scholarly journals Characterization and Study of the Primitive Dynamic Movements Required to Bi-Manipulate a Box

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1354
Author(s):  
J. Hernandez-Vicen ◽  
S. Martinez ◽  
R. de Santos-Rico ◽  
Elisabeth Menendez ◽  
C. Balaguer
Keyword(s):  
Force Control ◽  
Humanoid Robot ◽  
The Real ◽  
Movement Strategies ◽  
The Future ◽  
End Effectors

Automating the action of finding the opening side of a box is not possible if the robot is not capable of reaching and evaluating all of its sides. To achieve this goal, in this paper, three different movement strategies to bi-manipulate a box are studied: overturning, lifting, and spinning it over a surface. First of all, the dynamics involved in each of the three movement strategies are studied using physics equations. Then, a set of experiments are conducted to determine if the real response of the humanoid robot, TEO, to a box is consistent with the expected answer based on theoretical calculus. After the dynamics validation, the information on the forces and the position in the end effectors is used to characterize these movements and create its primitives. These primitive movements will be used in the future to design a hybrid position–force control in order to adapt the movements to different kinds of boxes. The structure of this control is also presented in this paper.

scholarly journals Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

10.5772/5783 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 26 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Kazuhisa Mitobe ◽  
Masahiro Ohka
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Force Control ◽  
Humanoid Robot ◽  
Flat Surface ◽  
Rotation Angle ◽  
Basic Research ◽  
Orientation Data ◽  
Robotic Arms ◽  
End Effectors

This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.

The Disruption Of Family In Manju Kapur’s Custody

Think India ◽  
2019 ◽  
Vol 22 (3) ◽  
pp. 880-885
Author(s):  
K.P. Bhavatharini ◽  
Ms Dr. Anita Albert
Keyword(s):  
Marital Relationship ◽  
Modern Life ◽  
The Real ◽  
Law System ◽  
Metropolitan Cities ◽  
Take Back ◽  
The Family ◽  
Female Protagonist ◽  
The Future ◽  
Key Aspects

Manju Kapur exposes the disparity and how modernity plays a major role in our society and also the hollowness modern life through her novel Custody. The present paper deals with the key aspects of custody, like extra marital affair, exploration of children and the law system of India. Manju Kapur has published five novels and all her novels dealt with postmodern era, which became sensational in the literary world. She talks about the life of people in Metropolitan cities and how it changes the attitude of theirs and makes them to be victims of modernity through her novel Custody. She manages to disclose the atmosphere which revolves around the family and how it destroys their peace. Here the author portrays how her female protagonist goes to an extent to fulfill her need even breaking her marital relationship with her husband and lack of concern with her children. She portrays the unimaginable incident of broken marriage and illustrates how it causes their children to yearning for their custody from their parents. The children are mentally affected because of the conflict between their egoistic parents to take back their custody only to win the battle not having the real concern over the future of their children. The author manages to create an excellent atmosphere that reveals the various disasters roaming around the family. The future of the children is also hazard. This novel proves that Manju Kapur is a great curator of the modern Indian family.

Discounting and the Paradox of the Indefinitely Postponed Splurge

2018 ◽  
Author(s):  
Matthew Rendall
Keyword(s):  
Real Problem ◽  
Costs And Benefits ◽  
The Real ◽  
Reductio Ad Absurdum ◽  
The World ◽  
The Future ◽  
End Of The World

It is sometimes argued in support of discounting future costs and benefits that if we gave the same weight to the future as to the present, we would invest nearly all our income, but never spend it. Rather than enjoying the fruits of our investments, we would always do better to reinvest them. Undiscounted utilitarianism (UU), so the argument goes, is collectively self-defeating. This attempted reductio ad absurdum fails. Regardless of whether each generation successfully followed UU, or merely attempted to follow it, we could never get trapped in endless saving. The real problem is different: without the ability to foresee the end of the world, UU cannot tell us how much to save. Discounting is a defensible response, but only when coupled with a rule against risking catastrophe.

