Enumeration of Contact Geometries for Kinematic Registration Using Tactile Sensing Fixtures

2005 ◽  
Vol 128 (1) ◽  
pp. 34-45 ◽  
Author(s):  
Walter W. Nederbragt ◽  
Bahram Ravani
Keyword(s):  
Group Theory ◽  
Data Driven ◽  
Tactile Sensing ◽  
Geometric Features ◽  
Type Synthesis ◽  
Robot Calibration ◽  
Planar Surfaces ◽  
Spherical Surfaces ◽  
Kinematic Registration ◽  
Geometric Elements

This paper uses group theory for enumeration of contacts between geometric elements necessary for kinematic registration or part referencing in robotics. The results are applied to type synthesis of tactile sensing mechanical fixtures. Kinematic registration is an important step in robot calibration and in data driven automation. Although the scope of the paper is limited to geometric contacts involving points, lines, planar surfaces, cylindrical surfaces, and spherical surfaces, the techniques developed are general and can be applied to other geometric features and non-tactile sensing elements used in robotic calibration and part referencing.

Computation of Spatial Displacements From Geometric Features

1993 ◽  
Vol 115 (1) ◽  
pp. 95-102 ◽  
Author(s):  
B. Ravani ◽  
Q. J. Ge
Keyword(s):  
Computational Geometry ◽  
Clifford Algebra ◽  
Theoretical Foundation ◽  
Geometric Features ◽  
Theoretical Interest ◽  
Robot Calibration ◽  
Minimum Number ◽  
The Common ◽  
Spatial Displacements ◽  
Three Space

This paper develops the theoretical foundation for computations of spatial displacements from the simple geometric features of points, lines, planes, and their combinations. Using an oriented projective three space with a Clifford Algebra, all these three features are handled in a similar fashion. Furthermore, issues related to uniqueness of computations and minimum number of required features are discussed. It is shown that contrary to the common intuition, specification of a minimum of four points (planes) or three lines are necessary for computation of a unique displacement. Only when the sense of the orientations of these features are specified then the minimum number of required features reduces to three for points and planes and two for lines. The results, in addition to their theoretical interest in computational geometry of motion, have application in robot calibration.

Computation of Spatial Displacements From Geometric Features

1991 ◽  
Author(s):  
B. Ravani ◽  
Q. J. Ge
Keyword(s):  
Computational Geometry ◽  
Clifford Algebra ◽  
Theoretical Foundation ◽  
Geometric Features ◽  
Theoretical Interest ◽  
Robot Calibration ◽  
The Common ◽  
Spatial Displacements ◽  
Three Space

Abstract This paper develops the theoretical foundation for computations of spatial displacements from the simple geometric features of points, lines, planes and their combinations. Using an oriented projective three space with a Clifford Algebra, all these three features are handled in a similar fashion. Furthermore, issues related to uniqueness of computations and minimal number of required features are discussed. It is shown that contrary to the common intuition, specification of a minimum of four points (planes) or three lines (each pair being non-planar) are necessary for computation of a unique displacement. Only when the sense of the orientations of these features are specified then the minimal number of required features reduces to three for points and planes and two for lines. The results, in addition to their theoretical interest in computational geometry of motion, have application in robot calibration.

Ink-Jet as a MEMS Manufacturing Tool

2007 ◽  
Author(s):  
David Wallace ◽  
Donald Hayes ◽  
Ting Chen ◽  
Virang Shah ◽  
Delia Radulescu ◽  
...  
Keyword(s):  
Optical Interconnects ◽  
Medical Diagnostics ◽  
Data Driven ◽  
Mems Packaging ◽  
Nanostructure Materials ◽  
Planar Surfaces ◽  
Wide Range ◽  
Ink Jet ◽  
Color Printing ◽  
Manufacturing Applications

In the last decade, ink-jet has come to be viewed as a precision microdispensing tool, in addition to its huge success in color printing. Today, this tool is being used in a wide range of applications, including electrical & optical interconnects, sensors, medical diagnostics, drug delivery, MEMS packaging, and nanostructure materials deposition. Ink-jet microdispensing is data-driven, non-contact, and is capable of precise deposition of picoliter volumes at high rates, even onto non-planar surfaces. Being data-driven, ink-jet dispensing is highly flexible and can be readily automated into manufacturing lines. This paper will illustrate a few of the applications of ink-jet technology that are either MEMS manufacturing applications, or relevant to potential MEMS manufacturing applications.

