We present an optimization framework for grasp and motion planning in the context of robotic assembly. Typically, grasping locations are provided by higher level planners or as input parameters. In contrast, our mathematical model simultaneously optimizes trajectories, locations, other parameters such pose object during handover operations. The to consists a set objects placed known configuration, their target relative timing information describing when need be picked up, optionally handed...

This letter presents a control framework that combines model-based optimal and reinforcement learning (RL) to achieve versatile robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand reference motions generated through finite-horizon control, covering broad range of velocities gaits. These serve as targets for policy imitate, leading development policies can be learned with reliability. Furthermore, utilizing realistic simulation data captures...

A thermopile conduction calorimeter for the determination of thermal properties single crystals with applied electric field is described. The specific heat triglycine sulfate measured near critical point and at several fields (0, 160, 300, 500, 800 V/cm). An echelon-type function used to obtain best fitting curve E ≧ 300 V/cm results confirm predictions deduced from thermodynamic theory ferroelectricity. On décrit un calorimètre à thermopiles pour l'étude des propriétés thermiques...

In this paper we discuss the design and construction of thermopiles for use as heat flux measurers. Compact structure, mechanical consistency, a wide range dimensions sensitivities are possible. We can thus reach thermocouple densities up to 100 cm−2 approximately 1 V W−1.

This paper presents a comprehensive study on the advancements and potential of industrial robots in field additive manufacturing thermoplastics. As industry continues to embrace Industry 4.0 smart principles, integration robotic systems has gained significant attention due their flexibility, precision, automation capabilities. article explores utilization achieving free-form fabrication, particularly focusing process for composite materials. It looks into hardware setup, software...

The full conformational space of N-acetyl-l-glutamine-N-methylamide was explored by ab initio (RHF/3-21G and RHF/6-31G(d)) DFT (B3LYP/6-31G(d)) computations. On the Ramachandran hypersurface four independent variables, E = E(φ,ψ,χ1,χ2), 59 conformers were located instead expected 34 81 stable structures. relative stabilities various analyzed in terms side chain/backbone interactions covering different hydrogen bonding types using theory atoms molecules (AIM) molecular electrostatic...

The multidimensional conformational potential energy hypersurface (PEHS) of cyclic Gly-Gly-Gly (1,4,7-triazonane-2,5,8-trione) was comprehensively investigated at the Hartree−Fock (RHF/6-31G(d)) level theory. equilibrium structures, their relative stability, and transition state (TS) structures involved in interconversion pathways were analyzed. aug-cc-pVTZ//B3LYP/6-311++G** single point calculations predict a trans−cis−cis conformation as energetically preferred form for this compound....

Map building and position estimation are basic tasks in mobile robot navigation with path planning. A method to generate a global map of the vehicle work environment using ultrasonic sensors is developed this paper. Depending on physical properties walls that form room where navigating, sonar show different behaviours. neural network utilized interpret range readings environments. local composed squared cells formed through gives occupancy probabilities for each cell. Finally, built...

Abstract The multidimensional Conformational Potential Energy Hypersurface (PEHS) of cyclotrisarcosyl was comprehensively investigated at the DFT (B3LYP/6-31G(d), B3LYP/6-31G(d,p) and B3LYP/6-311++G(d,p)), levels theory. equilibrium structures, their relative stability, Transition State (TS) structures involved in conformational interconversion pathways were analyzed. Aug-cc-pVTZ//B3LYP/6-311++G(d,p) MP2/6-31G(d)//B3LYP/6-311++G(d,p) single point calculations predict a symmetric cis-cis-cis...

A new experimental system to measure the equivalent thermal conductivity of a liquid with regard Bénard–Rayleigh problem was constructed. The is enclosed within walls polymethylmethacrylate between two copper plates in which there are thermocouples difference temperature lower and upper surfaces layer liquid. Heat flux measured by means linear heat fluxmeter consisting 204 series. calibrated relationship that exists emf generated verified. employed measurements cylindrical boundaries...

A calorimetric method for the determination of pyroelectric coefficient is developed by means a thermopile conduction calorimeter. This applied to measurement triglycine sulfate. Eleven different temperatures setting are used between 319.88 and 322.73 K; each temperature, eleven electric fields up maximum 880 V/cm. The results agree with those in bibliography. In addition, experimental data compared expressions deduced from thermodynamic theory, yielding good results. Coefficients β γ...

We have designed and built an experimental device, which we called a ‘‘thermoelectric bridge.’’ Its primary purpose is simultaneous measurement of the relative Peltier Seebeck coefficients. The systematic errors for both coefficients are equal with this device manipulation not necessary between one coefficient other. Thus, especially suitable verifying their linear relation postulated by Lord Kelvin. Also, thermal conductivity described in text. A sample made up couple nickel-platinum,...

The multidimensional conformational potential energy hypersurfaces (PEHSs) for cis-cis-cis 1,4,7 cyclononatriene (I), Tribenzocyclononatriene (TBCN) (II), and cyclic triglycine (III) were comprehensively investigated at the Hartree-Fock (HF/6-31G(d)) density functional theory (B3LYP/6-31G(d,p)) levels of theory. equilibrium structures, their relative stability, transition state (TS) structures involved in interconversion pathways analyzed. Altogether, four geometries (two low-energy...

Data-driven methods have shown great potential in solving challenging manipulation tasks, however, their application the domain of deformable objects has been constrained, part, by lack data. To address this, we propose PokeFlex, a dataset featuring real-world paired and annotated multimodal data that includes 3D textured meshes, point clouds, RGB images, depth maps. Such can be leveraged for several downstream tasks such as online mesh reconstruction, it potentially enable underexplored...

Advancing robotic manipulation of deformable objects can enable automation repetitive tasks across multiple industries, from food processing to textiles and healthcare. Yet robots struggle with the high dimensionality their complex dynamics. While data-driven methods have shown potential for solving tasks, application in domain has been constrained by lack data. To address this, we propose PokeFlex, a pilot dataset featuring real-world 3D mesh data actively deformed objects, together...

Abstract A conformational and electronic study on N ‐phenylalkyl‐3,4‐dichloromaleimides, a new series of antifungal compounds, was carried out. In this ab initio [RHF/3‐21G RHF/6‐31G( d )] density functional theory (B3LYP/6‐31G( )) calculations were performed. The effect solvent (water) taken into account by performing with the isodensity polarizable continuum model method. compounds out using molecular electrostatic potentials. presence two symmetrical aromatic systems reduces notably...

A conformational study of the symmetrical and nonsymmetrical homologue series was carried out. In this study, ab initio (RHF/3-21G RHF/6-31G(d)) density functional theory (B3LYP/6-31G(d)) calculations were performed. The presence two aromatic systems (identical or not) reduces notably possibilities these compounds. Our results indicate that RHF/3-21G are sufficient to use in a preliminary form. However, from our it is prudent technique only for exploratory analysis. Thus, at least, HF level...