Academic literature on the topic 'Robot continu'
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Journal articles on the topic "Robot continu":
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Lenţoiu, Ionuţ, Theodor Borangiu, and Silviu Răileanu. "EDGE ARCHITECTURE FOR ROBOT DATA COLLECTING IN A DIGITAL TWIN." Annals of the Academy of Romanian Scientists Series on Science and Technology of Information 16, no. 1-2 (2023): 21–35. http://dx.doi.org/10.56082/annalsarsciinfo.2023.1-2.21.
Abstract:
The paper describes a software system for data collecting in robot digital twins (DT); this system accesses information and data from the robot, the process automated by the robot and the devices connected to the robot (conveyor belt, ASRS, smart meter) via an edge processing structure that includes the robot controller and IoT gateways. The software system includes a data acquisition agent directly connected to the edge processing hard-ware, a database where the collected information is stored and a user interface with multiple data display options. The designed DT software collects robot data in two modes: continu-ously from the robot controller and the IoT gateways using specific software tools available from the robot manufacturer, and discretely from program instructions by messages. Experiments with the DT data collecting system are given for ABB IRC5 robot controllers.
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Rabah, Mellah, and Redouane Toumi. "Commande neuro-floue du robot PUMA560 muni de moteurs à courant continu dans les deux espaces tâche et articulaire." Journal Européen des Systèmes Automatisés 39, no. 5-6 (June 30, 2005): 739–65. http://dx.doi.org/10.3166/jesa.39.739-765.
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Triebel, Rudolph, Rohan Paul, Daniela Rus, and Paul Newman. "Parsing Outdoor Scenes from Streamed 3D Laser Data Using Online Clustering and Incremental Belief Updates." Proceedings of the AAAI Conference on Artificial Intelligence 26, no. 1 (September 20, 2021): 2088–95. http://dx.doi.org/10.1609/aaai.v26i1.8378.
Abstract:
In this paper, we address the problem of continually parsing a stream of 3D point cloud data acquired from a laser sensor mounted on a road vehicle. We leverage an online star clustering algorithm coupled with an incremental belief update in an evolving undirected graphical model. The fusion of these techniques allows the robot to parse streamed data and to continually improve its understanding of the world. The core competency produced is an ability to infer object classes from similarities based on appearance and shape features, and to concurrently combine that with a spatial smoothing algorithm incorporating geometric consistency. This formulation of feature-space star clustering modulating the potentials of a spatial graphical model is entirely novel. In our method, the two sources of information: feature similarity and geometrical consistency are fed continu- ally into the system, improving the belief over the class distributions as new data arrives. The algorithm obviates the need for hand-labeled training data and makes no apriori assumptions on the number or characteristics of object categories. Rather, they are learnt incrementally over time from streamed input data. In experiments per- formed on real 3D laser data from an outdoor scene, we show that our approach is capable of obtaining an ever- improving unsupervised scene categorization.
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Umetani, Tomohiro, Satoshi Aoki, Kazuhiro Akiyama, Ryo Mashimo, Tatsuya Kitamura, and Akiyo Nadamoto. "Scalable Component-Based Manzai Robots as Automated Funny Content Generators." Journal of Robotics and Mechatronics 28, no. 6 (December 20, 2016): 862–69. http://dx.doi.org/10.20965/jrm.2016.p0862.
Abstract:
[abstFig src='/00280006/10.jpg' width='300' text='Tabletop component-based Manzai robots' ] This manuscript describes a scalable tabletop Manzai robot system that has been developed using distributed software components. Manzai is a style of traditional Japanese stand-up comedy that is typically performed by two comedians – a stooge and a straight man. Manzai script refers to the dialogues exchanged between the two comedians. Manzai robots automatically generate their Manzai scripts from web news articles based on keywords provided by audiences and search results on the Internet. Then, the robots perform according to these Manzai scripts. This study focuses on the flexibility and scalability of a robot system based on distributed Robot Technology (RT) components. The results of the implementation experiments demonstrate the flexibility of the Manzai performing robots and the scalability of the functions of the robot system.
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Hong, Min Jung, and Hee Jung Kim. "A Study on Anthropomorphism of Hotel Robot Service and the User’s Continuous Use Intention Applying Technology Acceptance Model(TAM)." Taegu Science University Defense Security Institute 8, no. 2 (April 30, 2024): 89–103. http://dx.doi.org/10.37181/jscs.2024.8.2.089.
Abstract:
This study focuses on the introduction of anthropomorphized robot services that exhibit human-like characteristics in Human-Robot Interaction (HRI). Furthermore, considering that studies on customer behavior following the adoption of new technologies mainly utilize the Technology Acceptance Model (TAM), this research verifies the influence relationship on future intention to continue usage based on TAM. Through empirical analysis using SPSS 27.0 and AMOS 27.0 programs to conduct path analysis via structural equation modeling, the following results were obtained: First, anthropomorphism of hotel service robots showed significant influence on perceived usefulness and perceived ease of use of technology acceptance. Second, based on technology acceptance, hotel customers commonly verified significant influence on intention to continue usage. Third, it was confirmed that there is a partial mediation effect on intention to continue usage depending on technology acceptance and anthropomorphism of hotel service robots. Through the results, it was confirmed that there is a need to enhance the level of similarity between humans and robots, which is an anthropomorphic element of robots, in order to increase customers' HRI experience level in service environments. Accordingly, directions and strategies for continuous adoption and utilization of robot services were suggested.
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Bloss, Richard. "Robotic applications continue to expand at the latest IMTS show." Industrial Robot: An International Journal 38, no. 3 (May 3, 2011): 224–28. http://dx.doi.org/10.1108/01439911111122707.
Abstract:
PurposeThe purpose of this paper is to review the International Manufacturing Technology Show in Chicago with emphasis on new innovative robot applications on display.Design/methodology/approachIn‐depth interviews with exhibitors of robots as well as system integrators who apply robots to specific categories of applications.FindingsRobots are becoming smarter with more integrated capabilities such as vision and autonomous part picking from random bin locations. They are becoming more economical, faster and more application specific. Robot system integrators are creating more efficient solutions for customers to consider.Originality/valueThe paper suggests that users who investigated robot solutions in the past and found they did not meet applications requirements may want to revisit robotics and see what is new. Robot makers are making them faster, smarter and more adaptable than ever before. Today's robotic solutions can better address application needs in a more cost‐effective manner than ever before.
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Okuda, Mariko, Yasutake Takahashi, and Satoki Tsuichihara. "Human Response to Humanoid Robot That Responds to Social Touch." Applied Sciences 12, no. 18 (September 14, 2022): 9193. http://dx.doi.org/10.3390/app12189193.
Abstract:
Communication robots have been introduced in nursing care, education, and the hospitality sector. In the future, robots will be increasingly integrated into human society, with more opportunities to interact closely with humans. Therefore, investigating the symbiosis between humans and robots is critical. Touch, including actions, such as shaking hands, holding hands, and touching shoulders are common in most societies. These actions are called the social touch and are common modes of communication. Social touch not only conveys emotions and intentions but also mental and physical effects. Touch considerably influences social relationships: for example, by creating positive impressions and enabling the fulfillment of requests. Since the development of communication robots and other robots capable of physical contact, touch communication between humans and robots has been extensively studied. Although studies have revealed that touching a robot positively influences the impression regarding the robot and induces a relaxed feeling, negative perceptions related to trust on the robot have been reported. Thus, touch interactions between humans and robots are yet to be fully understood. Studies have focused on the effects of touch, such as touching the robot or being touched by the robot. Although interactions with robots that respond to touch, such as hugging behavior, have been studied, few studies have examined the psychological effects of robot responses to other types of touch such as hitting, stroking, and grasping. In this study, a humanoid robot was used to investigate how the reactive behavior exhibited by the robot in response to touch by a participant affects the degree of favorability and intellectual impression toward the robot as well as the sense of accomplishment regarding communication. Participants exhibited high favorability, feeling of relief, and willingness to continue the interaction with robots that exhibited appropriate reactions to the touch of participants. Participants exhibited a positive impression when they decided the touch gesture of the robot rather than when instructed on how to touch it. The results of this study can provide guidelines for improving the design and utilization of robots, such as therapeutic robots, that work alongside humans.
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Menezes, Amor A., and Pierre T. Kabamba. "Realizing the promise of robotic self-x systems." Robotica 29, no. 1 (January 2011): i—ii. http://dx.doi.org/10.1017/s0263574710000834.
Abstract:
Consider a robot trying to accomplish a mission in an unfamiliar, hostile, and dynamic environment. As the robot encounters a seemingly insurmountable obstacle, it quickly reconfigures itself into two smaller robots, and with the aid of a nearby puddle of water, these two robots conduct self-detection procedures to confirm successful reconfiguration. One robot then calibrates itself using its reduced sensor suite and begins climbing over the obstacle, whilst the other robot folds itself into a compact structure and finds a crevice it can use to bypass the obstacle. But when the obstacle shifts, both robots send signals to a base to warn of impending mission failure. A copy of the original robot, located at the base, receives these warning signals and initiates a rapid self-replication process by assembling available resources. The resultant robotic offspring are then ready to continue the mission when called upon.