scholarly journals Suppress Vibration on Robotic Polishing with Impedance Matching

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 59
Author(s):  
Junjie Dai ◽  
Chin-Yin Chen ◽  
Renfeng Zhu ◽  
Guilin Yang ◽  
Chongchong Wang ◽  
...  
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Impedance Control ◽  
Impedance Matching ◽  
Industrial Robots ◽  
Contact Phase ◽  
Dynamic Tracking ◽  
Force Tracking ◽  
The Difference ◽  
End Effectors

Installing force-controlled end-effectors on the end of industrial robots has become the mainstream method for robot force control. Additionally, during the polishing process, contact force stability has an important impact on polishing quality. However, due to the difference between the robot structure and the force-controlled end-effector, in the polishing operation, direct force control will have impact during the transition from noncontact to contact between the tool and the workpiece. Although impedance control can solve this problem, industrial robots still produce vibrations with high inertia and low stiffness. Therefore, this research proposes an impedance matching control strategy based on traditional direct force control and impedance control methods to improve this problem. This method’s primary purpose is to avoid force vibration in the contact phase and maintain force–tracking performance during the dynamic tracking phase. Simulation and experimental results show that this method can smoothly track the contact force and reduce vibration compared with traditional force control and impedance control.

MixAR

2019 ◽  
Vol 12 (4) ◽  
pp. 1-33 ◽  
Author(s):  
Telmo Adão ◽  
Luís Pádua ◽  
David Narciso ◽  
Joaquim João Sousa ◽  
Luís Agrellos ◽  
...  
Keyword(s):  
Environmental Conditions ◽  
Mixed Reality ◽  
The Real ◽  
Points Of Interest ◽  
Real Scene ◽  
The Future

MixAR, a full-stack system capable of providing visualization of virtual reconstructions seamlessly integrated in the real scene (e.g. upon ruins), with the possibility of being freely explored by visitors, in situ, is presented in this article. In addition to its ability to operate with several tracking approaches to be able to deal with a wide variety of environmental conditions, MixAR system also implements an extended environment feature that provides visitors with an insight on surrounding points-of-interest for visitation during mixed reality experiences (positional rough tracking). A procedural modelling tool mainstreams augmentation models production. Tests carried out with participants to ascertain comfort, satisfaction and presence/immersion based on an in-field MR experience and respective results are also presented. Ease to adapt to the experience, desire to see the system in museums and a raised curiosity and motivation contributed as positive points for evaluation. In what regards to sickness and comfort, the lowest number of complaints seems to be satisfactory. Models' illumination/re-lightning must be addressed in the future to improve the user's engagement with the experiences provided by the MixAR system.

Lofs Wife Syndrome and Double Publics in South Africa

PMLA ◽  
2016 ◽  
Vol 131 (5) ◽  
pp. 1452-1461 ◽  
Author(s):  
Grace A. Musila
Keyword(s):  
South Africa ◽  
Dominant Class ◽  
The Real ◽  
Jean Paul ◽  
The Future ◽  
Privileged Class

In a Compelling Reading of Sol Plaatje's Native Life in South Africa, Bhekizizwe Peterson Remarks on the Work's Inscription of multiple imagined readers with different investments in the narrative (79). Quoting from Jean-Paul Sartre's reflections on the intricacies of addressing fractured, and sometimes future, publics, Peterson writes:[T]he works of writers who find themselves on the “margin of the privileged class” contain a “double simultaneous postulation,” a consequence of the “fracture” in the “actual public” in which their art is produced and consumed. Because the “real public” consists largely of the conservative forces that compose the dominant class and ideology, the marginal writer is compelled to address “the progressive forces, or the virtual public” even if “the oppressed classes have neither the leisure nor the taste for reading.” In engaging the future and its virtual public—“an emptiness to be filled in, an aspiration”—the writing exceeds its actual limits and extends itself step by step to the infinite. (81)

