Search results for " Rob"

Robotic face milling path correction and vibration reduction

2015

In this paper the developed method for off-line compensation of tool deflections and vibration reduction when milling aluminum with an industrial robot is presented. The efficiency of this approach is verified with high precision measurements of deflections using a laser tracker. The compensation method is based on the static milling process model which can predict the mean value components of the tool forces and the passive damping system mounted on the spindle to reduce vibrations. With a process model such as the one presented in this paper and estimates of the robot's joint stiffness values, the tool path can be adjusted to counteract deflections of the tool during milling operations. T…

E-MIP: A new mechanism for dynamic coalition formation in a robot team

2004

When mobile robots colonies move in dynamic, not predictable and time variable environments, the problem now is on how can they achieve distributed solving strategies for solving complicate and difficult tasks. The development of a new robotic architecture for the coordination of robot colonies in dangerous and dynamic environments is outlined. The name of this new architecture is Economic Metaphor of Italian Politics (E-MIP), because it takes inspiration from the political organizations of Italian democratic governments, where the leader isn't only one robot but a government of three robots constitutes it while a second group of robots, the Robot Citizens, are the executor of the mission. …

HR1 Robot: An Assistant for Healthcare Applications

2022

According to the World Health Organization1,2 the percentage of healthcare dependent population, such as elderly and people with disabilities, among others, will increase over the next years. This trend will put a strain on the health and social systems of most countries. The adoption of robots could assist these health systems in responding to this increased demand, particularly in high intensity and repetitive tasks. In a previous work, we compared a Socially Assistive Robot (SAR) with a Virtual Agent (VA) during the execution of a rehabilitation task. The SAR consisted of a humanoid R1 robot, while the Virtual Agent represented its simulated counter-part. In both cases, the agents evalua…

Employees’ challenges and needs for reskilling when working with software robots

2022

Software robots are becoming increasingly adopted in different industries. The growing rate of automatization will affect more and more people and will result in changes in businesses of all sizes. Impacts can be observed at both the organizational and individual employee levels. A growing number of studies of software robots’ advantages and disadvantages on an organizational or industry-specific level have been carried out. However, there is limited knowledge about the employees’ perceptions of challenges and new skills needed when working with software robots. This study addresses this gap by using open-ended questionnaire responses from employees who have worked with software robots. Thi…

A probabilistic approach to learning a visually grounded language model through human-robot interaction

2010

A Language is among the most fascinating and complex cognitive activities that develops rapidly since the early months of infants' life. The aim of the present work is to provide a humanoid robot with cognitive, perceptual and motor skills fundamental for the acquisition of a rudimentary form of language. We present a novel probabilistic model, inspired by the findings in cognitive sciences, able to associate spoken words with their perceptually grounded meanings. The main focus is set on acquiring the meaning of various perceptual categories (e. g. red, blue, circle, above, etc.), rather than specific world entities (e. g. an apple, a toy, etc.). Our probabilistic model is based on a varia…

ART Azzurra Robot Team

1999

Azzurra Robot Team is the result of a joint effort of seven Italian research groups from Univ. of Brescia, Univ. of Genoa, Politecnico of Milano, Univ. of Padua, Univ. of Palermo, Univ. of Parma, Univ. of Roma "La Sapienza", and the Consorzio Padova Ricerche which has provided resources and a set up of the soccer field in its Center in Padua. Our goal at Robocup 1998 has been to provide a exible and low-cost experimental team to make experience before undertaking a larger project. Our long term goal is to foster the development of research and education projects on autonomous mobile robots by exploiting the RoboCup challenge.

Robust Control of Nonlinear Systems: An Unknown Input Observer Based Approach

2023

Questa tesi propone un controllore robusto per sistemi non lineari tramite l'utilizzo di un osservatore ad ingressi sconosciuti. Attraverso un'opportuna riformulazione dinamica del modello, un generico sistema non lineare viene descritto come la somma di due funzioni, la prima lineare e nota e la seconda altamente non lineare e sconosciuta, derivante dalla conoscenza imperfetta del modello dinamico, dei parametri, o di eventuali disturbi esogeni agenti sul sistema etc., modellabili come perturbazioni (disturbi) della funzione lineare. Questa semplificazione consente una vantaggiosa descrizione dinamica del sistema in forma matriciale. Le informazioni necessarie sono stimate attraverso l'uti…

A vision-based fully automated approach to robust image cropping detection

2020

Abstract The definition of valid and robust methodologies for assessing the authenticity of digital information is nowadays critical to contrast social manipulation through the media. A key research topic in multimedia forensics is the development of methods for detecting tampered content in large image collections without any human intervention. This paper introduces AMARCORD (Automatic Manhattan-scene AsymmetRically CrOpped imageRy Detector), a fully automated detector for exposing evidences of asymmetrical image cropping on Manhattan-World scenes. The proposed solution estimates and exploits the camera principal point, i.e., a physical feature extracted directly from the image content th…

How do we understand other's intentions? - An implementation of mindreading in artificial systems -

Robotic versus laparoscopic sacrocolpopexy for apical prolapse: a case-control study

2016

The apical prolapse has always been considered the most complex of the defects of the pelvic floor, for both the difficulty of the surgical corrective technique and for the high post-surgical recurrence rate. Today, the laparoscopic sacrocolpopexy can be considered the standard treatment for apical prolapse. In the last years, several author performed robotic sacrocolpopexy, obtaining positive results. So, we developed a case-control study in order to compare the surgical outcome of robotic group with a control group of laparoscopic approach in patients with symptomatic apical pro-lapsed between January 2015 and December 2015 at University Hospital Policlinico “P. Giaccone” and Ospedali Riu…