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van Maris, Anouk, Nancy Zook, Sanja Dogramadzi, Matthew Studley, Alan Winfield, and Praminda Caleb-Solly. "A New Perspective on Robot Ethics through Investigating Human–Robot Interactions with Older Adults." Applied Sciences 11, no. 21 (October 29, 2021): 10136. http://dx.doi.org/10.3390/app112110136.
Abstract:
This work explored the use of human–robot interaction research to investigate robot ethics. A longitudinal human–robot interaction study was conducted with self-reported healthy older adults to determine whether expression of artificial emotions by a social robot could result in emotional deception and emotional attachment. The findings from this study have highlighted that currently there appears to be no adequate tools, or the means, to determine the ethical impact and concerns ensuing from long-term interactions between social robots and older adults. This raises the question whether we should continue the fundamental development of social robots if we cannot determine their potential negative impact and whether we should shift our focus to the development of human–robot interaction assessment tools that provide more objective measures of ethical impact.
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Benton, Rachel A., Anne Collins McLaughlin, and Ericka M. Rovira. "Perception of Robot Power: Scale Development." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 66, no. 1 (September 2022): 295–99. http://dx.doi.org/10.1177/1071181322661244.
Abstract:
Robots are increasingly utilized to work with humans in collaborative tasks. While there is a growing body of research investigating individual measures that impact human-robot interaction (HRI), to our knowledge, no measure exists to quantify an individual's perception of robot power. How powerful one perceives robots could be a driving factor in an individual's attitudes toward robots and their trust in HRI. This study aims to develop and validate a scale to quantify peoples' general perception of the power of robots. Preliminary results from exploratory factor analyses with nearly 60% of planned participants revealed three potential factors: companion/task robots, social coworking robots, and domineering robots. Future work will examine whether and how the scale predicts behavior to continue to refine the scale and isolate its measurement.
Dissertations / Theses on the topic "Robot continu":
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Mauzé, Benjamin. "Triskèle-Bot : étude et développement d'un robot parallèle continu pour le micro-positionnement." Thesis, Bourgogne Franche-Comté, 2021. http://www.theses.fr/2021UBFCD006.
Abstract:
Les robots parallèles continus (RPC) sont de nouvelles structures qui présentent un grand intérêt en termes de souplesse, d’espace de travail ou encore de miniaturisation, mais qui ne sont pas connus pour leur précision. Cette thèse étudie le potentiel des RPC pour le positionnement à haute précision demandant un espace de travail conséquent. Pour cela, un nouveau concept de RPC planaire à 3 degrés de liberté, nommé Triskèle-Bot, constitué d’une plateforme et de trois bras flexibles continument déformables actionnés en translations, est proposé. Pour étudier son comportement, un modèle géométrique directe et inverse sont établis à partir d’une résolution numérique d’un système d’équations aux dérivées partielles non-linéaires, fondées sur une modélisation de poutre de Kirchhoff, contraintes aux conditions limites. Un prototype est développé de manière à valider ces modèles tout en offrant une répétabilité intrinsèque et une manière innovante de mesurer les paramètres intrinsèques et extrinsèques au robot. Un protocole de mesure par vision est proposé pour réduire les nombreuses sources d’incertitudes inhérentes à l’échelle microscopique et obtenir, ainsi, des mesures de poses avec un bruit de mesure inférieur à la dizaine de nanomètres. Il est utilisé pour mesurer expérimentalement la répétabilité du Triskèle-Bot qui atteint 9,13 nanomètres en position et 0,71 microradians en orientation. Une étude de la justesse de pose, faisant suite à une stratégie originale d’étalonnage, est réalisée sur plusieurs trajectoires montrant des valeurs inférieures à 4 micromètres et 0,6 milliradians. L’ensemble de ces résultats démontre le potentiel des PCR pour des applications de micro-positionnementParallel Continuum Robots (PCR) are new structures that present great interest in terms of workspace or miniaturization, but they are not known for their precision. This thesis studies the potential of RPCs for high precision positioning requiring a consequent workspace. For this purpose, a new concept of planar RPC with 3 degrees of freedom called Triskèle-Bot, composed of a mobile platform and three flexible continuously deformable limbs driven by linear actuators, is proposed. To study its behavior, direct and inverse geometric models are created by a numerical resolution of a system of non-linear partial derivative equations (based on a Kirchhoff beam model) constrained to boundary conditions. A prototype is built to validate these models while offering intrinsic repeatability and an innovative way to measure the intrinsic and extrinsic parameters of the robot. A vision measurement protocol is proposed to minimize the numerous sources of uncertainty inherent to the microscopic scale, and thus obtain measurements of poses with less than ten nanometers of uncertainties. This protocol is used to experimentally measure the repeatability of the Triskele-Bot which reaches 9.13 nanometers in position and 0.71 microradians in orientation. A study of the robot’s accuracy, resulting from an original strategy of calibration, is performed on several trajectories exhibiting values lower than 4 micrometers and 0.6 milliradians. All these results demonstrate the potential of PCR for micro-positioning applications
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Chiappa, Caroline. "Définition et mise en oeuvre d'une structure de commande numérique d'actionneur électrique : application à la motorisation d'un robot mobile." Toulouse, INPT, 1989. http://www.theses.fr/1989INPT053H.
Abstract:
Dans ce travail l'auteur definit la structure de commande d'un systeme electrique complexe base sur l'utilisation des techniques numeriques. La motricite de la plateforme est assuree par deux moteurs a courant continu non lies mecaniquement, alimentes par des bacheurs quatre quadrants fonctionnant a frequence et rapport cyclique variables. Chaque moteur est commande en couple par le controle du courant d'induit. Cette fonction est assuree par deux microprocesseurs 6809b associes a differents interfaces specialises, entierement programmables tel qu'un automate de commande rapprochee, un estimateur de courant moyen. Un microprocesseur 68000 prend en charge les regulations de vitesse de chaque machine a courant continu et la gestion sequentielle des phases d'initialisation, de protection et d'arret de la plateforme. Un certain nombre de ces protections fonctionnant selon le principe de l'arc reflexe sont integrees au systeme. Toute l'etude est accompagnee de resultats de simulation et de resultats experimentaux
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Diezinger, Matyas. "Estimation de forces par vision dans les robots continus." Electronic Thesis or Diss., Bourgogne Franche-Comté, 2023. http://www.theses.fr/2023UBFCD061.
