Articoli di riviste: "Cable manipulation"

1

Almaghout, Karam, e Alexandr Klimchik. "Manipulation Planning for Cable Shape Control". Robotics 13, n. 1 (17 gennaio 2024): 18. http://dx.doi.org/10.3390/robotics13010018.

Testo completo

Abstract (sommario):

The control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual robotic arms on a two–dimensional plane. A discrete point model is utilized for the cable, and a path generation algorithm is developed to define intermediate cable shapes, facilitating the transformation of the cable into the desired profile through a formulated optimization problem. The problem aims to minimize the discrepancy between the cable configuration and the targeted shape to ensure an accurate and stable deformation process. Moreover, a cable dynamic model is developed in which the manipulation approach is validated using this model. Additionally, the approach is tested in a simulation environment in which a framework of two manipulators grasps a cable. The results demonstrate the feasibility and accuracy of the proposed method, offering a promising direction for robotic manipulation of cables.

Gli stili APA, Harvard, Vancouver, ISO e altri

2

Nozaki, Kyoto, Changjian Ying, Yuichiro Matsuura e Kimitoshi Yamazaki. "Manipulation Planning for Wiring Connector-Attached Cables Considering Linear Object’s Deformability". International Journal of Automation Technology 17, n. 4 (5 luglio 2023): 399–409. http://dx.doi.org/10.20965/ijat.2023.p0399.

Testo completo

Abstract (sommario):

In this paper, we propose a method of manipulation planning for cable wiring. The method enables to take into account the deformation of cables while connector incorporation process. Using a physical simulation that predicts the shape of a cable based on the pose of both ends of the cable, we generate a connector moving path that avoids intereference between the cable and surrounding structures. We conducted experiments under several different environments and several different lengths of cables, and confirmed that actual cable manipulation can stably be achieved by using the proposed method.

Gli stili APA, Harvard, Vancouver, ISO e altri

3

Sanchez, Daniel, Weiwei Wan e Kensuke Harada. "Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer". Robotics 9, n. 1 (6 marzo 2020): 11. http://dx.doi.org/10.3390/robotics9010011.

Testo completo

Abstract (sommario):

Handling and maneuvering tools across a robot workspace is a challenging task that often requires the implementation of constrained motion planning. In the case of wired or tethered tools, their maneuvering becomes considerably harder by the tool cable. If the cable presence is not considered, the robot motions may make the cable become entangled with the robot arms or elements of its workspace, causing accidents or unnecessary strain on the robot and the tool. Furthermore, the behavior of the tool cable during manipulation and its degree of entanglement around the robot are difficult to predict. The present paper introduces a constrained manipulation planner for dual-armed tethered tool manipulation involving tool re-grasping. Our solution employs a tool balancer to straighten the tool cable and facilitate the cable deformation problem. The planner predicts the cable states during manipulation and restricts the robot motions in order to avoid cable entanglements and collisions while performing tool re-posing tasks. Furthermore, the planner also applies orientational constraints to limit the cable bending, reducing the torque and stress suffered by the robot due to the cable tension. Simulations and real-world experiments validated the presented method.

Gli stili APA, Harvard, Vancouver, ISO e altri

4

Cho, Gun-Rae, Geonhui Ki, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim e Ji-Hong Li. "Experimental Study on Tele-Manipulation Assistance Technique Using a Touch Screen for Underwater Cable Maintenance Tasks". Journal of Marine Science and Engineering 9, n. 5 (30 aprile 2021): 483. http://dx.doi.org/10.3390/jmse9050483.

Testo completo

Abstract (sommario):

In underwater environments restricted from human access, many intervention tasks are performed by using robotic systems like underwater manipulators. Commonly, the robotic systems are tele-operated from operating ships; the operation is apt to be inefficient because of restricted underwater information and complex operation methods. In this paper, an assistance technique for tele-manipulation is investigated and evaluated experimentally. The key idea behind the assistance technique is to operate the manipulator by touching several points on the camera images. To implement the idea, the position estimation technique utilizing the touch inputs is investigated. The assistance technique is simple but significantly helpful to increase temporal efficiency of tele-manipulation for underwater tasks. Using URI-T, a cable burying ROV (Remotely Operated Vehicle) developed in Korea, the performance of the proposed assistance technique is verified. The underwater cable gripping task, one of the cable maintenance tasks carried out by the cable burying ROV, is employed for the performance evaluation, and the experimental results are analyzed statistically. The results show that the assistance technique can improve the efficiency of the tele-manipulation considerably in comparison with the conventional tele-operation method.

Gli stili APA, Harvard, Vancouver, ISO e altri

5

Gebauer, Daniel, Jonas Dirr, Luca Martin e Rüdiger Daub. "Grasp Analysis for the Robot-Based Manipulation of Pre-Assembled Cables with Electrical Connectors". Applied Sciences 13, n. 11 (25 maggio 2023): 6462. http://dx.doi.org/10.3390/app13116462.

