to assist the user in the design and production of a pop-up card. During the design process, the system examines whether the parts protrude from the card or whether the parts collide with one another when the card is closed. The user can concentrate on the design activity because the error occurrence and the error resolution are continuously fed to the user in real time. The authors demonstrate the features of their system by creating two pop-up card examples and perform an informal preliminary user study, showing that automatic protrusion and collision detection are effective in the design process.

scholarly journals An Effective Algorithm for Video-Based Parking and Drop Event Detection

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-23
Author(s):  
Gang Li ◽  
Huansheng Song ◽  
Zheng Liao
Keyword(s):  
Real Time ◽  
Traffic Accidents ◽  
Structural Model ◽  
Three Dimensional ◽  
Vehicle Body ◽  
Dimensional Structure ◽  
Status Change ◽  
The Road ◽  
On The Road ◽  
Object Area

Real-time and accurate detection of parking and dropping events on the road is important for the avoidance of traffic accidents. The existing algorithms for detection require accurate modeling of the background, and most of them use the characteristics of two-dimensional images such as area to distinguish the type of the target. However, these algorithms significantly depend on the background and are lack of accuracy on the type of distinction. Therefore, this paper proposes an algorithm for detecting parking and dropping objects that uses real three-dimensional information to distinguish the type of target. Firstly, an abnormal region is initially defined based on status change, when there is an object that did not exist before in the traffic scene. Secondly, the preliminary determination of the abnormal area is bidirectionally tracked to determine the area of parking and dropping objects, and the eight-neighbor seed filling algorithm is used to segment the parking and the dropping object area. Finally, a three-view recognition method based on inverse projection is proposed to distinguish the parking and dropping objects. The method is based on the matching of the three-dimensional structure of the vehicle body. In addition, the three-dimensional wireframe of the vehicle extracted by the back-projection can be used to match the structural model of the vehicle, and the vehicle model can be further identified. The 3D wireframe of the established vehicle is efficient and can meet the needs of real-time applications. And, based on experimental data collected in tunnels, highways, urban expressways, and rural roads, the proposed algorithm is verified. The results show that the algorithm can effectively detect the parking and dropping objects within different environment, with low miss and false detection rate.

Robot Path Planning via Simulated Annealing: A Near Real Time Approach

1989 ◽  
Author(s):  
E. Sandgren ◽  
S. Venkataraman
Keyword(s):  
Simulated Annealing ◽  
Path Planning ◽  
Real Time ◽  
Angular Position ◽  
Three Dimensional ◽  
Solution Procedure ◽  
Robot Arm ◽  
Robot Path Planning ◽  
Real Time Control ◽  
Robot Path

Abstract An efficient procedure for near optimal robot path planning in a two dimensional workplace is presented. Obstacles are represented as a series of rectangular regions which allows collision detection to be performed by an operation similar to clipping in computer graphics. The feasible design space is approximated by a discrete set of robot arm and gripper positions. A control sequence of the angular position of each link is determined. A set of intermediate link positions are generated and grouped into stages. A dynamic programming problem is formulated to locate the best state within each stage which minimizes the overall path length. A simulated annealing solution procedure is implemented in order to locate a reasonable solution in the minimum amount of time. Several examples are presented involving a three link planar manipulator. Extensions to three dimensional robot path planning and real time control in a dynamically changing workplace are discussed.

Understanding Interphase Boundary Dynamics by In Situ High-Resolution and Energy-Filtering Transmission Electron Microscopy and Real-Time Image Simulation

1998 ◽  
Vol 4 (3) ◽  
pp. 235-247 ◽  
Author(s):  
J.M. Howe ◽  
T.M. Murray ◽  
K.T. Moore ◽  
A.A. Csontos ◽  
M.M. Tsai ◽  
...  
Keyword(s):  
High Resolution ◽  
Real Time ◽  
Interphase Boundary ◽  
Three Dimensional ◽  
Atomic Level ◽  
Dimensional Structure ◽  
Energy Filtering ◽  
Transmission Electron ◽  
Boundary Dynamics

This study discusses the use of in situ high-resolution transmission electron microscropy (HRTEM) techniques to determine the structure, composition, and interphase boundary dynamics during phase transformations at the atomic level. Three main in situ HRTEM techniques are described: (1) in situ HRTEM dynamic studies that are performed on the same precipitate plates from different viewing directions to determine the three-dimensional structure of the interfaces; (2) in situ compositional mapping of precipitate interfaces obtained by energy-filtering TEM experiments at temperature in a HRTEM, and (3) real-time HRTEM image simulations that are being created for comparison with and interpretation of experimental in situ HRTEM dynamic observations. The results from these studies demonstrate that it is possible to understand the mechanisms and kinetics of interphase boundary motion at the atomic level.