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Dans le domaine de la robotique, la recherche sur les architectures flexibles et continûment déformables est en plein essor. Ces robots continus proposent des solutions adaptées à des domaines tels que la chirurgie, la navigation dans des environnements étroits ou la micromanipulation. Le développement de robots continûment déformables fait cependant face à plusieurs verrous scientifiques majeurs. En effet, la conception, la modélisation, la stabilité et le contrôle de robots déformables sont d'autant plus complexes qu'ils présentent un nombre infini de degrés de libertés et de configurations. Cette thèse propose plusieurs solutions pour améliorer la commande de robots continus en introduisant des techniques extéroceptives d'estimation de pose et de force. Les formes sont estimées par vision tandis que les forces sont estimées à partir des déformations en utilisant les lois de comportement des éléments déformables.La première méthode développée permet d'estimer les forces et moments appliqués au robot à partir des courbrures de ses jambes élastiques. La stéréovision est utilisée pour reconstruire une jambe de robot continu. Le nuage de points obtenu est ensuite transformé en une courbe orientée par un repère de Frenet de telle sorte que la courbure et la torsion soient connues en tous points. Les moments internes sont estimés à partir de ces courbures et torsions, connaissant les paramètres mécaniques de la jambe de robot. Finalement, l'équilibre statique de chaque section de la jambe en termes de moment donne un système redondant dont la résolution permet de remonter à la force et au moment externes. Cette méthode, validée en simulation puis expérimentalement sur des tiges encastrées libres donne des résultats très précis en regard des méthodes concurrentes de la littérature. Elle est également rapide car elle ne nécessite aucune optimisation, et prend en compte les grandes déformations. La validation montre cependant des limites sur les formes présentant des torsions importantes, et une grande dépendance aux bruits de mesure.La seconde méthode s'appuie sur l'asservissement virtuel d'un modèle numérique du robot grâce à un retour visuel de deux caméras, cette fois sans reconstruction 3D. Cette estimation de force est fondée sur l'utilisation d'un modèle à éléments finis de la jambe de robot. Le modèle fournit deux images, réalisées par des caméras virtuelles ayant les mêmes caractéristiques que les caméras réelles. Ces paires d'images réelles et virtuelles sont comparées au moyen d'un critère de similarité utilisant l'information mutuelle afin de quantifier leur ressemblance. L'estimation de la force se fait donc par optimisation en modifiant les forces et moments appliqués au modèle numérique jusqu'à maximiser le critère de similarité. Cette seconde méthode est également validée en simulation et expérimentalement, donnant des résultats satisfaisants dans les deux cas. L'asservissement visuel virtuel permet d'être moins dépendant aux bruits de mesure et d'obtenir des résultats cohérents dans tous les cas, au dépend cependant de la vitesse d'exécution.La seconde méthode a été appliquée à un robot parallèle continu conçu et fabriqué dans ce but. Ce robot, baptisé TriRod, est un robot à trois jambes flexibles fixées à des bras rigides actionnés en rotation. Le modèle numérique du TriRod a été développé avec l'outil de modélisation SOFA qui a permis d'estimer avec succès les variables d'actionnement puis les forces externes qui lui sont appliquées en utilisant le retour visuelIn the robotic research community, the field of flexible and continuously deformable robotics is very active. Continuum robotics offer advanced solutions for fields such as surgery, narrow spaces navigation and micromanipulation. However, the development of continuously deformable robots faces several major scientific challenges. Indeed, the design, modeling, stability and control of deformable robots are all the more complex as they present an infinite number of degrees of freedom and configurations. This thesis proposes several solutions to improve continuum robots control by introducing exteroceptive techniques of pose and force estimation. Shapes are estimated by vision, while forces are estimated from deformations using the behavior laws of deformable elements.The first method developed allows to estimate forces and moments applied to a robot by using the curvature of its elastic legs. Stereovision is used to reconstruct a continuous robot leg. The resulting point cloud is then transformed into an oriented curve using the Frenet frame, so that curvature and torsion are known at all points. Internal moments are estimated from these curvatures and torsions, knowing the mechanical parameters of the robot leg. Finally, the static equilibrium of moments of each section of the leg yields a redundant system, the resolution of which gives the external force and moment. This method, validated in simulation and then experimentally on cantilever rods, gives results that are highly accurate compared to concurrent methods from the literature. It is also fast as it does not require optimization, and handles large deformations. However, the validation shows limitations on shapes with significant torsion, and shows a high degree of dependence on measurement noise.The second method also relies on virtual servoing of a numerical model of the robot using visual feedback from two cameras, this time without 3D reconstruction. This force estimation is based on a finite element model of the robot leg. The model provides two images created with virtual cameras with the same parameters as the real ones. These pairs of real and virtual images are compared using a criterion based on mutual information to quantify their similarity. The force estimation is then performed by optimization. The forces and moments applied to the numerical model are modified until the similarity criterion is maximized. This second method has also been validated in simulation and experimentally, giving satisfactory results in both cases. The virtual visual servoing makes the method less dependent on measurement noise and gives consistent results in any situation, at the cost of a high execution time.As the second method was applied to a continuous parallel robot designed and manufactured for this purpose. This robot, named TriRod, is a robot with three flexible legs attached to rigid rotative arms. The numerical model of the TriRod was developed with the SOFA modelling tool that allowed to successfully estimate the actuation variables and then the external forces applied to it, using the visual feedback
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Alric, Matthieu. "Conception et modélisation modulaire d'un robot bio-inspiré extensible pour l'accès aux tumeurs dans le cerveau." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2009. http://tel.archives-ouvertes.fr/tel-00724718.
Abstract:
Intégrés dans un projet de développement d'un système multit-robots de neurochirurgie mini-invasive pour l'ablation de tumeurs, ces travaux ont pour objectif la conception et modélisation d'un robot déployable dans le cerveau, selon des trajectoires curvilignes, sans espace libre autour de sa structure et sans guide naturel pour aider à sa progression. Après définition de la tâche de déploiement, un état de l'art recense un large panel de concepts et une évaluation sélectionne un concept continu bio-inspiré des trompes d'éléphant. La solution modulaire du robot est définie et modélisée géométriquement en associant une chaîne cinématique aux mobilités continues du robot. Une statégie de déploiement, reposant sur une succession ordonnée d'extensions/rétractions locales pour une élongation itérative du robot est formalisée pour le cas générique à N modules, puis validée par des plans de simulations de robots ayant 1 à 3 modules (erreur de suivi inférieure à un mm). Sur un modèle d'étude de gels d'agar (texture proche du cerveau), les efforts de pénétration du robot dans le cerveau sont estimés, puis la conception CAO et la programmation d'un démonstrateur à ressorts sont réalisées. Une interface homme/machine, simulant et commandant le robot, est programmée et des tests sont effectués pour valider certains aspects du déploiement. Un deuxième démonstrateur actionné pneumatiquement est à finaliser pour procéder à une étude comparative des deux prototypes. Même si des perspectives d'amélioration restent à explorer, les résultats obtenus sont encourageants. Un travail collaboratif entre spécialistes de différents domaines devrait conduire à l'optimisation de ce robot de déploiement.
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Escande, Adrien. "Planification de points d'appui pour la génération de mouvements acycliques : application aux humanoïdes." Phd thesis, Université d'Evry-Val d'Essonne, 2008. http://tel.archives-ouvertes.fr/tel-00876535.
Abstract:
Un système tel qu'un humanoïde est sous-actionné et hyper-redondant. Il ne peut se mouvoir qu'à travers les interactions qu'il a avec son environnement, c'est-à-dire des contacts, et se déplace dans un espace de configuration de très grande dimension. Le besoin de rechercher des contacts pour assurer la locomotion implique que tout objet de l'environnement peut être considéré comme un support potentiel. En cela, on s'éloigne des hypothèses classiques de la planification de mouvement où les objets sont des obstacles a éviter. Ces objets prennent, dans le cadre d'un humanoïde, le double statu d'obstacle et support. L'objectif de nos travaux est de construire un planificateur de mouvement qui sache prendre en compte cette dualité. Nous proposons une approche qui travaille directement dans l'espace des contacts. Pour cela nous développons tout d'abord des outils qui permettent le passage entre l'espace contacts et celui des configurations : un générateur de posture qui permet la projection sur des sous-variétés de l'espace de configuration, et un nouveau type de volumes englobants, nommé S TP-BV, donnant la possibilité d'inclure l'évitement de collision dans la génération de posture. Nous détaillons ensuite l'architecture générale et les divers modules de notre planificateur de conctacts avant d'en montrer les résultats en simulation puis sur un robot HRP-2.
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Ali, Shaukat. "Newton-Euler approach for bio-robotics locomotion dynamics : from discrete to continuous systems." Phd thesis, Ecole des Mines de Nantes, 2011. http://tel.archives-ouvertes.fr/tel-00669588.
Abstract:
This thesis proposes a general and unified methodological framework suitable for studying the locomotion of a wide range of robots, especially bio-inspired. The objective of this thesis is twofold. First, it contributes to the classification of locomotion robots by adopting the mathematical tools developed by the American school of geometric mechanics.Secondly, by taking advantage of the recursive nature of the Newton-Euler formulation, it proposes numerous efficient tools in the form of computational algorithms capable of solving the external direct dynamics and the internal inverse dynamics of any locomotion robot considered as a mobile multi-body system. These generic tools can help the engineers or researchers in the design, control and motion planning of manipulators as well as locomotion robots with a large number of internal degrees of freedom. The efficient algorithms are proposed for discrete and continuous robots. These methodological tools are applied to numerous illustrative examples taken from the bio-inspired robotics such as snake-like robots, caterpillars, and others like snake-board, etc.
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Cores, Vitor Finotto. "Robô contínuo telescópico para tarefas em alturas elevadas." Universidade de São Paulo, 2009. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-07082009-102547/.
