Search results for "76"
showing 10 items of 2584 documents
Modelling and Control of a 2-DOF Robot Arm with Elastic Joints for Safe Human-Robot Interaction
2021
Collaborative robots (or cobots) are robots that can safely work together or interact with humans in a common space. They gradually become noticeable nowadays. Compliant actuators are very relevant for the design of cobots. This type of actuation scheme mitigates the damage caused by unexpected collision. Therefore, elastic joints are considered to outperform rigid joints when operating in a dynamic environment. However, most of the available elastic robots are relatively costly or difficult to construct. To give researchers a solution that is inexpensive, easily customisable, and fast to fabricate, a newly-designed low-cost, and open-source design of an elastic joint is presented in this w…
Robotic Platform for Automated Search and Rescue Missions of Humans
2013
We present a novel type of model incorporating a special remote life signals sensing optical system on top of a controllable robotic platform. The remote sensing system consists of a laser and a camera. By properly adapting our optics and by applying a proper image processing algorithm we can sense within the field of view, illuminated by the laser and imaged by the camera, the heartbeats and the blood pulse pressure of subjects (even several simultaneously). The task is to use the developed robotic system for search and rescue mission such as saving survivals from a fire.
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…
Optical See-Through Head-Mounted Displays With Short Focal Distance: Conditions for Mitigating Parallax-Related Registration Error
2020
Optical see-through (OST) augmented reality head-mounted displays are quickly emerging as a key asset in several application fields but their ability to profitably assist high precision activities in the peripersonal space is still sub-optimal due to the calibration procedure required to properly model the user's viewpoint through the see-through display. In this work, we demonstrate the beneficial impact, on the parallax-related AR misregistration, of the use of optical see-through displays whose optical engines collimate the computer-generated image at a depth close to the fixation point of the user in the peripersonal space. To estimate the projection parameters of the OST display for a …
Automation Inner Speech as an Anthropomorphic Feature Affecting Human Trust: Current Issues and Future Directions
2021
This paper aims to discuss the possible role of inner speech in influencing trust in human–automation interaction. Inner speech is an everyday covert inner monolog or dialog with oneself, which is essential for human psychological life and functioning as it is linked to self-regulation and self-awareness. Recently, in the field of machine consciousness, computational models using different forms of robot speech have been developed that make it possible to implement inner speech in robots. As is discussed, robot inner speech could be a new feature affecting human trust by increasing robot transparency and anthropomorphism.
Cognitive Mimetics for Designing Intelligent Technologies
2018
Design mimetics is an important method of creation in technology design. Here, we review design mimetics as a plausible approach to address the problem of how to design generally intelligent technology. We argue that design mimetics can be conceptually divided into three levels based on the source of imitation. Biomimetics focuses on the structural similarities between systems in nature and technical solutions for solving design problems. In robotics, the sensory-motor systems of humans and animals are a source of design solutions. At the highest level, we introduce the concept of cognitive mimetics, in which the source for imitation is human information processing. We review and discuss so…
Refrigeration bound of heat-producing cylinders by superfluid helium
2019
In this paper we go ahead in our studies on refrigeration of nanosystems by superfluid helium, as an appealing subject for future applications to computers or astronautical precision nanodevices. We first recall the effective thermal conductivity in laminar counterflow superfluid helium through arrays of mutually parallel cylinders and we discuss the conditions for the appearance of quantum turbulence around the heat-producing cylinders. We then consider the cooling of an array of heat-producing cylindrical nanosystems by means of superfluid-helium counterflow. We discuss the upper bound on heat removal set by avoidance of quantum turbulence and avoidance of phase transition to normal He I,…
¿Proveer justicia u oprimir a los pueblos? La acción de los corregedores de las Azores en el periodo moderno
2020
En Portugal, los corregedores han sido presentados por la historiografía tradicional como uno de los pilares del proceso de centralización política que había tenido lugar en el reino portugués a partir del final de la Edad Media. Esta interpretación ha sido corregida en las últimas décadas por nuevas investigaciones e interpretaciones. En los territorios portu- gueses de ultramar, la distancia amplió algunos de los “obstáculos fácticos” (según Antonio Manuel Hespanha) que hacían difícil, si no imposible, la concreción de cualquier proyecto centralizador. El caso azoriano es de esto un buen ejemplo. En este artículo, además de una síntesis de los poderes de los corregedores…
Preventing problematic internet use during the COVID-19 pandemic: Consensus guidance
2020
As a response to the COVID-19 pandemic, many governments have introduced steps such as spatial distancing and “staying at home” to curb its spread and impact. The fear resulting from the disease, the ‘lockdown’ situation, high levels of uncertainty regarding the future, and financial insecurity raise the level of stress, anxiety, and depression experienced by people all around the world. Psychoactive substances and other reinforcing behaviors (e.g., gambling, video gaming, watching pornography) are often used to reduce stress and anxiety and/or to alleviate depressed mood. The tendency to use such substances and engage in such behaviors in an excessive manner as putative coping strategies i…