Mechanisms for Robotic Grasping and Manipulation

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Vincent Babin ◽  
Clément Gosselin
Keyword(s):  
Online Publication ◽  
Autonomous Systems ◽  
Robotic Manipulation ◽  
Annual Review ◽  
Publication Date ◽  
Robotic Grasping ◽  
Grasp Planning ◽  
Grasping And Manipulation

This article reviews the literature on the design of robotic mechanical grippers, with a focus on the mechanical aspects, which are believed to be the main bottleneck for effective designs. Our discussion includes gripper architectures and means of actuation, anthropomorphism and grasp planning, and robotic manipulation, emphasizing the complementary concepts of intrinsic and extrinsic dexterity. We also consider interactions of robotic grippers with the environment and with the objects to be grasped and argue that the proper handling of such interactions is key to the development of grasping and manipulation tools and scenarios. Finally, we briefly present examples of recent designs to support the discussion. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

scholarly journals Autonomy in Surgical Robotics

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Aleks Attanasio ◽  
Bruno Scaglioni ◽  
Elena De Momi ◽  
Paolo Fiorini ◽  
Pietro Valdastri
Keyword(s):  
Online Publication ◽  
Autonomous Systems ◽  
Surgical Robotics ◽  
Annual Review ◽  
Publication Date ◽  
Surgical Robots ◽  
Level 3 ◽  
Level 1 ◽  
Level 2 ◽  
Task Level

This review examines the dichotomy between automatic and autonomous behaviors in surgical robots, maps the possible levels of autonomy of these robots, and describes the primary enabling technologies that are driving research in this field. It is organized in five main sections that cover increasing levels of autonomy. At level 0, where the bulk of commercial platforms are, the robot has no decision autonomy. At level 1, the robot can provide cognitive and physical assistance to the surgeon, while at level 2, it can autonomously perform a surgical task. Level 3 comes with conditional autonomy, enabling the robot to plan a task and update planning during execution. Finally, robots at level 4 can plan and execute a sequence of surgical tasks autonomously. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 3, 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

scholarly journals What Is Robotics? Why Do We Need It and How Can We Get It?

2021 ◽  
Vol 4 (1) ◽  
Author(s):  
Daniel E. Koditschek
Keyword(s):  
Dynamical Systems ◽  
Systems Theory ◽  
Programming Languages ◽  
Online Publication ◽  
Autonomous Systems ◽  
Annual Review ◽  
Publication Date ◽  
Diverse Populations ◽  
Intellectual Foundations ◽  
Fundamental Physical

Robotics is an emerging synthetic science concerned with programming work. Robot technologies are quickly advancing beyond the insights of the existing science. More secure intellectual foundations will be required to achieve better, more reliable, and safer capabilities as their penetration into society deepens. Presently missing foundations include the identification of fundamental physical limits, the development of new dynamical systems theory, and the invention of physically grounded programming languages. The new discipline needs a departmental home in the universities, which it can justify both intellectually and by its capacity to attract new diverse populations inspired by the age-old human fascination with robots. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 4 is May 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Control as an Enabler for Electrified Mobility

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Andrew G. Alleyne ◽  
Christopher T. Aksland
Keyword(s):  
Online Publication ◽  
Autonomous Systems ◽  
Annual Review ◽  
Publication Date ◽  
Hierarchical Approach ◽  
Computationally Efficient ◽  
Physical Systems ◽  
The Third ◽  
Regulation And Tracking ◽  
And Control

This article outlines the importance of electrified mobility (e-mobility) in modern transport. One key goal of this review is to illustrate the role that control has played, and must continue to play, as e-mobility grows. The coordination of power in multiple modes (mechanical, electrical, and thermal) requires sophisticated controller algorithms. This review advocates for model-based approaches to control since there may not be readily available physical systems from which to gather data and do data-based control. A second goal of the article is to present methods for modeling these powertrain systems that are modular, scalable, flexible, and computationally efficient. A graph-based approach satisfies many of the desired criteria. The third goal is to review control approaches for these classes of systems and detail a hierarchical approach that makes trades across different domains of power. Optimization-based approaches are well suited to achieving the regulation and tracking goals, along with the minimization of costs and the satisfaction of constraints. Multiple examples, within this article and the references therein, support the presentation throughout. This field of e-mobility is rapidly growing, and control engineers are uniquely positioned to have an impact and lead many of the critical developments. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