Abstract:
Observando-se as diversas aplicações de robôs na área de serviços é possível perceber uma crescente busca por manipulação de ferramentas em lugares elevados utilizando dispositivos robóticos, visto que tais tarefas exigem a utilização de diversos equipamentos de segurança e apresentam um alto risco à presença humana. Os exemplos mais comuns desse tipo de tarefa são: inspeção de: máquinas de grande porte, tanques de armazenamento, silos, postes, linhas de transmissão e distribuição de energia elétrica, etc. Com o intuito de aplicar robôs a essas tarefas, e consequentemente aumentar a segurança e eficiência dessas operações, foi realizado, primeiramente neste trabalho, um estudo sobre as classes de robôs manipuladores existentes. Para tanto adotou-se uma classificação que separa os robôs de acordo com o número de juntas, o que gera uma divisão em três diferentes grupos, robôs discretos, robôs do tipo serpente e robôs contínuos. Ao analisar as três classes, observa-se que os robôs contínuos possuem mais graus de liberdade que os outros grupos, apresentando como estrutura uma coluna vertebral continuamente deformável, que em oposição aos tradicionais manipuladores robóticos elo/junta/elo, possuem mecanismos mais simplificados, controle menos complexo devido ao menor número de atuadores e podem interagir com obstáculos encontrados em seu ambiente sem criar grandes forças de contato. Ao utilizar configurações extrínsecas, ou seja, posicionando os atuadores fora da estrutura do robô, e transmitindo o movimento utilizando cabos, é possível construir robôs com alta isolação elétrica, o que é de grande utilidade para operações que envolvem tarefas nas proximidades de redes elétricas de alta tensão. Apesar das diversas vantagens, não foram encontradas na literatura aplicações de robôs contínuos na realização de tarefas em alturas elevadas. Levando em consideração as vantagens oferecidas pelos robôs contínuos, este trabalho propõe o estudo e a aplicação de um robô do tipo contínuo que possua uma arquitetura mais adequada para realizar trabalhos a alturas elevadas. Com o intuito de demonstrar as vantagens oferecidas por essa arquitetura, será realizado um estudo de caso no qual o objeto a ser inspecionado são as cruzetas de madeira em postes de distribuição de energia elétrica. Em uma segunda etapa, elabora-se o projeto mecânico do robô contínuo proposto, onde são detalhados os mecanismos propostos e são feitas simulações utilizando o método dos elementos finitos para analisar o comportamento da estrutura quando submetida a carregamentos. Em uma terceira etapa, adotando-se uma estratégia de controle seqüencial é elaborado o projeto de controle. Em uma ultima etapa, com o intuito de analisar o funcionamento do robô é construído um protótipo, com o qual são feitos os testes.Among several applications of robots in the service field, it is possible to percept an increasing interest in manipulate tools in higher positions using automatic devices, due to the fact that such activities are high risked operations and demands the use of several safety equipments. The most common examples of this kind of activity are the inspection of machines, silos, electrical distribution poles, etc. With the aim of apply robots to these activities and increase the safety and efficiency in these operations, as a first step in this work is done the study of different kinds of manipulators. Adopting a classification based on the number of joints, it is possible to separate robots in three different classes: discrete robots, snake-like robots and continuum robots. By analyzing these classes, it is possible to say that continuum robots have more degrees of freedom than the robots of others groups; Compared with the classic discrete robots, continuum robots have simplified mechanisms, simpler control scheme due to the small number of actuators and, in the case of an obstacle, they can contour the obstacle without generating high contact forces. By positioning the actuators out of the robot structure and transferring the motion using cables, i.e., adopting an extrinsic actuation, it is possible to build continuum robots with high electric insulation that is important in applications in which the robot must work near of an electrical distribution network. Despite these advantages, no previous works concerning the use of continuum robots to work in higher positions were found in the literature. Considering the advantages offered by continuum robots, this work proposes a study and application of a continuum robot that uses a more suitable architecture to work in higher positions. Aiming to demonstrate the advantages provided by this architecture, It will be used a case study, in which, the object to be inspected is the wood cross-arms of an electrical poles used in the electrical distribution networks. In a second step, it is done the mechanical project of the robot, where the proposed mechanisms are explained and structural simulations using the finite element method are performed in order to analyze how the structure would react to loads. In a third step, by adopting a strategy of sequential control, it is done the control project. In the last step, with the aim of analyze the robot in practical situation, a prototype is built, which is used to perform the tests.
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Chikhaoui, Mohamed Taha. "Nouveaux concepts de robots à tubes concentriques à micro-actionneurs à base de polymères électro-actifs." Thesis, Besançon, 2016. http://www.theses.fr/2016BESA2035/document.
Abstract:
L’utilisation de systèmes robotiques pour la navigation dans des zones confinées pose des défis intéressants sur les thèmes de conception, de modélisation et de commande, particulièrement complexes pour les applications médicales. Dans ce contexte, nous introduisons un nouveau concept de robots continus, fortement prometteurs pour des applications biomédicales, dont la forme complexe, la dextérité et la capacité de miniaturisation constituent des avantages majeurs pour la navigation intra corporelle. Parmi cette classe, les robots à tubes concentriques (RTC), qui constituent notre point de départ, sont améliorés grâce à un actionnement embarqué innovant. Nos travaux s’articulent autour de deux thématiques aux frontières de l’état de l’art. D’une part, nous avons proposé une modélisation générique et conduit une analyse cinématique approfondie de robots continus basés sur l’architecture des RTC standards et ceux avec changement de courbure de leurs tubes dans deux variantes : courbures unidirectionnelle et bidirectionnelle. D’autre part, leur commande cartésienne en pose complète est introduite avec une validation expérimentale sur un prototype développé de RTC standard, ainsi que les simulations numériques d’une loi de commande comprenant la gestion de la redondance des RTC à changement de courbure. D’autre part, nous avons effectué la synthèse, la caractérisation et la mise en œuvre de micro-actionneurs souples basés sur les polymères électro-actifs (PEA), intégrés pour la première fois dans un robot continu.Ainsi, l’asservissement visuel d’un prototype de robot télescopique souple est proposé avec des précisions atteignant 0.21 mm sur différentes trajectoiresMajor challenges need to be risen in order to perform navigation in confined spaces with robotic systems in terms of design, modeling, and control, particularly for biomedical applications. Indeed,the complex shape, dexterity, and miniaturization ability of continuum robots can help solving intracorporeal navigation problems. Within this class, we introduce a novel concept in order to augment the concentric tube robots (CTR) with embedded actuation. Our works hinge on two majorcutting-edge thematics. On the one hand, we address modeling and kinematics analysis of standard CTR as well as variable curvature CTR with their two varieties : single and double bending directions.Furthermore, we perform the experimental validation of Cartesian control of a CTR prototype, anda task hierarchy based control law for redundancy resolution of CTR with variable curvatures. Onthe other hand, we develop the synthesis, the characterization, and the integration of soft microactuatorsbased on electro-active polymers (EAP) for the first time in a continuum robot. Thus, thevisual servoing of a telescopic soft robot is performed with precisions down to 0.21 mm following different trajectories
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Scheuer, Alexis. "Planification de chemins à courbure continue pour robot mobile non-holonome." Phd thesis, Grenoble INPG, 1998. http://tel.archives-ouvertes.fr/tel-00001746.
Abstract:
Le travail présenté dans cette thèse vise à améliorer la planification de chemins pour un robot similaire à une voiture. Ainsi, seul l'aspect géométrique du mouvement est considéré (les vitesses sont ignorées) et le robot est soumis à deux contraintes qui limitent ses déplacements : sa direction instantanée de déplacement reste parallèle à son axe principal, et son rayon de braquage est minoré. Les travaux antérieurs sur ce sujet n'ont donné lieu qu'à des solutions produisant des chemins (dits chemins de Dubins) formés d'arcs de cercles de rayon minimum reliés tangentiellement par des segments. Ces chemins sont localement optimaux, mais la discontinuité de leur courbure ne permet pas à un véhicule de les suivre correctement (le véhicule doit s'arrêter à chaque discontinuité pour réorienter ses roues directrices). C'est pourquoi on a développé une approche qui permet de produire des chemins ayant un profil de courbure continu et une dérivée bornée de la courbure (cette dernière contrainte correspond au fait que la vitesse de rotation du volant du véhicule est elle aussi bornée). La contribution majeure de cette thèse est donc de définir des chemins respectant ces contrain tes, tout en étant très proches des chemins de Dubins localement optimaux. Ce mémoire de thèse est constitué de trois parties. La première s'appuie sur une analyse de l'existant en matière de planification de chemins en robotique mobile, pour fixer précisément les caractéristiques du problème de planification abordé (en termes de commandabilité du robot et de nature des chemins optimaux) et pour justifier l'approche choisie. La seconde partie du mémoire de thèse présente une première approche de planification de chemins à courbure continue, dans laquelle seule la contrainte de continuité de la courbure est ajoutée au problème classique de planification de chemins sans manoeuvre. La dernière partie du mémoire de thèse reprend dans son intégralité le problème énoncé dans la première partie, et propose une solution sous-optimale. Dans les parties deux et trois, un planificateur local (non complet) est d'abord défini, puis un planificateur global (complet) est construit à partir de ce planificateur local. Les résultats obtenus sont illustrés par des expérimentations en simulation et sur véhicule.
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Iqbal, Muhammad Sohail. "Continuum robot modeling with guaranteed approach." Thesis, Paris Est, 2010. http://www.theses.fr/2010PEST1027.
