Search results for " mani"

Localization Based on Parallel Robots Kinematics as an Alternative to Trilateration

2022

In this article, a new scheme for range-based localization is proposed. The main goal is to estimate the position of a mobile point based on distance measurements from fixed devices, called anchors, and on inertial measurements. Due to the nonlinear nature of the problem, an analytic relation to compute the position starting from these measurements does not exist, and often trilateration methods are used, generally based on least-square algorithms. The proposed scheme is based on the modeling of the localization process as a parallel robot, thereby methodologies and control algorithms used in the robotic area can be exploited. In particular, a closed-loop control system is designed for trac…

An Application of Iterative Identification and Control in the Robotics Field

2006

The plant model appropriate for designing the control strongly depends on the requirements. Simple models are enough to compute nondemanding controls. The parameters of well-defined structural models of flexible robot manipulators are difficult to determine because their effect is only visible if the manipulator is under strong actions or with high-frequency excitation. Thus, in this chapter, an iterative approach is suggested. This approach is applied to a one-degree-of-freedom flexible robot manipulator, first using some well-known models and then controlling a lab prototype. This approach can be used with a variety of control design and/or identification techniques.

A Cognitive Framework for Imitation Learning

2006

Abstract In order to have a robotic system able to effectively learn by imitation, and not merely reproduce the movements of a human teacher, the system should have the capabilities of deeply understanding the perceived actions to be imitated. This paper deals with the development of cognitive architecture for learning by imitation in which a rich conceptual representation of the observed actions is built. The purpose of the following discussion is to show how this Conceptual Area can be employed to efficiently organize perceptual data, to learn movement primitives from human demonstration and to generate complex actions by combining and sequencing simpler ones. The proposed architecture ha…

Review on Modeling and Control of Flexible Link Manipulators

2020

This paper presents a review of dynamic modeling techniques and various control schemes to control flexible link manipulators (FLMs) that were studied in recent literature. The advantages and complexities associated with the FLMs are discussed briefly. A survey of the reported studies is carried out based on the method used for modeling link flexibility and obtaining equations of motion of the FLMs. The control techniques are reviewed by classifying them into two main categories: model-based and model-free control schemes. The merits and limitations of different modeling and control methods are highlighted.

Contact Estimation in Robot Interaction

2014

In the paper, safety issues are examined in a scenario in which a robot manipulator and a human perform the same task in the same workspace. During the task execution, the human should be able to physically interact with the robot, and in this case an estimation algorithm for both interaction forces and a contact point is proposed in order to guarantee safety conditions. The method, starting from residual joint torque estimation, allows both direct and adaptive computation of the contact point and force, based on a principle of equivalence of the contact forces. At the same time, all the unintended contacts must be avoided, and a suitable post-collision strategy is considered to move the r…

Fibre Bundle for Spin and Charge in General Relativity

2000

The Lorentzian and spin structures of general relativity are shown to allow a natural extension, by means of which the set of possible electromagnetic bundles is linked to the topology and geometry of the underlying causal structure. Further, both the Dirac operator and the electromagnetic potential are obtainable from a single linear connection 1-form.

Eventi e giornate di studio. L’impegno di SIIV nell’avanzamento delle conoscenze di settore.

2009

La Società Italiana di Infrastrutture Viarie, impegnata nella promozione dell’avanzamento delle conoscenze nel settore di interesse e nella diffusione della cultura delle infrastrutture stradali, ferroviarie e aeroportuali, propone un importante evento scientifico il 4th EATA Conference 2010, che avrà luogo presso la sede di Parma nel giugno del 2010. Si riferisce, inoltre, di un evento culturale organizzato dalla sede universitaria di Cagliari nel Marzo 2009 intitolato Vulnerabilità di una rete viaria: implicazioni climatiche, idrogeologiche e responsabilità dell’ingegnere civile.

Modality and Uncertainty in Data Visualizations: A Corpus Approach to the Use of Connecting Lines

2020

In data visualizations, connecting lines may have various semiotic functions, including the semiotic potential of indicating modality and uncertainty. The goal of this article is to find out how this semiotic potential is realized in current best practices of data visualizations and what conventions exist for the visual manifestations of these functions. This issue is addressed by using a corpus-based approach and a two-level analysis method within a social semiotic framework. First, the article offers a theoretical discussion on how the concepts of modality and uncertainty interrelate. Second, a method for investigating how these concepts are visualized at different levels is presented. Th…

The Counterfactual Reasoning and the Manipulative Account of Causality: the Origin of Causal Thinking from Free Will

2018

Cri du chat syndrome: A critical review

2009

A new syndrome was identified in 1963, when Lejeune et al. reported a genetic disease resulting from a partial or total deletion on the short arm of chromosome 5 (5p-) and named it the cri du chat syndrome (CdCS). This term makes reference to the main clinical feature of the syndrome, a high-pitched monochromatic cat-like crying, that usually disappears in the first years of life. CdCS is one of the most common chromosomal deletion syndromes in humans, with an incidence of 1:15.000-1:50.000 live-births. Our purpose was to review different aspects of this syndrome (concept, epidemiology, aetiology, clinical features,diagnostic methods and prognosis) emphasizing both: the breakthrough in this…