Search results for " mani"
showing 10 items of 623 documents
Mobile Robot and Mobile Manipulator Research Towards ASTM Standards Development
2016
International audience; Performance standards for industrial mobile robots and mobile manipulators (robot arms onboard mobile robots) have only recently begun development. Low cost and standardized measurement techniques are needed to characterize system performance, compare different systems, and to determine if recalibration is required. This paper discusses work at the National Institute of Standards and Technology (NIST) and within the ASTM Committee F45 on Driverless Automatic Guided Industrial Vehicles. This includes standards for both terminology, F45.91, and for navigation performance test methods, F45.02. The paper defines terms that are being considered. Additionally, the paper de…
Tool-Point Control for a Redundant Heave Compensated Hydraulic Manipulator
2012
Abstract In this paper, theoretical and experimental implementation of heave compensation on a redundant hydraulically actuated manipulator with 3-dof has been carried out. The redundancy is solved using the pseudo-inverse Jacobian method. Techniques for minimizing velocities and avoiding mechanical joint saturations is implemented in the null space joint motion. Model based feed-forward, combined with a PI-controller handles the velocity control of each joint. A time domain simulation model has been developed, experimentally verified, and used for controller parameter tuning. Model verification and experimental results are obtained while the manipulator is exposed to wave disturbances crea…
Adaptive interaction robot control with estimation of contact force
2008
Abstract This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. First, an adaptive position controller is derived with contact force component as estimated parameters. Second, a supervisory external loop is added in order to regulate the contact force to the desired value. Extensive simulations with 2-DOF manipulator illustrate the followed approach.
Sub specie æternitatis: the role of the ruin and the ancient in the process of architectural renewal between metamorphosis and resurgence
2022
Composing new works of architecture inspired by vestiges from antiquity or archaeology. The reflections and the case study which will be proposed, pertaining to a recent design experiment for the archaeological area and Antiquarium of Tyndaris, are dedicated to this theme. Over and above any charm exerted by such places, by landscapes in which the ruins appear identical in substance and which sometimes manifest themselves as “sub specie æternitatis”, there are reasons linked to the very profession of architect and to the gashes in the crucible of controversies around the role of history in its contentious relationship with architectural design. That apart, the aporias revealed by Michel Fou…
Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains
2012
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In contrast to previous works, in addition to compliance errors caused by machining forces, the problem of assembling errors caused by inaccuracy in the kinematic chains is considered. The advantages and practical significance of the proposed approach are illustrated by examples that deal with groove milling with Orthoglide manipulator.
Compliance error compensation technique for parallel robots composed of non-perfect serial chains
2012
The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with groove milling by the Orthoglide manipulator that considers different locations of the workpiece. It is also de…
Il dibattito sul federalismo nel secondo dopoguerra
2018
Il Movimento Federalista Europeo viene fondato a Milano nel 1943 da Altiero Spinelli con un gruppo di antifascisti, come movimento di idee e di azione, con l’obiettivo di dare vita ad una federazione di Stati Uniti d’Europa. Per Altiero Spinelli, che del movimento fu l’ideatore principale, lo scopo prioritario della lotta politica era quello di assicurare stabilmente al vecchio continente i valori irrinunciabili della pace, della libertà, della democrazia e della giustizia sociale. Sulla scia di tale orientamento si sviluppò un intenso dibattito che, prima ancora della fondazione del Movimento Federalista Europeo, aveva trovato un riscontro teorico nel “Manifesto di Ventotene”, originariame…
Fluorescence and spin properties of defects in single digit nanodiamonds
2009
International audience; This article reports stable photoluminescence and high-contrast optically detected electron spin resonance (ODESR) from single nitrogen-vacancy (NV) defect centers created within ultrasmall, disperse nanodiamonds of radius less than 4 nm. Unexpectedly, the efficiency for the production of NV fluorescent defects by electron irradiation is found to be independent of the size of the nanocrystals. Fluorescence lifetime imaging shows lifetimes with a mean value of around 17 ns, only slightly longer than the bulk value of the defects. After proper surface cleaning, the dephasing times of the electron spin resonance in the nanocrystals approach values of some microseconds, …
La Fontana Pretoria di Palermo tra classicismo e manierismo
2010
Fontana Pretoria, Palermo, Arredo urbano.
Il Futurismo in Spagna: da Marinetti a Gómez de la Serna
2011
Partendo dalla considerazione degli intensi rapporti, personali e professionali, tra Marinetti e Gómez de la Serna, questo lavoro analizza e mette a confronto i testi programmatici, italiani e spagnoli, relativi al movimento futurista. Si intende dimostrare che il processo di ricezione del Futurismo in Spagna non consiste in una pura imitazione, bensì in un ‘adattamento culturale’ che arriva a plasmare la realtà italiana su quella iberica. Nel Manifiesto futurista a los españoles di Marinetti, ad esempio, insieme ad elementi di ascendenza tipicamente italiana e ad elementi comuni a tutte le avanguardie europee, si ritroverà la presenza di caratteristiche specifiche e distintive della tradiz…