Abstract:
Contrairement aux robots conventionnels, les robots continuums ne possèdent ni de liaisons discrètes, ni de corps rigides. Leur courbure est continue, similaire à celle des trompes ou des tentacules animales. Le développement de ce type de robots pour les applications médicales soulève plusieurs problèmes : optimisation de la conception, modélisation cinématique, choix des capteurs et commande en temps réel. Les techniques actuelles pour la modélisation des robots continuums ne tiennent pas compte les incertitudes inhérentes au système. La prise en compte de ces incertitudes est d'une importance cruciale pour la certification de tels robots utilisés pour les gestes chirurgicaux. Dans cette thèse, nous considérons un micro robot continuum à 3 actionneurs. Ce robot a été développé au laboratoire LISSI pour le traitement des anévrismes de l'aorte abdominale par chirurgie mini-invasive. Dans ce type de chirurgie, il est important de disposer d'un modèle cinématique garanti du robot continuum prenant en compte différents types d'incertitudes. Pour traiter ce problème, nous utilisons les techniques d'analyse par intervalles. Ces techniques permettent de résoudre des problèmes d'optimisation globale sous contraintes tout en prenant en compte des incertitudes aussi bien aléatoires que systématiques. La contribution de cette thèse porte sur la proposition d'un modèle cinématique d'un robot continuum prenant en compte des incertitudes liées à différents facteurs comme les erreurs d'arrondis, les erreurs paramétriques et les erreurs dues aux hypothèses de modélisation. Tout d'abord, nous développons les modèles géométriques direct et inverse du robot continuum sous forme de solutions de formes fermées. Ces solutions sont utilisées pour caractériser les différentes propriétés du robot comme la manipulabilité. Pour calculer la cinématique inverse garantie et optimale, nous appliquons une version améliorée de l'algorithme par séparation et évaluation (Branch and Bound). En considérant l'orientation du robot, la cinématique inverse est ramenée à la formulation et à la résolution par intervalles d'un problème d'optimisation sous contraintes. Les approches proposées sont validées par des simulations. Les résultats de cette thèse constituent un cadre général pour la modélisation garantie de la classe des robots continuums dont la forme est décrite par des actionneurs en flexion continueUnlike conventional robots, continuum robots do not contain any rigid link or any rotational joint but present a continuous bending in the structure through smooth motion. Development of this class of robot for their medical application presents a common set of problems : optimization of design, kinematic modeling, sensing choice, and their control in real time. Existing techniques for the modeling of continuum robots do not take system uncertainties into account. A proper handling of these uncertainties becomes of crucial importance for the certification of such robots used as medical devices. For our research, we consider a continuum robot that has been developed for the treatment of aortic aneurysm by Minimal Invasive Surgery (MIS), in LISSI Lab. In the context of MIS, it is very important to develop a guaranteed kinematic model of robot taking into account the different types of un-certainties. To handle this problem, we use the techniques of interval analysis. These techniques are capable of performing the global optimization and solving CSPs while taking into account the different uncertainties ; no matter, whether these uncertainties are random or systematic. Contribution of this thesis is proposal of a continuum robot's kinematic model that can take system uncertainties due to different factors such as rounding errors, parametric errors, and errors due to modeling assumptions. Initially, we develop the forward and inverse kinematics of the continuum robot in closed-form formulas. These derived formulas are used for the characterization of different properties of the robot such as manipulability. To find optimized guaranteed kinematics, we retained and applied an enhanced version of branch and bound algorithm. The inverse kinematics was formulated and resolved as a constrained optimization problem for robot's orientation. The proposed approaches are validated through simulations. The results of this thesis give rise to a general framework that is valid to handle the system uncertainties for the entire class of continuum robot that are shaped by continuously bending actuators
Books on the topic "Robot continu":
1
Hausser, Roland. Computational Linguistics and Talking Robots: Processing Content in Database Semantics. Berlin, Heidelberg: Springer-Verlag Berlin Heidelberg, 2011.
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Mohanty, Prabir Kumar. Does seasonal pattern in Indian stock returns contain a unit root? Bangalore: Institute for Social and Economic Change, 2000.
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Capretti, Paolo, Cecilia Comparini, Matteo Garbelotto, and Nicola La Porta, eds. XIII Conference "Root and Butt Rot of Forest Trees" IUFRO Working Party 7.02.01. Florence: Firenze University Press, 2013. http://dx.doi.org/10.36253/978-88-6655-353-3.
Abstract:
The present Proceedings comprise the contributions that were presented at the 13th International Conference of the IUFRO W. Party 7.02.01 “Root and Butt Rot of Forest Trees” that was held in Italy from the 4th to the 10th of September 2011. The Conference started in Firenze than moved to FEM Research Centre, S. Michele all’Adige, Trento and continued in San Martino di Castrozza, Dolomite region. Root and Butt Rot of Forest Trees have a high biological and economic impact in forestry. The Proceedings were organized under seven headings: Genomics and Plant-Pathogen Interactions; Systematics, Taxonomy and Phylogeography; Ecology; Population Genetics; Etiology and Epidemiology; Disease Management and Control; New Reports, Diagnostics and Research on the Application of new Diagnostic Methods.
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Odincov, Boris. Models and intelligent systems. ru: INFRA-M Academic Publishing LLC., 2020. http://dx.doi.org/10.12737/1060845.
Abstract:
The monograph consists of three chapters, the first of which outlines the theoretical foundations of intelligent information systems. Special attention is paid to the disclosure of the term "model" as the intended meaning depends on the understanding of the material. Introduces and examines the new concepts such as the associative and intuitive knowledge while in the creation of intellectual information systems are not used.
The second Chapter contains the analysis of problems of development of artificial intelligence (AI), developed in two directions: classical and statistical. Discusses difficulties in the development of the classical approach, associated with identifying the meaning of words, phrases, text, and formulating thoughts. The analysis of problems arising in the play of imagination and insight, machine understanding of natural language texts, play, verbalization and reflection.
The third Chapter contains examples of the development of intelligent information systems and technologies in practice of management of economic objects. Theoretical bases of construction of information robots designed to support the task hierarchy of the knowledge base and generating control regulations. The technology of their creation and application in the management of the business efficiency of enterprise business processes and its investment activities.
Focused on researchers and developers, AI and intelligent information systems, as well as graduate students and faculty in related academic disciplines.
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Drage, Eleanor, and Kerry McInerney, eds. The Good Robot. Bloomsbury Publishing Plc, 2024. http://dx.doi.org/10.5040/9781350399990.
Abstract:
What is good technology? Is ‘good’ technology even possible? And how can feminism help us work towards it? The Good Robot addresses these crucial questions through the voices of leading feminist thinkers, activists and technologists. Each thinker provides a snapshot of key challenges, questions and provocations in the field of feminism and technology. While the question of whether various AI and technological advances can be ethical is not new, the embedded nature of feminist perspectives pulls out whether this perceived ‘goodness’ or ‘wrongness’ might actually impact our lives in the 21st century. This book explores both the radical possibilities of technology to disrupt practices of patriarchy, colonialism, racism and beyond but also provides a significant critique of how we can contain the ethical possibilities of entities we cannot predict. In exploring unjust technological practices and engaging critical voices in the tech industry, the existing moral issues are brought to light as well as the possible ethical quagmires. This book opens a new space of discussion on digital technologies – one that insists that the future of AI is an urgent feminist issue.
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Hausser, Roland. Computational Linguistics and Talking Robots: Processing Content in Database Semantics. Springer, 2014.
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Hausser, Roland. Computational Linguistics and Talking Robots: Processing Content in Database Semantics. Springer, 2011.
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Feng, Yongsheng. A continuum model of plant root growth. 1990.
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Osman, Maddy, Ammar Qazi, Diego Trejo, Anne Abel Smith, and Stephanie Holland. Writing for Humans and Robots: The New Rules of Content Style. Blogsmith, The, 2022.
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Osman, Maddy, Ammar Qazi, Diego Trejo, Kathleen Osman, and Stephanie Holland. Writing for Humans and Robots: The New Rules of Content Style. Blogsmith, The, 2022.
Book chapters on the topic "Robot continu":
1
Del Dottore, Emanuela, Alessio Mondini, Davide Bray, and Barbara Mazzolai. "Miniature Soil Moisture Sensors for a Root-Inspired Burrowing Growing Robot." In Biomimetic and Biohybrid Systems, 184–96. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-38857-6_15.
Abstract:
AbstractThis paper shows the implementation of miniature sensors for soil moisture measurement and their integration in a root-inspired burrowing growing robot. Three kinds of sensors are combined to estimate the water content in soil: a resistivity sensor composed of two brass electrodes, a commercial air humidity sensor interfaced with the soil by a filter membrane of PTFE with polyester scrim, and an RGB sensor used for visible reflectance spectroscopy. We show their integration and embeddability in a burrowing growing robot based on additive manufacturing with a 4 cm probe diameter. The multimodal sensing strategy has been characterized and tested in clay and sand medium at different water content. Results show that the resistive sensor works in all the tested ranges but is prone to failure due to electrode-soil contact issues. The air humidity sensor works accurately in a range of water content less than 5% (dry conditions), and the RGB sensor works in the 5–20% range. We propose a statistical approach for soil moisture estimation that combines all three technologies and demonstrate that we can accurately predict the water content in our experimental soils, clay and sand, with better performance in clay (Root Mean Square Error, RMSE = 0.38). The proposed miniaturized multimodal sensing strategy can enable long-term, in-situ soil moisture monitoring functionalities in self-deployable robots for precision agriculture and forestry applications.
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Schröder, Wolfgang M. "Robots and Rights: Reviewing Recent Positions in Legal Philosophy and Ethics." In Robotics, AI, and Humanity, 191–203. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-54173-6_16.
Abstract:
AbstractControversies about the moral and legal status of robots and of humanoid robots in particular are among the top debates in recent practical philosophy and legal theory. As robots become increasingly sophisticated, and engineers make them combine properties of tools with seemingly psychological capacities that were thought to be reserved for humans, such considerations become pressing. While some are inclined to view humanoid robots as more than just tools, discussions are dominated by a clear divide: What some find appealing, others deem appalling, i.e. “robot rights” and “legal personhood” for AI systems. Obviously, we need to organize human–robot interactions according to ethical and juridical principles that optimize benefit and minimize mutual harm. Avoiding disrespectful treatment of robots can help to preserve a normative basic ethical continuum in the behaviour of humans. This insight can contribute to inspire an “overlapping consensus” as conceptualized by John Rawls in further discussions on responsibly coordinating human/robot interactions.
