scholarly journals Towards Autonomous Estimation of Lightweight Object's Mass by a Humanoid Robot during a Precision Grip with Soft Tactile Sensors

2020 ◽  
Vol 2 (1) ◽  
pp. 24-38
Author(s):  
André Silva
Keyword(s):  
Humanoid Robot ◽  
Precision Grip ◽  
Challenging Problem ◽  
Force Measurements ◽  
Intrinsic Properties ◽  
Tactile Sensors ◽  
Force Vector ◽  
The Real ◽  
Object Weight ◽  
Real Value

The estimation of the intrinsic properties of an unknown ob- ject is a very challenging problem, mainly due the limitations on the tactile technology. In this article we present a method to estimate an ob- ject's weight during a precision grip made by a humanoid robot. Tactile sensors on the ngertips provide information on the 3D force vector dur- ing a movement of grasping and lifting a cup lled with dierent masses (30-100g). Using the force measurements across time, we were able to successfully calculate the object weight for 8 dierent masses in two sce- narios: (i) Manually segmented force measurments and (ii) automatically segmented force measurments. Regarding the manually segmented data, we are able to have repeatable measurement and low deviations from the real value, especially for higher object masses. Regarding the automat- ically segmented data, we are able to identify the various phases of the grasping experiment and use the segmented phases to compute the mass automatically.

Radiation synovectomy of the knee joint

2006 ◽  
Vol 45 (01) ◽  
pp. 57-61
Author(s):  
M. Puille ◽  
D. Steiner ◽  
R. Bauer ◽  
R. Klett
Keyword(s):  
Knee Joint ◽  
Lymph Nodes ◽  
Geometric Mean ◽  
Radiation Synovectomy ◽  
Real Activity ◽  
Anterior View ◽  
Inguinal Lymph Nodes ◽  
The Real ◽  
Therapeutic Modalities ◽  
Real Value

Summary Aim: Multiple procedures for the quantification of activity leakage in radiation synovectomy of the knee joint have been described in the literature. We compared these procedures considering the real conditions of dispersion and absorption using a corpse phantom. Methods: We simulated different distributions of the activity in the knee joint and a different extra-articular spread into the inguinal lymph nodes. The activity was measured with a gammacamera. Activity leakage was calculated by measuring the retention in the knee joint only using an anterior view, using the geometric mean of anterior and posterior views, or using the sum of anterior and posterior views. The same procedures were used to quantify the activity leakage by measuring the activity spread into the inguinal lymph nodes. In addition, the influence of scattered rays was evaluated. Results: For several procedures we found an excellent association with the real activity leakage, shown by an r² between 0.97 and 0.98. When the real value of the leakage is needed, e. g. in dosimetric studies, simultaneously measuring of knee activity and activity in the inguinal lymph nodes in anterior and posterior views and calculation of the geometric mean with exclusion of the scatter rays was found to be the procedure of choice. Conclusion: When measuring of activity leakage is used for dosimetric calculations, the above-described procedure should be used. When the real value of the leakage is not necessary, e. g. for comparing different therapeutic modalities, several of the procedures can be considered as being equivalent.

The 'Real' Value of Conflicted Analyst Coverage

2012 ◽  
Author(s):  
Stacey E. Jacobsen ◽  
Irina Stefanescu ◽  
Xiaoyun Yu
Keyword(s):  
Analyst Coverage ◽  
The Real ◽  
Real Value

Comparison of Ellipsoidal and Parabolic Mirror Systems in Fluorimetry and Room Temperature Phosphorimetry

1979 ◽  
Vol 33 (2) ◽  
pp. 166-170 ◽  
Author(s):  
G. L. Walden ◽  
J. D. Winefordner
Keyword(s):  
Room Temperature ◽  
Small Volume ◽  
Collection Efficiency ◽  
Parabolic Mirror ◽  
The Real ◽  
Real Value

The use of ellipsoidal and parabolic mirrors to increase the collection efficiency of sample luminescence is demonstrated for small volume samples. The results indicate that the real value of such systems is in the cases in which dilution to larger volumes is not desirable.

scholarly journals The Real Value of Equality

2015 ◽  
Vol 77 (3) ◽  
pp. 679-691 ◽  
Author(s):  
Robert Jubb
Keyword(s):  
The Real ◽  
Real Value

Motor control of downward object-transport movements with precision grip by object weight

2016 ◽  
Vol 33 (2) ◽  
pp. 130-136 ◽  
Author(s):  
Shinji Yamamoto ◽  
Yoshihide Shiraki ◽  
Shintaro Uehara ◽  
Keisuke Kushiro
Keyword(s):  
Motor Control ◽  
Precision Grip ◽  
Object Weight ◽  
Object Transport

scholarly journals Error in the Sampling Area of an Optical Disdrometer: Consequences in Computing Rain Variables

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
R. Fraile ◽  
A. Castro ◽  
M. Fernández-Raga ◽  
C. Palencia ◽  
A. I. Calvo
Keyword(s):  
Rainfall Intensity ◽  
Rain Event ◽  
Rain Intensity ◽  
Sampling Area ◽  
The Real ◽  
Efficient Sampling ◽  
Real Value ◽  
Effective Sampling Area ◽  
Reflectivity Factor

The aim of this study is to improve the estimation of the characteristic uncertainties of optic disdrometers in an attempt to calculate the efficient sampling area according to the size of the drop and to study how this influences the computation of other parameters, taking into account that the real sampling area is always smaller than the nominal area. For large raindrops (a little over 6 mm), the effective sampling area may be half the area indicated by the manufacturer. The error committed in the sampling area is propagated to all the variables depending on this surface, such as the rain intensity and the reflectivity factor. Both variables tend to underestimate the real value if the sampling area is not corrected. For example, the rainfall intensity errors may be up to 50% for large drops, those slightly larger than 6 mm. The same occurs with reflectivity values, which may be up to twice the reflectivity calculated using the uncorrected constant sampling area. TheZ-Rrelationships appear to have little dependence on the sampling area, because both variables depend on it the same way. These results were obtained by studying one particular rain event that occurred on April 16, 2006.

Understanding the real value of youth physical activity promotion

2015 ◽  
Vol 72 ◽  
pp. 130-132 ◽  
Author(s):  
Michael W. Beets ◽  
Robert G. Weaver ◽  
Justin B. Moore
Keyword(s):  
Physical Activity ◽  
Physical Activity Promotion ◽  
The Real ◽  
Activity Promotion ◽  
Youth Physical Activity ◽  
Real Value
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