Many human manipulation skills are force relevant, such as opening a bottle cap and assembling furniture. However, it is still difficult task to endow robot with these skills, which largely due the complexity of representation planning skills. This paper presents learning‐based approach transferring force‐relevant from demonstration robot. First, skill encapsulated statistical model where key parameters learned demonstrated data (motion, force). Second, based on model, planner devised...

Existing research that addressed cable manipulation relied on two-fingered grippers, which make it difficult to perform similar tasks humans perform. However, unlike dexterous of rigid objects, the development skills in robotics remains underexplored due unique challenges posed by a cable's deformability and inherent uncertainty. In addition, using hand introduces specific difficulties tasks, such as grasping, pulling, in-hand bending, for no dedicated task definitions, benchmarks, or...

<title>Abstract</title> The human hand is often viewed as the pinnacle of dexterity. Yet, its asymmetric shape and unique thumb largely limit Artificial robotic hands have departed from anthropomorphic design. With two or three fingers distributed in a uniform manner, traditional industrial aimed at preserving symmetry, facilitating manipulation. They remain, however, extremely far dexterity, capable solely picking placing tasks, one object time. We present reversible that tackles this...

Mapping operator motions to a robot is key problem in teleoperation. Due differences between local and remote workspaces, such as object locations, it particularly challenging derive smooth motion mappings that fulfill different goals (e.g., picking objects with poses on the two sides or passing through points). Indeed, most state-of-the-art methods rely mode switches, leading discontinuous, low-transparency experience. In this letter, we propose unified formulation for position, orientation...

[reaction: see text] Aryl aldehydes react with alkylboron chloride derivatives in the presence of base to generate corresponding arylalkylmethanols good yields. A variety chlorides can be utilized new alkylation reaction.

The sense of touch can provide a robot with wealth information about the contact region when interacting an unknown environment. Nevertheless, utilizing to plan exploration paths and adjust posture improve task efficiency remains challenging. This paper presents novel approach for online tactile surface objects multi-degree freedom robotic hand. We propose strategy that actively maximizes entropy acquired data while dynamically balancing exploration's global knowledge local complexity....

The monocular visual odometer is widely used in the navigation of robots and vehicles, but it has defects unknown scale estimated trajectory. In this paper, we presented a position attitude estimation method, integrating Global Position System (GPS), where GPS positioning results were taken as reference to minimize trajectory error derive vehicle. Hardware-in-the-loop simulations carried out; experimental showed that proposed method was less than 1 m, accuracy robustness better those...

Robots are expected to execute various operation tasks like a human by learning working skills, especially for complex contact tasks. Increasing demands human–robot interaction during task execution makes robot motion planning and control considerable challenge, not only reproduce demonstration force in the space but also resume after interacting with without re-planning motion. In this article, we propose novel framework based on time-invariant dynamical system (DS), taking into account...

This paper proposes a new nonlinear multiscale reconstruction method for image enhancement using dual-tree complex wavelet transform. The enhanced is obtained by successively combining each coarser scale with the corresponding nonlinearly modified interscale (detail) images. reduces additive noise while preserves sharpness of image. Simulation results show improved performance our in comparison that existing methods.

The comparison between carbon fiber reinforced different matrixes composites was studied in this work. Carbon phenolic resin composite and benzoxazine were made by pultrusion processing. Bending strength test charpy impact taken to characterize the toughness of composites, scanning electronic micro-scopy(SEM) applied evaluate interfacial properties matrixes. It shown that compared with composite, had better performance property. mainly depending on property matrixes, determined

Task space mapping approaches for bilateral teleoperation, namely object-centered ones, have yielded the most promising results. In this paper, we propose an invertible approach to realize teleoperation through online motion by taking into account locations of objects or tools in manipulation skills. It is applied with goal handling different object/tool/landmark user and robot workspaces while remote are moving online. The proposed can generate trajectories manner adapt objects, where...

Abstract Ketones react with aromatic aldehydes via a tandem Aldol-Grob reaction sequence. The reaction, initiated by boron trifluoride, produces carboxylic acid fragment and can serve as an alternative to the Baeyer-Villiger reaction.