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Parriaux, Gabriel, Christophe Reffay, Béatrice Drot-Delange, and Mehdi Khaneboubi. "Teachers’ Knowledge in Informatics—Exploring Educational Robotics Resources Through the Lens of Textual Data Analysis." In Lecture Notes in Computer Science, 126–38. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-44900-0_10.
Abstract:
AbstractIn this research, we are interested in the knowledge of primary and secondary teachers to teach informatics. Using pedagogical resources produced by them as a trace of their enacted Pedagogical Content Knowledge (ePCK), we perform Textual Data Analysis and Clustering to discover the topics they write about. Focusing on resources in educational robotics, we show that lexicon used by teachers is different depending on the robot they use. Reinert’s clustering associates each robot with a separate cluster and a specific vocabulary. Multiple Correspondence Analysis (MCA) shows an opposition between lexicon found in resources using event-driven robots (Thymio and Ozobot) and in resources using sequential robots (Beebot and Bluebot). Event-driven robots tend to be more related with events and behavior notions, as sequential robots tend to be more related with first manipulations of an object and programming notions.
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Ciftci, Olena, and Katerina Berezina. "Exploring Customer Experience with Service Robots in Hospitality and Tourism: Activity Theory Perspective." In Information and Communication Technologies in Tourism 2023, 65–76. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-25752-0_6.
Abstract:
AbstractAddressing a call for theoretical development in human-robot interaction research, this study introduces activity theory to the field of service robots (SRs) in hospitality and tourism. Activity theory was used as the foundation for the conceptual analysis of in-depth interviews with hospitality customers. The results of content analysis of the interviews and future research directions are presented based on each of the service activity system’s components: object (customer experience (CE) with SRs in a hospitality unit), subject (customers), technology (SRs), rules (implementation procedures of SRs), community (customers, other customers, and employees), division of labor (a division of service), outcome (satisfaction, overall experience with hospitality establishments, and behavioral intentions), and context. The study provides future research directions in using activity theory in studies on human-robot interaction and CE with SRs in hospitality and tourism. Robot developers and hospitality professionals can use the data analysis framework proposed in this study to evaluate CE with SRs.
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Spisak, Josua, Matthias Kerzel, and Stefan Wermter. "Clarifying the Half Full or Half Empty Question: Multimodal Container Classification." In Artificial Neural Networks and Machine Learning – ICANN 2023, 444–56. Cham: Springer Nature Switzerland, 2023. http://dx.doi.org/10.1007/978-3-031-44207-0_37.
Abstract:
AbstractMultimodal integration is a key component of allowing robots to perceive the world. Multimodality comes with multiple challenges that have to be considered, such as how to integrate and fuse the data. In this paper, we compare different possibilities of fusing visual, tactile and proprioceptive data. The data is directly recorded on the NICOL robot in an experimental setup in which the robot has to classify containers and their content. Due to the different nature of the containers, the use of the modalities can wildly differ between the classes. We demonstrate the superiority of multimodal solutions in this use case and evaluate three fusion strategies that integrate the data at different time steps. We find that the accuracy of the best fusion strategy is 15% higher than the best strategy using only one singular sense.
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Großmann, Axel, and Riccardo Poli. "Continual Robot Learning with Constructive Neural Networks." In Learning Robots, 95–108. Berlin, Heidelberg: Springer Berlin Heidelberg, 1998. http://dx.doi.org/10.1007/3-540-49240-2_7.
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McNeill, M. D. J., and A. Hutton. "Interactive Control of Robots on the Internet." In Digital Content Creation, 127–39. London: Springer London, 2001. http://dx.doi.org/10.1007/978-1-4471-0293-9_11.
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Fan, Yuchen, Dario Antonelli, and Alessandro Simeone. "Continual Learning Supporting Human-Robot Collaboration." In Technological Innovation for Human-Centric Systems, 85–97. Cham: Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-63851-0_5.
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Bar-Cohen, Yoseph, David Hanson, and Adi Marom. "Ethical Issues and Concerns–Are they going to continue to be with us or will they turn against us?" In The Coming Robot Revolution, 139–57. New York, NY: Springer New York, 2009. http://dx.doi.org/10.1007/978-0-387-85349-9_7.
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Majkić, Zoran. "Strong-AI Autoepistemic Robots Build on Intensional First Order Logic." In AI-generated Content, 33–58. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-7587-7_4.
Conference papers on the topic "Robot continu":
1
Pedrosa, Lehilton Lelis Chaves, and Lucas de Oliveira Silva. "Freeze-Tag Remains NP-hard on Binary and Ternary Trees." In Encontro de Teoria da Computação. Sociedade Brasileira de Computação - SBC, 2023. http://dx.doi.org/10.5753/etc.2023.229327.
Abstract:
The Freeze-Tag Problem (FTP) is a scheduling-like problem motivated by robot swarm activation. The input consists of the locations of a set of mobile robots in some metric space. One robot is initially active, while the others are initially frozen. Active robots can move at unit speed, and upon reaching the location of a frozen robot, the latter is activated. The goal is to activate all the robots within the minimum time, i.e., minimizing the time the last frozen robot is activated, the so-called makespan of the schedule. Arkin et al. proved that FTP is strongly NP-hard even if we restrict the problem to metric spaces arising from the metric closure of an edge-weighted star graph, where a frozen robot is placed on each leaf, and the active robot is placed at the center of this star [Arkin et al. 2002]. In this work, we continue to explore the complexity of FTP and show that it keeps its hardness even if further restricted to binary unweighted rooted trees with frozen robots only at leaves and the active robot on its root. Additionally, we prove that a generalized version, whose domain includes ternary weighted trees, remains hard, even if we require that every non-root node has precisely one frozen robot.
2
Goergen, Yannik, Gianluca Rizzello, Stefan Seelecke, and Paul Motzki. "Modular Design of an SMA Driven Continuum Robot." In ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/smasis2020-2213.
Abstract:
Abstract Due to their unique manipulation capabilities, continuum robots find applications in a variety of different areas, such as medical technology or maintenance and repair. When working with continuum robots, it is often necessary to bend the structure according to complex shapes. This is commonly achieved by arranging several individual modules in series. In this paper, a novel continuum robot concept is presented based on a serial arrangement of SMA (Shape Memory Alloy) wires actuated modules. The key advantage of the described modular continuum robot is the number of connection wires required to control the SMA wires, which is also independent of the number of modules. This feature makes it possible to virtually connect a very large number of serial modules, thus enabling to design continuum robots with arbitrary complexity. After outlining the concept, the mechanical and electrical components required to build one module of such an SMA driven continuum robot are introduced.
3
Sterckx, Peter, and Ian D. Walker. "Modeling and Design Optimization of Robotic Hoses for 3D Printing of Cement." In ASME 2020 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/imece2020-23829.
Abstract:
Abstract Modeling tendon tensions for applications of tendon-actuated continuum robots under significant loading is necessary for sizing motors, tendons, and other components to ensure that the robot can safely support its mass during operation. While models exist that express tendon tensions as a function of continuum robot configuration, previously proposed models do not consider the effects of gravity on tendon tensions. In this paper, we discuss the addition of gravity to a static model previously developed for low-mass tendon-actuated continuum robots. Using the Euler-Lagrange methodology, the potential energy due to gravity is incorporated into the formulation of the equations that describe tendon tensions as a function of robot configuration. Preliminary experimental results reveal the potential of this nonzero-gravity tendon-tension model.
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Pittiglio, Giovanni, Margherita Mencattelli, Abdulhamit Donder, Yash Chitalia, and Pierre E. Dupont. "Workspace Characterization for Hybrid Tendon and Ball Chain Continuum Robots." In THE HAMLYN SYMPOSIUM ON MEDICAL ROBOTICS. The Hamlyn Centre, Imperial College London London, UK, 2023. http://dx.doi.org/10.31256/hsmr2023.14.
Abstract:
Continuum robots have attracted considerable attention for applications in minimally invasive diagnostics and therapeutics over the past decade [1]. The primary reason is their ability to navigate narrow and tortuous anatomical passageways, while guaranteeing safe inter- action with the anatomy. In designing such robots, an important goal is create a robot with a workspace appropriate for the clinical task. A significant limitation of many continuum designs re- lates to the minimum radius of curvature that a particular design can achieve. While multiple bending sections can be concatenated to provide more degrees of freedom, the orientations by which a point in the workspace can be approached are often limited. To overcome this limitation, this paper investigates a hybrid design that combines the advantages of tendon- actuated [2] and magnetic ball chain robots [3] as shown in Fig. 1. In this hybrid design, a proximal tendon- actuated section positions the robot with respect to the goal tip location while a distal ball chain section orients the robot tip with respect to the goal location. This abstract describes how the hybrid kinematics can be modeled and illustrates how the hybrid design possesses a dextrous workspace of finite extent.
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Goergen, Yannik, Romol Chadda, Rouven Britz, Dominik Scholtes, Nataliya Koev, Paul Motzki, Roland Werthschützky, Mario Kupnik, and Stefan Seelecke. "Shape Memory Alloys in Continuum and Soft Robotic Applications." In ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/smasis2019-5610.
