Search results for " Rob"
showing 10 items of 689 documents
Studio Morfoanatomico di Himantoglossum robertianum ed H.hircinum (Orchideaceae) della Sicilia
2009
Improving point matching on multimodal images using distance and orientation automatic filtering
2016
International audience; Speed Up Robust Features SURF is one of the most popular and efficient methods used for image registration task. In order to achieve a correct registration, a good matching of feature point is required. However in the case of multimodal images, the high and non-linear intensity changes between different modalities led to many outliers (mismatching of detected points) and consequently a fail in the registration. Therefore, in this paper we introduce an efficient method devoted to the detection and removal of such outlier. It's based on an automatic filtering of outliers on both distance and orientation between features points. We tested our proposed method on a set of…
El manuscrito del 'Cancionero de Baena' (PN1) : Descripción codicológica y evolución histórica
2018
The present article attempts to establish as accurately as possible the chronological trajectory of the unique codex of the Cancionero de Baena (PN1 in the Dutton nomenclature). It begins with a detailed examination of the codicological aspects of the manuscript, which serve to date its origin to around 1465. This origin, combined with the historical data, supports a conjecture that the manuscript probably belonged to Gonzalo de Beteta, an official of both Enrique IV and the Catholic Kings. It would have passed from him to his grandson, Jorge de Beteta y Cardenas, who gave it to the Real Biblioteca de El Escorial in 1576. The article then follows the vicissitudes of the manuscript from its …
Force/Torque-Sensorless Joint Stiffness Estimation in Articulated Soft Robots
2022
Currently, the access to the knowledge of stiffness values is typically constrained to a-priori identified models or datasheet information, which either do not usually take into ac- count the full range of possible stiffness values or need extensive experiments. This work tackles the challenge of stiffness estimation in articulated soft manipulators, and it proposes an innovative solution adding value to the previous research by removing the necessity for force/torque sensors and generalizing to multi-degree- of-freedom robots. Built upon the theory of unknown input-state observers and recursive least-square algorithms, the solution is independent of the actuator model parameters and its in…
Robust and Decoupled Position and Stiffness Control for Electrically-Driven Articulated Soft Robots
2022
The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their in- trinsic elastic elements and nonlinear force-deflection dependency. This letter first proposes a discrete-time delayed unknown input- state observer based on a nominal robot model that reconstructs the total torque disturbance vector, resulting from the imperfect knowledge of the elastic torque characteristic, external torques, and other model uncertainties. Then, it introduces a robust controller, that actively compensates for the estimated uncertainty and allows bounded stability for the tracking of independent link position and joint stiffness reference signals.…
Izotopu attiecību masspektrometrijas metodes pielietojums hibrīdapses (Populus Tretmula L. x P.Tremuloides Michx) dendroķīmiskajos pētījumos
2020
Darbā apkopota informācija par izotopu attiecībām masspektometrijā un hibrīdapšu dendroķīmiju, lai izpētītu gaisa piesārņojumu pagātnē. Tika pētīti koka paraugi, kas auguši dažādi mēslotos parauglaukumos. Koka paraugs iegūts no hibrīdapses (Populus Tretmula L. × P. Tremuloides Michx). Bakalaura darba ietvaros tika analizētas C un N izotopu attiecības. Iegūtie rezultāti tika izvērtēti un pētītas likumsakarības par izotopu attiecībām.
Methods for Experimentally Determining Stiffness of a Multi-Axis Machining Centre
2019
This paper deals with global methods for experimentally determining the static stiffness of multi-axis machining centres. Different devices used for measuring deflection, in specific, are explored, where accuracy and usability are highlighted. The methods were tested on a 3-axis CNC milling machine, 2-axis trunnion table and a 6-DOF industrial robot.
Identification of an LPS-Induced Chemo-Attractive Peptide from Ciona robusta
2020
Background: Previously published work has demonstrated that the LPS injection of Ciona robusta leads to the overexpression of a truncated form of an immune-related mRNA (C8short) by means of Ciona robusta (CR) alternative polyadenylation (APA) (CR-APA). Methods: The 3D structure of the C8short-derived Ciona robusta chemo-attractive peptide (CrCP) was evaluated by homology modeling. The biological activity of the CrCP was studied in vitro using a primary human dermal cell line (HuDe). Real-Time PCR was used to investigate the expression levels of genes involved in cell motility. NF-&kappa
Study upon the kinematic simulation of the incremental forming carried-on using a serial industrial robot
2021
Abstract Incremental forming with contact between tool-sheet metal workpiece in a single point is an unconventional process which allow the user to manufacture parts by combining the vertical movement of the tool along Z-axis and the horizontal movements of sheet metal workpiece, which are performed in XY plane. As technological equipment able to control coordinated movements on three axes, CNC machining centers and industrial serial robots with six degrees of freedom are the most suitable. The paper introduces a study regarding the use of robots as technological equipment for the process, by means of simulation. Supplementary degrees of freedom and singularities avoidance are also consider…
Method for estimating combined controller, joint and link stiffnesses of an industrial robot
2014
In this paper a new combined local/global approach for estimating the combined stiffnesses of joints in anthropomorphic robots is presented. The stiffness of each joint is a combination of several effects: i) stiffness of the links, ii) stiffness of joint bearings and gears and iii) stiffness of the position control loops given by the individual axis controller gains in the controller software. Experimental results are presented for an ABB IRB6600 industrial robot using measurements from a FARO Xi laser tracker and an ATI Omega160 force/torque sensor. The results show that there is a significant variation in stiffness among the individual joints of the robot and that the stiffnesses of the …