Analysis of semantic features in free-form objects reconstruction

2015 ◽  
Vol 30 (1) ◽  
pp. 44-63
Author(s):  
Milan Trifunovic ◽  
Milos Stojkovic ◽  
Miroslav Trajanovic ◽  
Miodrag Manic ◽  
Dragan Misic ◽  
...  
Keyword(s):  
Semantic Interpretation ◽  
Free Form ◽  
Geometric Features ◽  
Semantic Features ◽  
Semantic Model ◽  
Bone Implant ◽  
Digital Reconstruction ◽  
The Right ◽  
Object Features ◽  
Geometric Elements

AbstractOne of the biggest challenges associated with design and digital reconstruction of free forms comes from uniqueness and unrepeatability of these shapes. During digital reconstruction of these forms, the designer has to choose the right set of geometric features and then compose them in a way that will enable the most accurate reconstruction of the geometry. While doing this, the designer primarily relies on personal experience gained through work with free-form objects of similar geometry. In our opinion, the analysis of free-form objects geometry should rely upon semantic interpretation of their geometric and other features, and the greatest challenge of automation of digital reconstruction and free-form object design in general is closely related to automation of semantic interpretation of geometric and other free-form object features. In this paper, a case of chest bone implant digital reconstruction is presented, where a new semantic model called the active semantic model was used for modeling the meaning of geometric elements, that is, the semantic features of a free-form object. The active semantic model and its analogy-based reasoning algorithms have shown themselves as applicable for the automation of semantic interpretation of the unique, unrepeatable, and unpredictable forms of chest bone. Moreover, this semantic model showed the potential to help automate selecting and composing of geometric features for efficient digital reconstruction of the geometry of free forms.

A data-driven analysis of fiber type architecture over the entire muscle

2020 ◽  
Author(s):  
Davide Bindellini ◽  
Lenard M. Voortman ◽  
Cyriel S. Olie ◽  
Maaike van Putten ◽  
Erik van den Akker ◽  
...  
Keyword(s):  
Cross Sections ◽  
Muscle Function ◽  
Neuromuscular Junctions ◽  
Fiber Type ◽  
Data Driven ◽  
Geometric Features ◽  
Skeletal Muscle Function ◽  
Myhc Isoforms ◽  
Median Region ◽  
Local Sampling

Abstract Background Skeletal muscle function is inferred from the spatial arrangement of muscle fibers architecture, which corresponds to myofiber molecular and metabolic features. Myofiber types can be distinguished by the expression of myosin heavy chain (MyHC) isoforms, representing contraction properties. In most studies, myofiber typing is determined from a local sampling, typically obtained from the muscle median region. This median region is assumed to represent the entire muscle. However, it remains largely unknown to what extent this local sampling represents the entire muscle. Methods We present here a pipeline to study the architecture of muscle fiber type over the entire muscle, from sectioning, staining, imaging to image quantification and data-driven analysis. Results We reconstructed muscle architecture from consecutive cross-sections stained for laminin and MyHC isoforms. Examining the entire muscle using consecutive cross-sections is extremely laborious, we provide consideration to reduce dataset and yet to cover the entire muscle. Analyses of over 15,000 myofibers, showed spatial variations in myofiber geometric features, myofiber type and the distribution of neuromuscular junctions along the entire muscle. Conclusions We suggest that asymmetric spatial distribution of myofiber types, geometric features of myofibers and the neuromuscular junctions along the muscle could affect muscle function. Therefore, instead of a single sampling from a median region, representative regions covering the entire muscle should be investigated in future studies.

Design of Tactile Fixtures for Robotics and Manufacturing

1996 ◽  
Author(s):  
Walter W. Nederbragt ◽  
Bahram Ravani
Keyword(s):  
Group Theory ◽  
Theoretical Framework ◽  
Tactile Sensing ◽  
Fixture Design ◽  
Relative Location ◽  
Contact Conditions ◽  
And Robotics

Abstract This paper presents a theoretical framework for the design of tactile sensing fixtures for robotics and manufacturing. The framework presented uses group theory to analyze the symmetry of contact conditions on a fixture to determine if a fixture design is appropriate to determine the relative location of the sensor frame with respect to the fixture frame. Mechanical fixtures consisting of planar, spherical, and cylindrical surfaces are studied for their usefulness as part of referencing fixtures. The theory developed is used in guiding the design of a simple yet novel touch sensing fixture for part referencing and calibration in manufacturing and robotics.

