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    Wyświetlanie 1-6 z 6
    Tytuł:
    Chaetognath grasping spines from the Upper Mississippian of Arkansas [USA]
    Autorzy:
    Doguzhaeva, L A
    Mutvel, H.
    Mapes, R.H.
    Powiązania:
    https://bibliotekanauki.pl/articles/23070.pdf
    Data publikacji:
    2002
    Wydawca:
    Polska Akademia Nauk. Instytut Paleobiologii PAN
    Tematy:
    grasping spine
    fossil
    USA
    protoconodont
    organic spine
    phosphatized fossil
    morphology
    Arkansas
    ultrastructure
    Chaetognatha
    paleontology
    chaetognath
    Opis:
    Previously unidentified tiny (about 0.5 mm in length), hollow, gently curved, serrated spines probably originally composed of horny, organic fibers from the Upper Mississippian (Middle Chesterian = Namurian A equivalent or lower Serpukhovian) of Arkansas (USA) are described, and their probable chaetognath affinities are discussed. The specimens are preserved in an oval accumulation (about 15 mm long and 6 mm wide) of approximately 200 specimens within a small (about 25 mm in length) phosphatic concretion. For comparison, the grasping spines of the Recent chaetognath Eukrohnia hamata were examined. The Arkansas specimens are named Eoserratosagitta serrata gen. et sp. nov., and this genus is assigned to the Phylum Chaetognatha. The Upper Mississippian spines are also compared with protoconodonts. This comparison supports the hypothesis that the chaetognaths may have existed in the Cambrian.
    Źródło:
    Acta Palaeontologica Polonica; 2002, 47, 3
    0567-7920
    Pojawia się w:
    Acta Palaeontologica Polonica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Dynamic optimal grasping of a circular object with gravity using robotic soft-fingertips
    Autorzy:
    García-Rodríguez, R.
    Segovia-Palacios, V.
    Parra-Vega, V.
    Villalva-Lucio, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/330784.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    dynamic grasping
    soft fingertips
    circular object
    Opis:
    Object manipulation usually requires dexterity, encoded as the ability to roll, which is very difficult to achieve with robotic hands based on point contact models (subject to holonomic constraints). As an alternative for dexterous manipulation, deformable contact with hemispherical shape fingertips has been proposed to yield naturally a rolling constraint. It entails dexterity at the expense of dealing with normal and tangential forces, as well as more elaborated models and control schemes. Furthermore, the essential feature of the quality of grasp can be addressed with this type of robot hands, but it has been overlooked for deformable contact. In this paper, a passivity-based controller that considers an optimal grasping measure is proposed for robotic hands with hemispherical deformable fingertips, to manipulate circular dynamic objects. Optimal grasping that minimizes the contact wrenches is achieved through fingertip rolling until normal forces pass through the center of mass of the object, aligning the relative angle between these normal forces. The case of a circular object is developed in detail, though our proposal can be extended to objects with an arbitrary shape that admit a local decomposition by a circular curvature. Simulation and experimental results show convergence under various conditions, wherein rolling and tangent forces become instrumental to achieve such a quality of grasp.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2016, 26, 2; 309-323
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Mobile robot transportation for multiple labware with hybrid pose correction in life science laboratories
    Autorzy:
    Ali, M. M.
    Abdulla, A. A.
    Stoll, N.
    Thurow, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/384665.pdf
    Data publikacji:
    2017
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    robot position correction
    multiple labware transportation
    mobile robot localization
    motor encoder
    localization error handler
    Kinect V2
    grasping operation
    placing operation
    multi-floor
    Opis:
    In automated working environments, mobile robots can be used for different purposes such as material handling, domestic services, and objects transportation. This work presents a transportation process for multiple labware with hybrid pose correction in life science laboratories using H20 mobile robots. Multiple labware and tube racks, which contain chemical and biological components, have to be transported safely between laboratories on different floors of life science environment. Therefore, an accurate approach for labware transportation is required. The H20 robot has dual arms each consisting of 6 revolute joints with 6-DOF. The problem statement of robot positioning error in front of the workstation is presented. The navigation strategy with its related systems is presented for multi-floor mobile robot transportation environment. A Stargazer module is used as a stable and low-cost mapping and localization sensor with artificial landmarks. An error management system to overcome incorrect stargazer reading problems is presented. Different strategies of pose correction for mobile robots are described. The H20 robot is equipped with sonar sensors and Kinect V2 to be used for labware manipulation and position correction. The Kinect sensor V2 with SURF algorithm (Speeded-Up Robust Features) is used to recognize and localize the target. The communication procedure between the transportation platforms is done using client-server models.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 4; 51-64
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Compensating pose uncertainties through appropriate gripper finger cutouts
    Autorzy:
    Wolniakowski, A.