Abstract:
Abstract Continuum robots are inspired by biological trunks, snakes and tentacles. Unlike conventional robot manipulators, there are no rigid structures or joints. Advantageous is the ease of miniaturization combined with high dexterity, since limiting components such as bearings or gears can be omitted. Most currently used actuation elements in continuum robots require a large drive unit with electric motors or similar mechanisms. Contrarily, shape memory alloys (SMAs) can be integrated into the actual robot. The actuation is realized by applying current to the wires, which eliminates the need of an additional outside drive unit. In the presented study, SMA actuator wires are used in variously scaled continuum robots. Diameters vary from 1 to 60 mm and the lengths of the SMA driven tentacles range from 75 to 220 mm. The SMAs are arranged on an annulus in a defined distance to the neutral fiber, whereby the used cores vary from superelastic NiTi rods to complex structures and also function as restoring unit. After outlining the theoretical basics for the design of an SMA actuated continuum robot, the design process is demonstrated exemplarily using a guidewire for cardiac catheterizations. Results regarding dynamics and bending angle are shown for the presented guidewire.
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Cheung, Yushing, Jae H. Chung, and Ketula Patel. "Semi-Autonomous Collaborative Control of Multi-Robotic Systems for Multi-Task Multi-Target Pairing." In ASME 2011 International Mechanical Engineering Congress and Exposition. ASMEDC, 2011. http://dx.doi.org/10.1115/imece2011-64699.
Abstract:
In many applications, it is required that heterogeneous multi-robots are grouped to work on multi-targets simultaneously. Therefore, this paper proposes a control method for a single-master multi-slave (SMMS) teleoperator to cooperatively control a team of mobile robots for a multi-target mission. The major components of the proposed control method are the compensation for contact forces, modified potential field based leader-follower formation, and robot-task-target pairing method. The robot-task-target paring method is derived from the proven auction algorithm for a single target and is extended for multi-robot multi-target cases, which optimizes effect-based robot-task-target pairs based on heuristic and sensory data. The robot-task-target pairing method can produce a weighted attack guidance table (WAGT), which contains benefits of different robot-task-target pairs. With the robot-task-target pairing method, subteams are formed by paired robots. The subteams perform their own paired tasks on assigned targets in the modified potential field based leader-follower formation while avoiding sensed obstacles. Simulation studies illustrate system efficacy with the proposed control method.
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Walker, I. D. "Robot strings: Long, thin continuum robots." In 2013 IEEE Aerospace Conference. IEEE, 2013. http://dx.doi.org/10.1109/aero.2013.6496902.
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Gravagne, Ian A., Ian D. Walker, and Christopher D. Rahn. "Large Deflection Dynamics and Control for Planar Continuum Robots." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/vib-21530.
Abstract:
Abstract This paper focuses on a class of robot manipulators termed “continuum” robots — robots that exhibit behavior similar to tentacles, trunks, and snakes. In previous work, we studied details of the mechanical design, kinematics, path-planning and small-deflection dynamics for continuum robots such as the Clemson “Tentacle Manipulator.” In this work, we discuss the dynamics of a planar continuum backbone section, incorporating a large-deflection dynamic model. Based on these dynamics, we formulate a vibration-damping setpoint controller, and include experimental results to illustrate the efficacy of the proposed controller.
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Kannan, Naveen, Niket Shah, Dereje Agonafer, and Alan Bowling. "Design, Optimization and Thermal Analysis of Motor-Controllers in a Quadruped Robot." In ASME 2011 Pacific Rim Technical Conference and Exhibition on Packaging and Integration of Electronic and Photonic Systems. ASMEDC, 2011. http://dx.doi.org/10.1115/ipack2011-52160.
Abstract:
Robot is an electromechanical device or machine which is controlled by computer or electronic programming to perform tasks automatically. Mobile robots in particular have become very popular and are used for numerous applications such as industries, military, factories and for performing many dangerous and inaccessible tasks. Robots generally vary in size from extremely small to large scales. Robot is a costly device and involves complex components / functionalities there by leading to immense heat dissipation. Thermal management of the robot holds the key which contains motor controllers that generate a tremendous amount of heat as it will affect its agility and mechanical reliability. This paper involves the design & cooling techniques of a quadruped robot.
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Angatkina, Oyuna, Kimberly Gustafson, Aimy Wissa, and Andrew Alleyne. "Path Following for the Soft Origami Crawling Robot." In ASME 2019 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dscc2019-9175.
Abstract:
Abstract Extensive growth of the soft robotics field has made possible the application of soft mobile robots for real world tasks such as search and rescue missions. Soft robots provide safer interactions with humans when compared to traditional rigid robots. Additionally, soft robots often contain more degrees of freedom than rigid ones, which can be beneficial for applications where increased mobility is needed. However, the limited number of studies for the autonomous navigation of soft robots currently restricts their application for missions such as search and rescue. This paper presents a path following technique for a compliant origami crawling robot. The path following control adapts the well-known pure pursuit method to account for the geometric and mobility constraints of the robot. The robot motion is described by a kinematic model that transforms the outputs of the pure pursuit into the servo input rotations for the robot. This model consists of two integrated sub-models: a lumped kinematic model and a segmented kinematic model. The performance of the path following approach is demonstrated for a straight-line following simulation with initial offset. Finally, a feedback controller is designed to account for terrain or mission uncertainties.
Reports on the topic "Robot continu":
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Tatlicioglu, E., Ian D. Walker, and Darren M. Dawson. Dynamic Modelling for Planar Extensible Continuum Robot Manipulators. Fort Belvoir, VA: Defense Technical Information Center, January 2006. http://dx.doi.org/10.21236/ada462495.
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Braganza, D., D. M. Dawson, I. D. Walker, and N. Nath. Neural Network Grasping Controller for Continuum Robots. Fort Belvoir, VA: Defense Technical Information Center, January 2006. http://dx.doi.org/10.21236/ada462583.
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LaBonte, Don, Etan Pressman, Nurit Firon, and Arthur Villordon. Molecular and Anatomical Characterization of Sweetpotato Storage Root Formation. United States Department of Agriculture, December 2011. http://dx.doi.org/10.32747/2011.7592648.bard.
Abstract:
Original objectives: Anatomical study of storage root initiation and formation. Induction of storage root formation. Isolation and characterization of genes involved in storage root formation. During the normal course of storage root development. Following stress-induced storage root formation. Background:Sweetpotato is a high value vegetable crop in Israel and the U.S. and acreage is expanding in both countries and the research herein represents an important backstop to improving quality, consistency, and yield. This research has two broad objectives, both relating to sweetpotato storage root formation. The first objective is to understand storage root inductive conditions and describe the anatomical and physiological stages of storage root development. Sweetpotato is propagated through vine cuttings. These vine cuttings form adventitious roots, from pre-formed primordiae, at each node underground and it is these small adventitious roots which serve as initials for storage and fibrous (non-storage) “feeder” roots. What perplexes producers is the tremendous variability in storage roots produced from plant to plant. The marketable root number may vary from none to five per plant. What has intrigued us is the dearth of research on sweetpotato during the early growth period which we hypothesize has a tremendous impact on ultimate consistency and yield. The second objective is to identify genes that change the root physiology towards either a fleshy storage root or a fibrous “feeder” root. Understanding which genes affect the ultimate outcome is central to our research. Major conclusions: For objective one, we have determined that the majority of adventitious roots that are initiated within 5-7 days after transplanting possess the anatomical features associated with storage root initiation and account for 86 % of storage root count at 65 days after transplanting. These data underscore the importance of optimizing the growing environment during the critical storage root initiation period. Water deprivation during this phenological stage led to substantial reduction in storage root number and yield as determined through growth chamber, greenhouse, and field experiments. Morphological characterization of adventitious roots showed adjustments in root system architecture, expressed as lateral root count and density, in response to water deprivation. For objective two, we generated a transcriptome of storage and lignified (non-storage) adventitious roots. This transcriptome database consists of 55,296 contigs and contains data as regards to differential expression between initiating and lignified adventitious roots. The molecular data provide evidence that a key regulatory mechanism in storage root initiation involves the switch between lignin biosynthesis and cell division and starch accumulation. We extended this research to identify genes upregulated in adventitious roots under drought stress. A subset of these genes was expressed in salt stressed plants.
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Lieth, J. Heiner, Michael Raviv, and David W. Burger. Effects of root zone temperature, oxygen concentration, and moisture content on actual vs. potential growth of greenhouse crops. United States Department of Agriculture, January 2006. http://dx.doi.org/10.32747/2006.7586547.bard.