Design of Tactile Fixtures for Robotics and Manufacturing

1997 ◽  
Vol 119 (2) ◽  
pp. 204-211 ◽  
Author(s):  
W. W. Nederbragt ◽  
B. Ravani
Keyword(s):  
Group Theory ◽  
Theoretical Framework ◽  
Tactile Sensing ◽  
Fixture Design ◽  
Contact Conditions ◽  
And Robotics

This paper presents a theoretical framework for the design of tactile sensing fixtures for robotics and manufacturing. The framework presented uses group theory to analyze the symmetry of contact conditions on a fixture to evaluate a fixture design for referencing the sensor frame with respect to the fixture frame. Mechanical fixtures consisting of planar, spherical, and cylindrical surfaces are studied for their usefulness as part of referencing fixtures. The theory developed is used in guiding the design of a simple yet novel touch sensing fixture for part referencing and calibration in manufacturing and robotics.

Ink-Jet as a Manufacturing Method for Drug Delivery Applications

2008 ◽  
Author(s):  
Bogdan V. Antohe ◽  
David B. Wallace
Keyword(s):  
Drug Delivery ◽  
High Speed ◽  
Biologically Active ◽  
Data Driven ◽  
Active Components ◽  
Manufacturing Method ◽  
Planar Surfaces ◽  
Ink Jet ◽  
Drug Delivery Applications ◽  
Manufacturing Applications

Recent drug delivery applications have stressed the need for precise dosage in the context of complex delivery vehicles. Ink-jet technology incorporates data-driven, non-contact techniques that enable precise, picoliter volumes of material to be deposited with high speed and accuracy at target sites (even onto non-planar surfaces) and thus has emerged as a front runner for drug delivery applications. Being data-driven, ink-jet dispensing is highly flexible and can be readily automated into manufacturing lines. Moreover, the ability to precisely target the delivery location reduces waste, an important factor when the active biological materials to be deposited are high value / high cost. Some of the applications that have made use of ink-jet methods for dosage and distribution of biologically active agents are: loading of active agents onto drug eluting stents (DES); generation of drug loaded microspheres; fabrication of polymeric nerve conduits loaded with nerve growth factor; and coating of the active components onto patches for transdermal delivery. This paper provides details on the manufacturing applications of ink-jet technology in drug delivery and discusses future potential uses and opportunities.

scholarly journals Inferring Object Properties with a Tactile-Sensing Array Given Varying Joint Stiffness and Velocity

2018 ◽  
Vol 15 (01) ◽  
pp. 1750024 ◽  
Author(s):  
Tapomayukh Bhattacharjee ◽  
James M. Rehg ◽  
Charles C. Kemp
Keyword(s):  
Nearest Neighbor ◽  
Short Term Memory ◽  
Markov Models ◽  
Data Availability ◽  
Data Driven ◽  
Sensor Data ◽  
Tactile Sensing ◽  
Object Properties ◽  
Real Robot ◽  
Lumped Element Model

Whole-arm tactile sensing enables a robot to sense contact and infer contact properties across its entire arm. Within this paper, we demonstrate that using data-driven methods, a humanoid robot can infer mechanical properties of objects from contact with its forearm during a simple reaching motion. A key issue is the extent to which the performance of data-driven methods can generalize to robot actions that differ from those used during training. To investigate this, we developed an idealized physics-based lumped element model of a robot with a compliant joint making contact with an object. Using this physics-based model, we performed experiments with varied robot, object and environment parameters. We also collected data from a tactile-sensing forearm on a real robot as it made contact with various objects during a simple reaching motion with varied arm velocities and joint stiffnesses. The robot used 1-nearest-neighbor (1-NN) classifiers, hidden Markov models (HMMs), and long short-term memory (LSTM) networks to infer two object properties (hard versus soft and moved versus unmoved) based on features of time-varying tactile sensor data (maximum force, contact area, and contact motion). We found that, in contrast to 1-NN, the performance of LSTMs (with sufficient data availability) and multivariate HMMs successfully generalized to new robot motions with distinct velocities and joint stiffnesses. Compared to single features, using multiple features gave the best results for both experiments with physics-based models and a real-robot.

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