    Gams, M.
    Kramberger, A.
    Miatliuk, K.
    Kiforenko, L.
    Petersen, H. G.
    Hagelskjaer, F.
    Buch, A. G.
    Krüger, N.
    Chrysostomou, D.
    Madsen, O.
    Ude, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/386667.pdf
    Data publikacji:
    2018
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    grasping
    uncertainties
    gripper design
    simulation
    Opis:
    The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to accommodate for a new batch of objects typically requires engineering expertise, and is a lengthy and costly iterative trial-and-error process. One of the open challenges is the need for the gripper to compensate for uncertainties inherent to the workcell, e.g. due to errors in calibration, inaccurate pose estimation from the vision system, or object deformation. In this paper, we present an analysis of gripper uncertainty compensating capabilities in a sample industrial object grasping scenario for a finger that was designed using an automated simulation-based geometry optimization method (Wolniakowski et al., 2013, 2015). We test the developed gripper with a set of grasps subjected to structured perturbation in a simulation environment and in the real-world setting. We provide a comparison of the data obtained by using both of these approaches. We argue that the strong correspondence observed in results validates the use of dynamic simulation for the gripper finger design and optimization.
    Źródło:
    Acta Mechanica et Automatica; 2018, 12, 1; 78-83
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Pick-and-place task implementation using visual open-loop control
    Autorzy:
    Kołosowski, Paweł
    Wolniakowski, Adam
    Bogdan, Mariusz
    Powiązania:
    https://bibliotekanauki.pl/articles/386334.pdf
    Data publikacji:
    2019
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    grasping
    pick and place
    object recognition
    template matching
    visual servoing
    Opis:
    In the ever increasing number of robotic system applications in the industry, the robust and fast visual recognition and pose estimation of workpieces are of utmost importance. One of the ubiquitous tasks in industrial settings is the pick-and-place task where the object recognition is often important. In this paper, we present a new implementation of a work-piece sorting system using a template matching method for recognizing and estimating the position of planar workpieces with sparse visual features. The proposed framework is able to distinguish between the types of objects presented by the user and control a serial manipulator equipped with parallel finger gripper to grasp and sort them automatically. The system is furthermore enhanced with a feature that optimizes the visual processing time by automatically adjusting the template scales. We test the proposed system in a real-world setup equipped with a UR5 manipulator and provide experimental results documenting the performance of our approach.
    Źródło:
    Acta Mechanica et Automatica; 2019, 13, 3; 211-216
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A universal architectural pattern and specification method for robot control system design
    Autorzy:
    Kornuta, T.
    Zieliński, C.
    Winiarski, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/200532.pdf
    Data publikacji:
    2020
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous agents
    control architectures and programming
    service robots
    range sensing
    recognition
    grasping
    Opis:
    The paper presents a universal architectural pattern and an associated specification method that can be applied in the design of robot control systems. The approach a describes the system in terms of embodied agents and proposes a multi-step decomposition enabling precise definition of their inner structure and operation. An embodied agent is decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to the design of a control system of a robot executing one of the most important tasks for a service robot, i.e. picking up, by a position-force controlled robot, an object located using an RGB-D image acquired from a Kinect. Moreover in order to substantiate the universality of the presented approach we present how classical, known from the literature, robotic architectures can be expressed as systems composed of one or more embodied agents.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2020, 68, 1; 3-29
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-6 z 6

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