Abstract:
Soilless crop production in protected cultivation requires optimization of many environmental and plant variables. Variables of the root zone (rhizosphere) have always been difficult to characterize but have been studied extensively. In soilless production the opportunity exists to optimize these variables in relation to crop production. The project objectives were to model the relationship between biomass production and the rhizosphere variables: temperature, dissolved oxygen concentration and water availability by characterizing potential growth and how this translates to actual growth. As part of this we sought to improve of our understanding of root growth and rhizosphere processes by generating data on the effect of rhizosphere water status, temperature and dissolved oxygen on root growth, modeling potential and actual growth and by developing and calibrating models for various physical and chemical properties in soilless production systems. In particular we sought to use calorimetry to identify potential growth of the plants in relation to these rhizosphere variables. While we did experimental work on various crops, our main model system for the mathematical modeling work was greenhouse cut-flower rose production in soil-less cultivation. In support of this, our objective was the development of a Rose crop model. Specific to this project we sought to create submodels for the rhizosphere processes, integrate these into the rose crop simulation model which we had begun developing prior to the start of this project. We also sought to verify and validate any such models and where feasible create tools that growers could be used for production management. We made significant progress with regard to the use of microcalorimetry. At both locations (Israel and US) we demonstrated that specific growth rate for root and flower stem biomass production were sensitive to dissolved oxygen. Our work also identified that it is possible to identify optimal potential growth scenarios and that for greenhouse-grown rose the optimal root zone temperature for potential growth is around 17 C (substantially lower than is common in commercial greenhouses) while flower production growth potential was indifferent to a range as wide as 17-26C in the root zone. We had several set-backs that highlighted to us the fact that work needs to be done to identify when microcalorimetric research relates to instantaneous plant responses to the environment and when it relates to plant acclimation. One outcome of this research has been our determination that irrigation technology in soilless production systems needs to explicitly include optimization of oxygen in the root zone. Simply structuring the root zone to be “well aerated” is not the most optimal approach, but rather a minimum level. Our future work will focus on implementing direct control over dissolved oxygen in the root zone of soilless production systems.
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Kapulnik, Yoram, and Donald A. Phillips. Isoflavonoid Regulation of Root Bacteria. United States Department of Agriculture, January 1996. http://dx.doi.org/10.32747/1996.7570561.bard.
Abstract:
The overall objective of this project was to develop a conceptual framework for enhancing root colonization by beneficial bacteria. To accomplish this aim we tested the hypothesis that production and excretion of the plant phytoalexin medicarpin can be used for creation of a special niche along the legume roots, where beneficial microorganism, such as rhizobium, will have a selective advantage. On the Israeli side it was shown that higher medicarpin levels are exuded following the application of Rhizobium meliloti to the rhizosphere but the specific biochemical pathway governing medicarpin production was not induced significantly enough to support a constant production and excretion of this molecule to the rhizosphere. Furthermore, pathogenic bacteria and chemical elicitors were found to induce higher levels of this phytoalexin and it became important to test its natural abundance in field grown plants. On the US side, the occurrence of flavonoids and nucleosides in agricultural soils has been evaluated and biologically significant quantities of these molecules were identified. A more virulent Agrobacterium tumefaciens strain was isolated from alfalfa (Medicago sativa L.) which forms tumors on a wide range of plant species. This isolate contains genes that increase competitive colonization abilities on roots by reducing the accumulation of alfalfa isoflavonoids in the bacterial cells. Following gene tagging efforts the US lab found that mutation in the bacterial efflux pump operons of this isolate reduced its competitive abilities. This results support our original hypothesis that detoxification activity of isoflavenoids molecules, based on bacterial gene(s), is an important selection mechanism in the rhizosphere. In addition, we focused on biotin as a regulatory element in the rhizosphere to support growth of some rhizosphere microorganisms and designed a bacterial gene construct carrying the biotin-binding protein, streptavidin. Expressing this gene in tobacco roots did not affect the biotin level but its expression in alfalfa was lethal. In conclusion, the collaborative combination of basic and applied approaches toward the understanding of rhizosphere activity yielded new knowledge related to the colonization of roots by beneficial microorganisms in the presence of biological active molecules exuded from the plant roots.
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Calvo, Cristina, Laura Ripani, José Manuel Salazar-Xirinachs, Marcelo Cabrol, Walter Sosa Escudero, Diego Aboal, Inmaculada Martínez-Zarzoso, et al. Integration and Trade Journal: Volume 21: No. 42: August, 2017: Robot-lución: The future of work in Latin American Integration 4.0. Inter-American Development Bank, August 2017. http://dx.doi.org/10.18235/0008316.
Abstract:
This new edition contains the work of over 40 experts from different parts of the world, who analyze the risks that automation may pose to work and how this may affect integration and employment. More than 40 global experts imagine the future of work and integration of Latin America in the new edition of INTAL-IDB's Integration and Trade magazine.
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Zhang, Xingyu, Matteo Ciantia, Jonathan Knappett, and Anthony Leung. Micromechanical study of potential scale effects in small-scale modelling of sinker tree roots. University of Dundee, December 2021. http://dx.doi.org/10.20933/100001235.
Abstract:
When testing an 1:N geotechnical structure in the centrifuge, it is desirable to choose a large scale factor (N) that can fit the small-scale model in a model container and avoid unwanted boundary effects, however, this in turn may cause scale effects when the structure is overscaled. This is more significant when it comes to small-scale modelling of sinker root-soil interaction, where root-particle size ratio is much lower. In this study the Distinct Element Method (DEM) is used to investigate this problem. The sinker root of a model root system under axial loading was analysed, with both upward and downward behaviour compared with the Finite Element Method (FEM), where the soil is modelled as a continuum in which case particle-size effects are not taken into consideration. Based on the scaling law, with the same prototype scale and particle size distribution, different scale factors/g-levels were applied to quantify effects of the ratio of root diameter (𝑑𝑟) to mean particle size (𝐷50) on the root rootsoil interaction.
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Pellet, Philippe. Understanding the 2020-2021 Tigray Conflict in Ethiopia : Background, Root Causes, and Consequences. Külügyi és Külgazdasági Intézet, 2021. http://dx.doi.org/10.47683/kkielemzesek.ke-2021.39.
Abstract:
The military offensive unleashed on 4 November, 2020 by the central government in Addis Ababa against the regional state of Tigray is the culmination of escalating tensions between Prime Minister Abiy Ahmed, in power since 2018, and the Tigray People’s Liberation Front (TPLF). Ethiopian federal troops, supported by the military forces of Amhara regional state and the Eritrean army, quickly occupied the main towns in Tigray by late November 2020, but Tigrayan forces retained control of large areas, particularly in the mountainous regions, where fighting continued. An offensive launched in June 2021 by the Tigrayan forces resulted in the recapture of the main towns, including Tigray’s capital Mekelle, leading the Ethiopian government to declare a unilateral ceasefire. There are numerous testimonies on major abuses and killings of civilians and clerics by the occupying forces, as well as looting of key infrastructure, leading to a major humanitarian crisis. Humanitarian aid has been hampered by continued fighting and access restrictions. The ceasefire raised hopes that massive humanitarian aid can finally be delivered, but statements made by Abiy Ahmed in June 2021, denying the existence of famine in Tigray and accusing aid organizations of supporting Tigrayan rebels, raise fears that the government’s strategy may be to maintain a blockade of Tigray, further exacerbating an already catastrophic humanitarian situation. In addition to analysing the immediate causes and consequences, this study also shows that this conflict has its roots in the long history of a country composed of more than 80 ethnic groups.
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Cardellina II, John. Turmeric Raw Material and Products Laboratory Guidance Document. ABC-AHP-NCNPR Botanical Adulterants Prevention Program, March 2020. http://dx.doi.org/10.59520/bapp.lgd/wcyh6498.
Abstract:
Turmeric (Curcuma longa L.) dietary supplements, including standardized or partially purified extracts with high concentrations of curcumin, have enjoyed sustained sales growth in the United States over the past 5-6 years, while turmeric powder continues to be an important spice, flavor, and colorant in many regions of the world. There is considerable evidence that both powdered root and rhizome, as well as root and rhizome extracts, have been subjected to adulteration. This document should be viewed in relation to the corresponding Botanical Adulterants Prevention Bulletin on turmeric published by the ABC-AHP-NCNPR Botanical Adulterants Prevention Program.
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Orth. L51762 Investigation of Fatigue Properties of Girth Welds with Root Imperfections Allowed. Chantilly, Virginia: Pipeline Research Council International, Inc. (PRCI), January 1997. http://dx.doi.org/10.55274/r0010233.
Abstract:
Fatigue analysis of welded components and structures according to established codes is based upon either S-N design curves or fracture mechanics principles. Fatigue damage in nominally sound joints is commonly estimated using an appropriate S-N curve in conjunction with a linear cumulative damage rule (i.e., Miner"s rule). By comparison, fracture mechanics is used to assess the growth of an imperfection during a period of cyclic loading, or to assess whether an imperfection will remain dormant under the applied cyclic loading condition. Thus, the S-N approach is used mostly during initial design, while the fracture mechanics approach is used mostly to justify the continued operation of existing structures. As the aim of this investigation is the rationalization of certain features of API-1104, an initial design code, the S-N approach was used here. The work described in this report was aimed at determining the effect of root imperfections allowed by API 1104 on the fatigue properties of girth welds, and to recommend a S-N curve appropriate for girth welds in pipelines. S-N curves were developed for single-sided girth welds without a backing strip using pipe strip specimens containing various sizes of incomplete root penetration and lack-of-root sidewall fusion.