Robotic System based on Computational Intelligence - Evolutionary Generation of Regrasping Motion

2000 ◽  
Vol 4 (6) ◽  
pp. 437-442
Author(s):  
Toshio Fukuda ◽  
◽  
Yasuhisa Hasegawa ◽  
Keyword(s):  
Numerical Simulation ◽  
Computational Intelligence ◽  
Evolutionary Programming ◽  
Robot Hand ◽  
Optimal Solutions ◽  
Recent Interest ◽  
Robot Hands ◽  
Grasping Force ◽  
Real Robot ◽  
The Subject

The control of multifingered robot hands has been the subject of recent interest. To regrasp an object, there are many parameters to be determined; grasping points, grasping force, regrasping phases, finger allocation and so on. It is difficult to optimize such manipulation parameters for achieving effective manipulation. In this section, we propose generation of regrasping motion for a four-fingered robot hand using Evolutionary Programming (EP). Evolutionary optimization is generally able to find optimal solutions without supervisor after much iteration, which makes it almost impractical to apply a real robot directly. Therefore, we apply the controller in numerical simulation to the real robot hand. We show effectiveness of the propose method for the regrasping motion with experimental results.

Simulation and Modeling of Turbulent Flows

1996 ◽  
Keyword(s):  
Numerical Simulation ◽  
Turbulent Flow ◽  
Turbulent Flows ◽  
Simulation And Modeling ◽  
Simulation Techniques ◽  
Rational Development ◽  
Group Methods ◽  
Turbulent Closure ◽  
The Subject ◽  
Renormalization Group Methods

This book provides students and researchers in fluid engineering with an up-to-date overview of turbulent flow research in the areas of simulation and modeling. A key element of the book is the systematic, rational development of turbulence closure models and related aspects of modern turbulent flow theory and prediction. Starting with a review of the spectral dynamics of homogenous and inhomogeneous turbulent flows, succeeding chapters deal with numerical simulation techniques, renormalization group methods and turbulent closure modeling. Each chapter is authored by recognized leaders in their respective fields, and each provides a thorough and cohesive treatment of the subject.

Optimal Solutions for Nonhomogeneous Multiply-Connected Torsional Sections

1989 ◽  
Vol 111 (1) ◽  
pp. 87-93 ◽  
Author(s):  
A. Mioduchowski ◽  
M. G. Faulkner ◽  
B. Kim
Keyword(s):  
Numerical Simulation ◽  
Boundary Value Problem ◽  
Cross Section ◽  
Boundary Value ◽  
Optimization Procedure ◽  
Second Order ◽  
External Boundary ◽  
Optimal Solutions ◽  
Torsion Problem ◽  
Multiply Connected

Optimization of a second-order multiply-connected inhomogeneous boundary-value problem was considered in terms of elastic torsion. External boundary and material proportions are the applied constraints in finding optimal internal configurations of the cross section. The optimization procedure is based on the numerical simulation of the membrane analogy and the results obtained indicate that the procedure is usable as an engineering tool. Optimal solutions are obtained for some representative cases of the torsion problem and they are presented in the form of tables and figures.

scholarly journals Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

2007 ◽  
Vol 25 (6) ◽  
pp. 970-978 ◽  
Author(s):  
Daisuke Gunji ◽  
Takuma Araki ◽  
Akio Namiki ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

scholarly journals Features of the implementation of a public offer agreement in e-commerce in Ukrainian, Polish and Russian law

2020 ◽  
Vol 5 (5) ◽  
pp. 133-138
Author(s):  
Oleksandr Kosychenko ◽  
Illia Klinytskyi
Keyword(s):  
Legal Regulation ◽  
Electronic Format ◽  
Optimal Solutions ◽  
Provision Of Services ◽  
The Subject ◽  
The Russian Federation ◽  
Russian Law ◽  
The Republic ◽  
Public Offering ◽  
Public Offer

Given the specifics of the provision of services and sales of goods on the Internet, the contract of public offer is the most common and close to the electronic format of the agreement. However, in Ukraine, the Russian Federation and the Republic of Poland, as in other countries, the use of this type of legal instruments has a number of problems related to the legal regulation and the procedure for concluding an agreement. This paper examines the main aspects of the legal implementation of public offer agreements in the above countries. Thus, the subject of the study is the contract of public offering as a legal phenomenon. The purpose of the work is to determine the main problems of concluding a public offer contract in electronic mode, and to find optimal solutions in the context of the stated issues, based on the legislation and practice of selected countries

scholarly journals UPDATE THE COMPUTER NETWORK AT THE ENTERPRISE «MAGNETIK CORPORATION»

2019 ◽  
Vol 2 (54) ◽  
pp. 65-68
Author(s):  
G. Golovko ◽  
Ye. Chaika ◽  
M. Luchko
Keyword(s):  
Network Security ◽  
Subject Matter ◽  
Computer Network ◽  
Optimal Solutions ◽  
Star Topology ◽  
Network Applications ◽  
Local Computer ◽  
The Subject ◽  
Applied Knowledge ◽  
Local Computer Network

The subject matter of the article is the process of matching the optimal solutions for improving the local computer network. The purpose is to update the existing local computer network of the enterprise Magnetic Corporation. The task is to justify the opportunity for using various types of network applications and components. Having applied knowledge about the characteristics of each viewing items’ properties, the obtained results are used to enter them into a single network. To summarize the conclusions: in order to maximize network productivity the local computer network with a dedicated server was selected, i.e. star topology, that has led to an increase in network security and an increase in the speed of fixing problems in any workstation without affecting the overall network health.

