scholarly journals Optimal Grasping Pose Synthesis in a Constrained Environment

Robotics ◽  
2020 ◽  
Vol 10 (1) ◽  
pp. 4
Author(s):  
Alessandro Altobelli ◽  
Ozan Tokatli ◽  
Guy Burroughes ◽  
Robert Skilton
Keyword(s):  
Autonomous Systems ◽  
The Novel ◽  
Nuclear Facilities ◽  
Cluttered Environments ◽  
Cluttered Environment ◽  
Constrained Environments ◽  
Robotic Devices ◽  
Novel Strategy ◽  
Geometric Primitives ◽  
Manipulation Capability

In the last few decades, several approaches have been presented to accomplish tasks with robots or autonomous systems in a glovebox; nevertheless, in nuclear facilities, risky operations are still executed by humans that guarantee a high manipulation capability and dexterity. Inside the gloveboxes, robotic devices have to operate in cluttered environments, or environments with limited space for movement; therefore, it is of significant interest to identify grasping poses that are feasible within such constrained environments. In this paper, we present and experimentally evaluate a strategy to synthesise optimal grasps considering geometric primitives for a manipulation systems in a constrained environment. The novel strategy has been experimentally evaluated in a cluttered environment (as a glovebox mock-up) with realistic objects, and the efficacy of the proposed grasping algorithm is proposed.

scholarly journals Robust autonomous flight in cluttered environment using a depth sensor

2020 ◽  
Vol 12 ◽  
pp. 175682932092452
Author(s):  
Liang Lu ◽  
Alexander Yunda ◽  
Adrian Carrio ◽  
Pascual Campoy
Keyword(s):  
High Speed ◽  
Point Clouds ◽  
Depth Sensor ◽  
Cluttered Environments ◽  
Industrial Plants ◽  
Cluttered Environment ◽  
Navigation Strategy ◽  
Physical Sensors ◽  
Aerial Vehicle ◽  
Planning Objective

This paper presents a novel collision-free navigation system for the unmanned aerial vehicle based on point clouds that outperform compared to baseline methods, enabling high-speed flights in cluttered environments, such as forests or many indoor industrial plants. The algorithm takes the point cloud information from physical sensors (e.g. lidar, depth camera) and then converts it to an occupied map using Voxblox, which is then used by a rapid-exploring random tree to generate finite path candidates. A modified Covariant Hamiltonian Optimization for Motion Planning objective function is used to select the best candidate and update it. Finally, the best candidate trajectory is generated and sent to a Model Predictive Control controller. The proposed navigation strategy is evaluated in four different simulation environments; the results show that the proposed method has a better success rate and a shorter goal-reaching distance than the baseline method.

scholarly journals Recent Advances in Enzymatic and Chemoenzymatic Cascade Processes

Catalysts ◽  
2020 ◽  
Vol 10 (11) ◽  
pp. 1258
Author(s):  
Noelia Losada-Garcia ◽  
Zaida Cabrera ◽  
Paulina Urrutia ◽  
Carla Garcia-Sanz ◽  
Alicia Andreu ◽  
...  
Keyword(s):  
Organic Chemistry ◽  
Solid Phase ◽  
Cascade Reactions ◽  
Review Article ◽  
The Novel ◽  
Enzyme Cascade ◽  
Cascade Processes ◽  
Novel Strategy ◽  
Substantial Interest

Cascade reactions have been described as efficient and universal tools, and are of substantial interest in synthetic organic chemistry. This review article provides an overview of the novel and recent achievements in enzyme cascade processes catalyzed by multi-enzymatic or chemoenzymatic systems. The examples here selected collect the advances related to the application of the sequential use of enzymes in natural or genetically modified combination; second, the important combination of enzymes and metal complex systems, and finally we described the application of biocatalytic biohybrid systems on in situ catalytic solid-phase as a novel strategy. Examples of efficient and interesting enzymatic catalytic cascade processes in organic chemistry, in the production of important industrial products, such as the designing of novel biosensors or bio-chemocatalytic systems for medicinal chemistry application, are discussed

Noninvasive Brain–Machine Interfaces for Robotic Devices

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Luca Tonin ◽  
José del R. Millán
Keyword(s):  
Autonomous Systems ◽  
Discrete Control ◽  
Annual Review ◽  
Publication Date ◽  
User Centered Design ◽  
Brain Machine Interfaces ◽  
Motor Disabilities ◽  
Severe Motor ◽  
Robotic Devices ◽  
And Robotics