New Directions in the Study of Institutional Logics: From Tools to Phenomena

2021 ◽  
Vol 47 (1) ◽  
Author(s):  
Michael Lounsbury ◽  
Christopher W.J. Steele ◽  
Milo Shaoqing Wang ◽  
Madeline Toubiana
Keyword(s):  
Recent Work ◽  
Online Publication ◽  
Institutional Logics ◽  
Annual Review ◽  
Publication Date ◽  
Complex Dynamic ◽  
New Directions ◽  
Analytical Tools ◽  
Dynamic Phenomena

In this article, we take stock of the institutional logics perspective and highlight opportunities for new scholarship. While we celebrate the growth and generativity of the literature on institutional logics, we also note that there has been a troubling tendency in recent work to use logics as analytical tools, feeding disquiet about reification and reductionism. Seeding a broader scholarly agenda that addresses such weaknesses in the literature, we highlight nascent efforts that aim to more systematically understand institutional logics as complex, dynamic phenomena in their own right. In doing so, we argue for more research that probes how logics cohere and endure by unpacking the role of values, the centrality of practice, and the governance dynamics of institutional logics and their orders. Furthermore, we encourage bridging the study of institutional logics with various literatures, including ethnomethodology, phenomenology, professions, elites, world society, and the old institutionalism, to enhance progress in these directions. Expected final online publication date for the Annual Review of Sociology, Volume 47 is July 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Advances in Morphological Theory: Construction Morphology and Relational Morphology

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Jenny Audring
Keyword(s):  
Online Publication ◽  
Mental Lexicon ◽  
Research Community ◽  
Annual Review ◽  
Publication Date ◽  
Theory Construction ◽  
Construction Morphology ◽  
Challenges And Opportunities ◽  
Morphological Theory

In recent years, construction-based approaches to morphology have gained ground in the research community. This framework is characterized by the assumption that the mental lexicon is extensive and richly structured, containing not only a large number of stored words but also a wide variety of generalizations in the form of schemas. This review explores two construction-based theories, Construction Morphology and Relational Morphology. After outlining the basic theoretical architecture, the article presents an array of recent applications of a construction-based approach to morphological phenomena in various languages. In addition, it offers reflections on challenges and opportunities for further research. The review highlights those aspects of the theory that have proved particularly helpful in accommodating both the regularities and the quirks that are typical of the grammar of words. Expected final online publication date for the Annual Review of Linguistics, Volume 8 is January 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

The Political Economy of Attention

2021 ◽  
Vol 50 (1) ◽  
Author(s):  
Morten Axel Pedersen ◽  
Kristoffer Albris ◽  
Nick Seaver
Keyword(s):  
Political Economy ◽  
Online Publication ◽  
The Political ◽  
Annual Review ◽  
Publication Date ◽  
Moral Concern ◽  
Digital Platforms ◽  
Political Economic

Attention has become an issue of intense political, economic, and moral concern over recent years: from the commodification of attention by digital platforms to the alleged loss of the attentional capacities of screen-addicted children (and their parents). While attention has rarely been an explicit focus of anthropological inquiry, it has still played an important if mostly tacit part in many anthropological debates and subfields. Focusing on anthropological scholarship on digital worlds and ritual forms, we review resources for colleagues interested in this burgeoning topic of research and identify potential avenues for an incipient anthropology of attention, which studies how attentional technologies and techniques mold human minds and bodies in more or less intentional ways. Expected final online publication date for the Annual Review of Anthropology, Volume 50 is October 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Recent Research on the Archaeology of War and Violence

2021 ◽  
Vol 50 (1) ◽  
Author(s):  
Andrew K. Scherer
Keyword(s):  
State Formation ◽  
Online Publication ◽  
General Trend ◽  
Annual Review ◽  
Publication Date ◽  
Modern Times ◽  
The Past ◽  
Definition Of ◽  
Consequences Of Violence