Object Oriented Dexterity Analysis and Design Application for Spatial Robot Hands

1989 ◽  
Author(s):  
L. Lu ◽  
C. Cai ◽  
A. H. Soni
Keyword(s):  
Performance Evaluation ◽  
Object Oriented ◽  
Kinematic Parameter ◽  
Least Square ◽  
Parameter Determination ◽  
Robot Hand ◽  
Kinematic Parameters ◽  
Analysis And Design ◽  
Robot Hands

Abstract For an arbitrarily shaped object manipulated by a robot hand, this paper presents a procedure for analyzing the position and rotation ranges of the object, and a procedure for designing the kinematic parameters of a hand to meet given requirements on the motion ranges. Rotation dexterity index, dexterity charts, and a dexterity scalar characterizing both position range and rotation range are introduced for the performance evaluation of a robot hand. Least-square-error iteration and steps are detailed for the kinematic parameter determination of a robot hand.

scholarly journals Virtualization of Robotic Hands Using Mobile Devices †

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 81
Author(s):  
Santiago T. Puente ◽  
Lucía Más ◽  
Fernando Torres ◽  
and Francisco A. Candelas
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Hand ◽  
Robot Hand ◽  
Real Time Control ◽  
Robotic Hands ◽  
Robot Operating System ◽  
Server Side ◽  
Time Control ◽  
Unity 3D ◽  
Real Robot

This article presents a multiplatform application for the tele-operation of a robot hand using virtualization in Unity 3D. This approach grants usability to users that need to control a robotic hand, allowing supervision in a collaborative way. This paper focuses on a user application designed for the 3D virtualization of a robotic hand and the tele-operation architecture. The designed system allows for the simulation of any robotic hand. It has been tested with the virtualization of the four-fingered Allegro Hand of SimLab with 16 degrees of freedom, and the Shadow hand with 24 degrees of freedom. The system allows for the control of the position of each finger by means of joint and Cartesian co-ordinates. All user control interfaces are designed using Unity 3D, such that a multiplatform philosophy is achieved. The server side allows the user application to connect to a ROS (Robot Operating System) server through a TCP/IP socket, to control a real hand or to share a simulation of it among several users. If a real robot hand is used, real-time control and feedback of all the joints of the hand is communicated to the set of users. Finally, the system has been tested with a set of users with satisfactory results.

Cluster Analysis Using Rough Clustering and k-Means Clustering

2005 ◽  
pp. 435-438
Author(s):  
Kevin E. Voges
Keyword(s):  
Cluster Analysis ◽  
Data Reduction ◽  
Computational Intelligence ◽  
Rough Sets ◽  
Information Science ◽  
Reduction Technique ◽  
Analysis Techniques ◽  
The Subject ◽  
Data Reduction Technique ◽  
Potential Use

Cluster analysis is a fundamental data reduction technique used in the physical and social sciences. The technique is of interest to managers in information science because of its potential use in identifying user needs though segmenting users such as Web site visitors. In addition, the theory of rough sets is the subject of intense interest in computational intelligence research. The extension of this theory into rough clustering provides an important and potentially useful addition to the range of cluster analysis techniques available to the manager.

Non-Cepheids in the Instability Strip

1985 ◽  
Vol 82 ◽  
pp. 83-83 ◽  
Author(s):  
William P. Bidelman
Keyword(s):  
High Luminosity ◽  
Complete Sample ◽  
Instability Strip ◽  
Considerable Uncertainty ◽  
Recent Interest ◽  
The Subject

AbstractThe question of whether non-Cepheids populate the cepheid instability strip has been the subject of much recent interest. Several investigators (see especially Fernie and Hube 1971 and Fernie 1976) have concluded that indeed there are an appreciable number of objects not presently recognized as Cepheids within the strip, though both the size and position of the strip and the placement of supergiants in the H-R diagram are subject to considerable uncertainty. In view of the interest in this matter, I have attempted to shed some light on this situation by simply considering the nature of the stars spectroscopically classified as of high luminosity in spectral classes F and G. For this one needs, of course, a complete sample of the relevant stars, which fortunately is now to some extent available.

Study on the Grasping Ability and Optimization of Multi-Fingered Robot Hands under Different Postures

2014 ◽  
Vol 565 ◽  
pp. 247-252
Author(s):  
Hai Jun Mo ◽  
Jia Jun Zhou ◽  
Hua Rong Qiu
Keyword(s):  
Neural Network ◽  
Bp Neural Network ◽  
Joint Angle ◽  
Screw Theory ◽  
Robot Hand ◽  
Robot Hands ◽  
Grasp Force

A multi-fingered hand has been used in the explosive Disposal Robot to improve the disposal ability of explosive. Grasping ability of the multi-fingered hand is a problem with the change of grasping posture. This paper discusses grasping ability of the multi-fingered robot hand. Screw theory and BP neural network are used to optimize the joint angle of the finger. The most favorite grasping posture is calculated when the multi-fingered robot hand can withstand the largest external wrench. In order to guarantee the explosive not to be exploded under the exceeding grasp force, the weight of the explosive the multi-fingered hand can hold is also discussed in this paper. It is an important theoretical guidance for the multi-fingered robot hand handling of hazardous items.

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