The last decade has seen a flowering of applications driven by brain–machine interfaces (BMIs), particularly brain-actuated robotic devices designed to restore the independence of people suffering from severe motor disabilities. This review provides an overview of the state of the art of noninvasive BMI-driven devices based on 86 studies published in the last 15 years, with an emphasis on the interactions among the user, the BMI system, and the robot. We found that BMIs are used mostly to drive devices for navigation (e.g., telepresence mobile robots), with BMI paradigms based mainly on exogenous stimulation, and the majority of brain-actuated robots adopt a discrete control strategy. Most critically, in only a few works have disabled people evaluated a brain-actuated robot. The review highlights the most urgent challenges in the field, from the integration between BMI and robotics to the need for a user-centered design to boost the translational impact of BMIs. 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 Cooperative Vision-Based Object Transportation by Two Humanoid Robots in a Cluttered Environment

2017 ◽  
Vol 14 (03) ◽  
pp. 1750018 ◽  
Author(s):  
Antoine Rioux ◽  
Claudia Esteves ◽  
Jean-Bernard Hayet ◽  
Wael Suleiman
Keyword(s):  
Real Life ◽  
Humanoid Robots ◽  
Whole Body ◽  
Large Object ◽  
Cluttered Environments ◽  
Cluttered Environment ◽  
Planning Algorithm ◽  
Feedback Error ◽  
Object Transportation ◽  
Incremental Construction

Although in recent years, there have been quite a few studies aimed at the navigation of robots in cluttered environments, few of these have addressed the problem of robots navigating while moving a large or heavy object. Such a functionality is especially useful when transporting objects of different shapes and weights without having to modify the robot hardware. In this work, we tackle the problem of making two humanoid robots navigate in a cluttered environment while transporting a very large object that simply could not be moved by a single robot. We present a complete navigation scheme, from the incremental construction of a map of the environment and the computation of collision-free trajectories to the design of the control to execute those trajectories. We present experiments made on real NAO robots, equipped with RGB-D sensors mounted on their heads, moving an object around obstacles. Our experiments show that a significantly large object can be transported without modifying the robot main hardware, and therefore that our scheme enhances the humanoid robots capacities in real-life situations. Our contributions are: (1) a low-dimension multi-robot motion planning algorithm that finds an obstacle-free trajectory, by using the constructed map of the environment as an input, (2) a framework that produces continuous and consistent odometry data, by fusing the visual and the robot odometry information, (3) a synchronization system that uses the projection of the robots based on their hands positions coupled with the visual feedback error computed from a frontal camera, (4) an efficient real-time whole-body control scheme that controls the motions of the closed-loop robot–object–robot system.

Path Planning for Manipulator Robots in Cluttered Environments

2005 ◽  
Author(s):  
Samir Lahouar ◽  
Said Zeghloul ◽  
Lotfi Romdhane
Keyword(s):  
Path Planning ◽  
Shortest Path ◽  
Planning Method ◽  
Search Process ◽  
Grid Cells ◽  
Heuristic Function ◽  
Search Mode ◽  
Cluttered Environments ◽  
Grid Sampling ◽  
Cluttered Environment

In this paper we propose a new path planning method for robot manipulators in cluttered environments, based on lazy grid sampling. Grid cells are built while searching for the path to the goal configuration. The proposed planner acts in two modes. A depth mode, while the robot is far from obstacles, makes it evolve toward its goal. While a width search mode becomes active when the robot gets close to an obstacle. This method provides the shortest path to go around the obstacle. It also reduces the gap between pre-computed grid methods and lazy grid methods. No heuristic function is needed to guide the search process. An example dealing with a robot in a cluttered environment is presented to show the efficiency of the method.

scholarly journals MSCs on an acellular dermal matrix (ADM) sourced from neonatal mouse skin regulate collagen reconstruction of granulation tissue during adult cutaneous wound healing

RSC Advances ◽  
2017 ◽  
Vol 7 (37) ◽  
pp. 22998-23010 ◽  
Author(s):  
Maosheng Chen ◽  
Ying Jin ◽  
Xue Han ◽  
Ning Wang ◽  
Xiaoyuan Deng ◽  
...  
Keyword(s):  
Wound Healing ◽  
Mouse Skin ◽  
Acellular Dermal Matrix ◽  
Neonatal Mouse ◽  
The Novel ◽  
Cutaneous Wound Healing ◽  
Dermal Matrix ◽  
Cutaneous Wound ◽  
Novel Strategy ◽  
Acellular Dermal

The novel strategy of MSCs seeded on ADM sourced from neonatal mouse skin promotes full-thickness cutaneous wound healing.