This paper presents a multiscale corner detection method based on continuous wavelet transform (CWT) of contour images. The points are detected from the local modulus maxima (WTMM) orientation. To reduce side effects discretization and smoothing that introduced by preprocessing steps, we adopt simple but efficient post processing algorithm: nonmaximum suppression. proposed detects sharp corners as well subtle corners. Simulation results illustrate better performance detector compared to...

The densification process is the key step in producing of high density graphite materials. This paper depend on DSC-TGA analysis green petroleum coke to explore roasting curve. impregnating parameters were optimized through orthogonal experimental design. Results show that polymerization severe between 200 600°C, coking volatile has basically completed and system start 600-850°C.Keeping Nitrogen pressure 1.5Mpa impregnation temperature 200°Cfor 60min are first optimization impregnation.

Environmentally friendly nonwoven fabrics can be formed through thermal bonding of cotton and cellulose acetate fiber blends at reduced temperature with the aid a plasticizer. Water has been introduced as an external plasticizer to lower softening fibers enhance tensile strength cotton/cellulose web. It found that water significantly increase thermally-bonded webs reasonable temperatures. In addition, web essentially same degree acetone treatment does. The mechanisms effect are considered...

A half tracked vehicle model was established based on LMS, a co-simulation interface between control algorithm of MATLAB and physical LMS set up. Fuzzy controller with PID regulator proposed to achieve controlling strategy model. With suspension stroke its change rate as input parameters fuzzy controller, the dynamic adjusting are acquired through then semi-active adaptive system formed. The simulation result shows that can effectively coordinate contradiction acceleration travel in...

In-arm hydro-pneumatic suspension unit (ISU) is a kind of suspension, it has been researched for 30 years. Nowadays, there are three companies in mass production ISU. In this paper, the growth and ISU products these introduced, main characteristics discussed, application suspensions presented.

The problems of the tooth root bending stress increase,distortion, life gear reduction and other issues existing in heat treatment process, In order to solve these problems, functionally gradient material (FGM) was used on working surface. analysis treated performance common comparison has maded; A cylindrical involute model a were created, Then finite element calculation two models maded. FGM have better hardness surface, also can avoid disadvantages about distortion uniform carburized...

Aramid fiber (AF) was treated by NaOH solution of various concentrations with supersonic vibration at room temperature. The density the main parameter. Elongation break and strength were tested. chemical composition AF characterized elemental analysis. surface examined scanning electronic microscopy (SEM). It shown that elongation not decreased, a little increased, first increases then decreases as concentration raising. also found after modified rougher. Low fit to modify AF.

Dexterous manipulation of objects once held in hand remains a challenge. Such skills are, however, necessary for robotics to move beyond gripper-based and use all the dexterity offered by anthropomorphic robotic hands. One major challenge when manipulating an object within is that fingers must around while avoiding collision with other or object. collision-free paths be computed real-time, as smallest deviation from original plan can easily lead collisions. We present real-time approach...

Grasping is a fundamental skill for robots to interact with their environment. While grasp execution requires coordinated movement of the hand and arm achieve collision-free secure grip, many synthesis studies address motion planning independently, leading potentially unreachable grasps in practical settings. The challenge determining integrated arm-hand configurations arises from its computational complexity high-dimensional nature. We this by presenting novel differentiable robot neural...

Mapping operator motions to a robot is key problem in teleoperation. Due differences between workspaces, such as object locations, it particularly challenging derive smooth motion mappings that fulfill different goals (e.g. picking objects with poses on the two sides or passing through points). Indeed, most state-of-the-art methods rely mode switches, leading discontinuous, low-transparency experience. In this paper, we propose unified formulation for position, orientation and velocity based...

Entropy engineering is usually identified as an effective approach for phase stabilization of high-entropy alloys (HEAs). However, this high entropy philosophy in γ/γ′ HEAs seems incompatible with their intermetallic nature. Taking γ/γ' (FeCoNi)86Ti7Al7 object, we theoretically viewed the individual/synergetic contributions and enthalpy to stability HEAs. Our results show that accelerates γ but it shows limited positive effects even negative on γ' intermetallics, especially vibrational...