Search results for "Robotics"
showing 10 items of 484 documents
Robotics in Neurosurgery – Past, Presence and Future
2021
In multiple ways, neurosurgery is the perfect field for the implementation of robotic assisted procedures. Neurosurgical operations require precise and fine manipulation of deeply located critical neural structures that are accessed through a small corridor. The concept of robots has evolved from “human-like” machines to programmable, multifunctional specialized devices. To this day, the majority of robotic-assisted neurosurgical operations involve a shared-control system. They have involved a robotic arm that moves an instrument to a specific location based on Cartesian coordinates and is then locked in place. The operating neurosurgeon proceeds with the instrument along the path defined b…
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 …
Dynamic DNA Origami Devices: from Strand-Displacement Reactions to External-Stimuli Responsive Systems
2018
DNA nanotechnology provides an excellent foundation for diverse nanoscale structures that can be used in various bioapplications and materials research. Among all existing DNA assembly techniques, DNA origami proves to be the most robust one for creating custom nanoshapes. Since its invention in 2006, building from the bottom up using DNA advanced drastically, and therefore, more and more complex DNA-based systems became accessible. So far, the vast majority of the demonstrated DNA origami frameworks are static by nature; however, there also exist dynamic DNA origami devices that are increasingly coming into view. In this review, we discuss DNA origami nanostructures that exhibit controlled…
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…
Anchoring symbols to conceptual spaces: the case of dynamic scenarios.
2003
In recent years, there have been several proposals for the realization of models inspired to biological solutions for pattern recognition. In this work we propose a new approach, based on a hierarchical modular structure, to realize a system capable to learn by examples and recognize objects in digital images. The adopted techniques are based on multiresolution image analysis and neural networks. Performance on two different data sets and experimental timings on a single instruction multiple data (SIMD) machine are also reported.
A navigation and control algorithm for the position tracking of underwater vehicles
2014
In this paper we consider position control of underwater vehicles through inversion of differential kinematics based on uncalibrated, relative to the water, velocity sensors and unknown marine current. An estimation algorithm, based on the above measurements, estimates calibration parameters and marine current, assuring convergence of the estimated velocities to the true quantities. A kinematic control algorithm assures convergence to zero of the position tracking error. An extension of the basic estimation algorithm has been considered, in which position measurements are considered sampled at low rate and randomly spaced in time. Computer simulations are given of the proposed position trac…
A Novel Adaptive Sliding Mode Controller for a 2-DOF Elastic Robotic Arm
2022
Collaborative robots (or cobots) are robots that are capable of safely operating in a shared environment or interacting with humans. In recent years, cobots have become increasingly common. Compliant actuators are critical in the design of cobots. In real applications, this type of actuation system may be able to reduce the amount of damage caused by an unanticipated collision. As a result, elastic joints are expected to outperform stiff joints in complex situations. In this work, the control of a 2-DOF robot arm with elastic actuators is addressed by proposing a two-loop adaptive controller. For the outer control loop, an adaptive sliding mode controller (ASMC) is adopted to deal with unce…
Reliable Planar Object Pose Estimation in Light Fields From Best Subaperture Camera Pairs
2018
International audience; A light-field camera can obtain richer information about a scene than a usual camera. This property offers a lot of potential for robot vision. In this paper, we present a method for pose estimation of a planar object with a light-field camera. The light-field camera can be regarded as a set of sub-aperture cameras. Although any combination of them can theoretically be used for the pose estimation, the accuracy depends on the combination. We show that the estimated pose error can be reduced by selecting the best pair of sub-aperture cameras. We have evaluated the accuracy of our approach with real experiments using a light-field camera in front of planar targets held…
Optimal Starting Conditions for the Rendezvous Maneuver, Part 1: Optimal Control Approach
2008
We consider the three-dimensional rendezvous between two spacecraft: a target spacecraft on a circular orbit around the Earth and a chaser spacecraft initially on some elliptical orbit yet to be determined. The chaser spacecraft has variable mass, limited thrust, and its trajectory is governed by three controls, one determining the thrust magnitude and two determining the thrust direction. We seek the time history of the controls in such a way that the propellant mass required to execute the rendezvous maneuver is minimized. Two cases are considered: (i) time-to-rendezvous free and (ii) time-to-rendezvous given, respectively equivalent to (i) free angular travel and (ii) fixed angular trave…