A wireless real-time monitoring system on intelligent underwater pollution cleaning robot

2021 ◽  
pp. 1-10
Author(s):  
Xiaoyan Wu ◽  
Shu Wang ◽  
Xinnan Wang ◽  
Guogeng He
Keyword(s):  
Real Time ◽  
Monitoring System ◽  
Three Dimensional ◽  
River Pollution ◽  
Dimensional Structure ◽  
Real Time Monitoring ◽  
Scheme Design ◽  
Wireless Monitoring ◽  
Cleaning Robot ◽  
Pollution Removal

Intelligent underwater pollution cleaning robot is used to release microbial solution which can dissolve into water slowly into polluted river, so that the solution can react fully with pollutants, so as to achieve the purpose of river pollution control. The research of robot wireless monitoring system is based on the comprehensive application of wireless communication technology and intelligent control technology, in order to achieve real-time monitoring and centralized remote control of underwater pollution removal. Through the three-dimensional structure modeling of the intelligent underwater pollution cleaning robot, the overall scheme design and debugging test of the wireless monitoring system, it is proved that the intelligent underwater pollution cleaning robot is feasible in the intelligent and efficient underwater cleaning operation, and it is a research method worthy of reference and promotion.

scholarly journals A Vision-Based Method for Autonomous Landing of a Rotor-Craft Unmanned Aerial Vehicle

2006 ◽  
Vol 3 (3) ◽  
pp. 171-177
Author(s):  
Z. Yuan ◽  
Z. Gong ◽  
J. Chen ◽  
J. Wu
Keyword(s):  
Real Time ◽  
Unmanned Aerial Vehicle ◽  
Three Dimensional ◽  
Dimensional Structure ◽  
Autonomous Landing ◽  
Linear Algorithm ◽  
Three Dimensional Structure ◽  
Intrinsic Parameters ◽  
Structure Estimation ◽  
Aerial Vehicle

This article introduces a real-time vision-based method for guided autonomous landing of a rotor-craft unmanned aerial vehicle. In the process of designing the pattern of landing target, we have fully considered how to make this easier for simplified identification and calibration. A linear algorithm was also applied using a three-dimensional structure estimation in real time. In addition, multiple-view vision technology is utilized to calibrate intrinsic parameters of camera online, so calibration prior to flight is unnecessary and the focus of camera can be changed freely in flight, thus upgrading the flexibility and practicality of the method.

Conformation of Ribosomes from Escherichia Coli

1974 ◽  
Vol 32 ◽  
pp. 210-211
Author(s):  
M. Boublik ◽  
W. Hellmann ◽  
F. Jenkins
Keyword(s):  
Binding Sites ◽  
Ribosomal Proteins ◽  
Fluorescent Dyes ◽  
Protein Biosynthesis ◽  
Three Dimensional ◽  
Spatial Arrangement ◽  
Dimensional Structure ◽  
Complete Understanding ◽  
And Function

The present knowledge of the three-dimensional structure of ribosomes is far too limited to enable a complete understanding of the various roles which ribosomes play in protein biosynthesis. The spatial arrangement of proteins and ribonuclec acids in ribosomes can be analysed in many ways. Determination of binding sites for individual proteins on ribonuclec acid and locations of the mutual positions of proteins on the ribosome using labeling with fluorescent dyes, cross-linking reagents, neutron-diffraction or antibodies against ribosomal proteins seem to be most successful approaches. Structure and function of ribosomes can be correlated be depleting the complete ribosomes of some proteins to the functionally inactive core and by subsequent partial reconstitution in order to regain active ribosomal particles.

Three-Dimensional Reconstruction Using Stereo Pairs from Serial Thick Sections

1977 ◽  
Vol 35 ◽  
pp. 562-563
Author(s):  
Robert Glaeser ◽  
Thomas Bauer ◽  
David Grano
Keyword(s):  
Three Dimensional ◽  
Dimensional Structure ◽  
Serial Sections ◽  
Thin Sections ◽  
3 Dimensional ◽  
Transmission Electron ◽  
Freeze Dried ◽  
Dimensional Reconstruction ◽  
Stereo Imagery ◽  
Whole Mounts

In transmission electron microscopy, the 3-dimensional structure of an object is usually obtained in one of two ways. For objects which can be included in one specimen, as for example with elements included in freeze- dried whole mounts and examined with a high voltage microscope, stereo pairs can be obtained which exhibit the 3-D structure of the element. For objects which can not be included in one specimen, the 3-D shape is obtained by reconstruction from serial sections. However, without stereo imagery, only detail which remains constant within the thickness of the section can be used in the reconstruction; consequently, the choice is between a low resolution reconstruction using a few thick sections and a better resolution reconstruction using many thin sections, generally a tedious chore. This paper describes an approach to 3-D reconstruction which uses stereo images of serial thick sections to reconstruct an object including detail which changes within the depth of an individual thick section.

Electron Microscopy of Cytoplasmic Contractile Proteins

1978 ◽  
Vol 36 (3) ◽  
pp. 606-614 ◽  
Author(s):  
T.D. Pollard ◽  
P. Maupin
Keyword(s):  
Electron Microscopy ◽  
Actin Filaments ◽  
Three Dimensional ◽  
Uranyl Acetate ◽  
Contractile Proteins ◽  
Dimensional Structure ◽  
X Ray Diffraction ◽  
Cytoplasmic Matrix ◽  
Computer Image Processing ◽  
Nonmuscle Cells

In this paper we review some of the contributions that electron microscopy has made to the analysis of actin and myosin from nonmuscle cells. We place particular emphasis upon the limitations of the ultrastructural techniques used to study these cytoplasmic contractile proteins, because it is not widely recognized how difficult it is to preserve these elements of the cytoplasmic matrix for electron microscopy. The structure of actin filaments is well preserved for electron microscope observation by negative staining with uranyl acetate (Figure 1). In fact, to a resolution of about 3nm the three-dimensional structure of actin filaments determined by computer image processing of electron micrographs of negatively stained specimens (Moore et al., 1970) is indistinguishable from the structure revealed by X-ray diffraction of living muscle.

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