An Advanced Ultra-Deep Resistivity Mapping Sensor Reduced Reservoir Uncertainty and Eliminated the Need for a Pilot Hole for the First Time; A Case Study from Offshore Abu Dhabi

2021 ◽  
Author(s):  
Wael Fares ◽  
Islam Moustafa ◽  
Ali Al Felasi ◽  
Hocine Khemissa ◽  
Omar Al Mutwali ◽  
...  
Keyword(s):  
Real Time ◽  
Water Saturation ◽  
Firing Frequency ◽  
Target Zones ◽  
The Real ◽  
Pilot Hole ◽  
Low Resistivity ◽  
Milling Operations ◽  
The Future ◽  
Identify Formation

Abstract The high reservoir uncertainty, due to the lateral distribution of fluids, results in variable water saturation, which is very challenging in drilling horizontal wells. In order to reduce uncertainty, the plan was to drill a pilot hole to evaluate the target zones and plan horizontal sections based on the information gained. To investigate the possibility of avoiding pilot holes in the future, an advanced ultra-deep resistivity mapping sensor was deployed to map the mature reservoirs, to identify formation and fluid boundaries early before penetrating them, avoiding the need for pilot holes. Prewell inversion modeling was conducted to optimize the spacing and firing frequency selection and to facilitate an early real-time geostopping decision. The plan was to run the ultra-deep resistivity mapping sensor in conjunction with shallow propagation resistivity, density, and neutron porosity tools while drilling the 8 ½-in. landing section. The real-time ultra-deep resistivity mapping inversion was run using a depth of inversion up to 120 ft., to be able to detect the reservoir early and evaluate the predicted reservoir resistivity. This would allow optimization of any geostopping decision. The ultra-deep resistivity mapping sensor delivered accurate mapping of low resistivity zones up to 85 ft. TVD away from the wellbore in a challenging low resistivity environment. The real-time ultra-deep resistivity mapping inversion enabled the prediction of resistivity values in target zones prior to entering the reservoir; values which were later crosschecked against open-hole logs for validation. The results enabled identification of the optimal geostopping point in the 8 ½-in. section, enabling up to seven rig days to be saved in the future by eliminating a pilot hole. In addition this would eliminate the risk of setting a whipstock at high inclination with the subsequent impact on milling operations. In specific cases, this minimizes drilling risks in unknown/high reservoir pressure zones by improving early detection of formation tops. Plans were modified for a nearby future well and the pilot-hole phase was eliminated because of the confidence provided by these results. Deployment of the ultra-deep resistivity mapping sensor in these mature carbonate reservoirs may reduce the uncertainty associated with fluid migration. In addition, use of the tool can facilitate precise geosteering to maintain distance from fluid boundaries in thick reservoirs. Furthermore, due to the depths of investigation possible with these tools, it will help enable the mapping of nearby reservoirs for future development. Further multi-disciplinary studies remain desirable using existing standard log data to validate the effectiveness of this concept for different fields and reservoirs.

Eula Bingham—Experience Bares “The Real World” and Smart Politics Saves Lives

2009 ◽  
Vol 19 (1) ◽  
pp. 81-93
Author(s):  
Mary Lee Dunn ◽  
Polly Hoppin ◽  
Beth Rosenberg
Keyword(s):  
Real World ◽  
Occupational Safety ◽  
Turning Points ◽  
Occupational Safety And Health ◽  
Professional Life ◽  
Health Administration ◽  
The Real ◽  
Safety And Health ◽  
Look Back ◽  
The Future

Eula Bingham, toxicologist and former head of the Occupational Safety and Health Administration, is now at that place in her professional life where she can look back over her long career and identify its turning points and evaluate what worked and what didn't, what was important and what of lesser significance. In two interviews, she also looks at the present and the future and expresses concerns about the way we live now.

Sign in / Sign up

Export Citation Format

Share Document