The mid-1990s through the first decade of the new millennium marked an increase in publications pertaining to war and violence in the ancient past. This review considers how scholars of the past decade have responded to that work. The emerging consensus is that war and violence were endemic to all societies studied by archaeologists, and yet the frequency, intensity, causes, and consequences of violence were highly variable for reasons that defy simplistic explanation. The general trend has been toward archaeologies of war and violence that focus on understanding the nuances of particular places and historical moments. Nevertheless, archaeologists continue to grapple with grand narratives of war, such as the proposition that violence has decreased from ancient to modern times and the role of war and violence in state formation and collapse. Recent research also draws attention to a more expansive definition of violence. Expected final online publication date for the Annual Review of Anthropology, Volume 50 is October 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Confronting Banking Crises: Lessons from the Field

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
Marc Dobler ◽  
Marina Moretti ◽  
Alvaro Piris
Keyword(s):  
Financial Crisis ◽  
Online Publication ◽  
Financial Crises ◽  
Global Financial Crisis ◽  
Banking Crises ◽  
Lessons Learned ◽  
Annual Review ◽  
Publication Date ◽  
Policy Interventions ◽  
Comprehensive Framework

Financial crises are a recurring feature of modern economies. This article summarizes the lessons learned from policy interventions and tools used to resolve banking crises from a practical, operational perspective and in light of the experiences and challenges faced during and since the 2008 global financial crisis. Managing a systemic banking crisis is a complex, multiyear process and requires a comprehensive framework for addressing systemic banking problems while minimizing taxpayers’ costs. Expected final online publication date for the Annual Review of Financial Economics, Volume 13 is March 2021. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Design and Control of Drones

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Mark W. Mueller ◽  
Seung Jae Lee ◽  
Raffaello D’Andrea
Keyword(s):  
Energy Consumption ◽  
Motion Planning ◽  
Recent Progress ◽  
Scaling Laws ◽  
Autonomous Systems ◽  
Annual Review ◽  
Publication Date ◽  
Trade Offs ◽  
Active Research ◽  
And Control

The design and control of drones remain areas of active research, and here we review recent progress in this field. In this article, we discuss the design objectives and related physical scaling laws, focusing on energy consumption, agility and speed, and survivability and robustness. We divide the control of such vehicles into low-level stabilization and higher-level planning such as motion planning, and we argue that a highly relevant problem is the integration of sensing with control and planning. Lastly, we describe some vehicle morphologies and the trade-offs that they represent. We specifically compare multicopters with winged designs and consider the effects of multivehicle teams. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

Secure Networked Control Systems

2021 ◽  
Vol 5 (1) ◽  
Author(s):  
Henrik Sandberg ◽  
Vijay Gupta ◽  
Karl H. Johansson
Keyword(s):  
Control Systems ◽  
Critical Infrastructure ◽  
Networked Control Systems ◽  
Denial Of Service ◽  
Autonomous Systems ◽  
Mitigation Strategies ◽  
Networked Control ◽  
Annual Review ◽  
Publication Date ◽  
Process Industries

Cyber-vulnerabilities are being exploited in a growing number of control systems. As many of these systems form the backbone of critical infrastructure and are becoming more automated and interconnected, it is of the utmost importance to develop methods that allow system designers and operators to do risk analysis and develop mitigation strategies. Over the last decade, great advances have been made in the control systems community to better understand cyber-threats and their potential impact. This article provides an overview of recent literature on secure networked control systems. Motivated by recent cyberattacks on the power grid, connected road vehicles, and process industries, a system model is introduced that covers many of the existing research studies on control system vulnerabilities. An attack space is introduced that illustrates how adversarial resources are allocated in some common attacks. The main part of the article describes three types of attacks: false data injection, replay, and denial-of-service attacks. Representative models and mathematical formulations of these attacks are given along with some proposed mitigation strategies. The focus is on linear discrete-time plant models, but various extensions are presented in the final section, which also mentions some interesting research problems for future work. Expected final online publication date for the Annual Review of Control, Robotics, and Autonomous Systems, Volume 5 is May 2022. Please see http://www.annualreviews.org/page/journal/pubdates for revised estimates.

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