A VOTING SCHEME FOR PARTIAL OBJECT EXTRACTION UNDER CLUTTERED ENVIRONMENT

2013 ◽  
Vol 27 (02) ◽  
pp. 1355002 ◽  
Author(s):  
YUANQI SU ◽  
YUEHU LIU
Keyword(s):  
Objective Function ◽  
Shape Information ◽  
Cluttered Environments ◽  
Cluttered Environment ◽  
Shape Extraction ◽  
Geometric Configurations ◽  
Occluded Objects ◽  
Voting Scheme ◽  
Partially Occluded ◽  
Fully Connected

Shape extraction aims to detect and localize objects via the shape information. The paper presents a novel voting scheme that can extract partially occluded objects under cluttered environments using a single shape. It works by jointly figuring out the boundaries and resolving the geometric configurations. To model the missing part lead by occlusion, we discretize the shape template into a set of its subpart, named portions. Our representation of shape template is through a set of portion together with their interconnections. Instead of forming a fully connected network, our interconnections make the portions consistent with the chain along the boundary of shape template. Based on the representation, we formulate an auto-locked objective function that contains both the unary and pairwise terms and balances the effects of missing parts. Min-sum voting scheme with strategy driven by bottom–up information is then proposed to minimize the objective function. Conducted experiments show that proposed algorithm is promising for shape extraction with occlusion and noisy backgrounds and allows the non-rigid deformations.

scholarly journals A Review of Sample and Hold Systems and Design of a New Fractional Algorithm

2020 ◽  
Vol 10 (20) ◽  
pp. 7360
Author(s):  
Manuel Duarte Ortigueira ◽  
José Tenreiro Machado
Keyword(s):  
Fractional Calculus ◽  
Multidimensional Scaling ◽  
Digital Systems ◽  
Superior Performance ◽  
The Novel ◽  
Analog To Digital ◽  
Exponential Order ◽  
First Order ◽  
Sample And Hold ◽  
Novel Strategy

Digital systems require sample and hold (S&H) systems to perform the conversion from analog to digital and vice versa. Besides the standard zero and first order holds, we find in the literature other versions, namely the fractional and exponential order holds, involving parameters that can be tuned to produce a superior performance. This paper reviews the fundamental concepts associated with the S&H and proposes a new fractional version. The systems are modeled both in the time and Laplace domains. The new S&H stemming from fractional calculus generalizes these devices. The different S&H systems are compared in the frequency domain and their relationships visualized by means of hierarchical clustering and multidimensional scaling representations. The novel strategy allows a better understanding of the possibilities and limitations of S&H systems.

scholarly journals Hierarchical Porous Polyamide 6 by Solution Foaming: Synthesis, Characterization and Properties

Polymers ◽  
2018 ◽  
Vol 10 (12) ◽  
pp. 1310 ◽  
Author(s):  
Liang Wang ◽  
Yu-Ke Wu ◽  
Fang-Fang Ai ◽  
Jie Fan ◽  
Zhao-Peng Xia ◽  
...  
Keyword(s):  
Large Scale ◽  
Polyamide 6 ◽  
Solution Concentration ◽  
The Novel ◽  
Foaming Agent ◽  
Hierarchical Porous ◽  
Wide Range ◽  
The Mean ◽  
Novel Strategy

Porous polym er materials have received great interest in both academic and industrial fields due to their wide range of applications. In this work, a porous polyamide 6 (PA6) material was prepared by a facile solution foaming strategy. In this approach, a sodium carbonate (SC) aqueous solution acted as the foaming agent that reacted with formic acid (FA), generating CO2 and causing phase separation of polyamide (PA). The influence of the PA/FA solution concentration and Na2CO3 concentration on the microstructures and physical properties of prepared PA foams were investigated, respectively. PA foams showed a hierarchical porous structure along the foaming direction. The mean pore dimension ranged from hundreds of nanometers to several microns. Low amounts of sodium salt generated from a neutralization reaction played an important role of heterogeneous nucleation, which increased the crystalline degree of PA foams. The porous PA materials exhibited low thermal conductivity, high crystallinity and good mechanical properties. The novel strategy in this work could produce PA foams on a large scale for potential engineering applications.

Investigating the determining factors of sustainable FDI in Vietnam

2022 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Phung Thanh Quang ◽  
Ehsan Rasoulinezhad ◽  
Nguyen Nhat Linh ◽  
Doan Phuong Thao
Keyword(s):  
Green Energy ◽  
Policy Implications ◽  
Annual Data ◽  
The Novel ◽  
Fdi Inflows ◽  
Content Type ◽  
Determining Factors ◽  
Novel Strategy ◽  
Sustainable Economic Growth ◽  
Practical Implications

PurposeThe main purpose of this paper is to analyze the sustainable inward FDI pattern of Vietnam.Design/methodology/approachThis paper intends to analyze the sustainable FDI pattern of Vietnam using the gravity theory and panel data approach for the annual data over the period of 2007–2020.FindingsVietnamese FDI volume is positively affected by political and social factors, globalization and green energy consumption, while geographical distance is a major obstacle to the increase of FDI inflows of the country.Practical implicationsAs the main practical policy implications, issuing policies for sustainable economic growth, launching the novel strategy of green FDI neighborhood policy and regionalism through free trade agreements are recommended.Originality/valueTo the best of author's knowledge, there has not been any in-depth academic study focusing on the Vietnam's sustainable FDI. In addition, three robustness checks have been conducted to ensure the validation of empirical findings.

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