Testo completo

Abstract (sommario):

The mounting of pre-assembled cables with electrical connectors is mainly carried out manually in industry today. An exemplary application is the interconnection of battery modules. Automation of such assembly tasks offers the potential for increasing efficiency but requires the design of suitable gripper systems. This is challenging as the cable induces state-dependent forces and torques on the gripper system, which must be transmitted via the complex surface geometries of the plugs. Currently, the required grasp force cannot be determined in advance but only after prototypes have been manufactured and with elaborate physical experiments. To overcome these drawbacks, we present a methodology for the grasp analysis of pre-assembled cables with electrical connectors. The novelty of this approach is to combine a physics simulation for deformable linear objects with a contact model for non-planar grasping surfaces. The results indicate that the cable deformation significantly affects the required grasp force. In addition, each combination of contact surface and dynamic cable deformation results in an individual grasp force course. The methodology enables comparison of different electrical connectors and their grasping surfaces, as well as cables and their manipulation paths, efficiently and with little expert knowledge.

Gli stili APA, Harvard, Vancouver, ISO e altri

6

Zhou, Xiaobo, Seung-kook Jun e Venkat Krovi. "Tension distribution shaping via reconfigurable attachment in planar mobile cable robots". Robotica 32, n. 2 (27 novembre 2013): 245–56. http://dx.doi.org/10.1017/s0263574713001008.

Testo completo

Abstract (sommario):

SUMMARYTraditional cable robots derive their manipulation capabilities using spooling winches at fixed base locations. In our previous work, we examined enhancing manipulation capabilities of cable robots by the addition of base mobility to spooling winches (allowing a group of mobile robots to cooperatively manipulate a payload using cables). Base mobility facilitated the regulation of the tension-direction (via active coordination of mobile bases) and allowed for better conditioning of the wrench-feasible workspace. In this paper we explore putting idler pulleys on the payload attachment as alternate means to simplify the design and enable practical deployment. We examine analysis of the system using ellipse geometry and develop a virtual cable-subsystem formulation (which also facilitates subsumption into the previously developed mobile cable robot analysis framework). We also seek improvement of the tension distribution by utilizing configuration space redundancy to shape the tension null space. This tension distribution shaping is implemented in the form of a tension factor optimization problem over the workspace and explored via both simulation and experimental studies.

Gli stili APA, Harvard, Vancouver, ISO e altri

7

Almaghout, K., e A. Klimchik. "Vision-Based Robotic Comanipulation for Deforming Cables". Nelineinaya Dinamika 18, n. 5 (2022): 0. http://dx.doi.org/10.20537/nd221213.

Testo completo

Abstract (sommario):

Although deformable linear objects (DLOs), such as cables, are widely used in the majority of life fields and activities, the robotic manipulation of these objects is considerably more complex compared to the rigid-body manipulation and still an open challenge. In this paper, we introduce a new framework using two robotic arms cooperatively manipulating a DLO from an initial shape to a desired one. Based on visual servoing and computer vision techniques, a perception approach is proposed to detect and sample the DLO as a set of virtual feature points. Then a manipulation planning approach is introduced to map between the motion of the manipulators end effectors and the DLO points by a Jacobian matrix. To avoid excessive stretching of the DLO, the planning approach generates a path for each DLO point forming profiles between the initial and desired shapes. It is guaranteed that all these intershape profiles are reachable and maintain the cable length constraint. The framework and the aforementioned approaches are validated in real-life experiments.

Gli stili APA, Harvard, Vancouver, ISO e altri

8

Li, Changquing, e Christopher D. Rahn. "Design of Continuous Backbone, Cable-Driven Robots". Journal of Mechanical Design 124, n. 2 (16 maggio 2002): 265–71. http://dx.doi.org/10.1115/1.1447546.

Testo completo

Abstract (sommario):

Continuous backbone robots driven by cables have many potential applications in dexterous manipulation for manufacturing and space environments. Design of these robots requires specification of a stiff yet bendable backbone, selection of cable support heights and spacings, and development of a cable drive system. The robot arm divides into sections that are subdivided into segments bounded by cable supports. Cable pairs attach to the end of each section and provide two axis bending. Thus, with many sections, the arm can be bent into complex shapes to allow redundant positioning of the end effector payload. The kinematics of the entire arm are determined from the segment kinematics. This paper derives and numerically solves the nonlinear kinematics for a single segment of a continuous backbone robot. Optimal spacing of the cable supports maximizes displacement, load capacity, and simplicity of the robot kinematics. An experimental system verifies the theoretically predicted performance.

Gli stili APA, Harvard, Vancouver, ISO e altri

9

Estevez, Julian, Gorka Garate, Jose Manuel Lopez-Guede e Mikel Larrea. "Review of Aerial Transportation of Suspended-Cable Payloads with Quadrotors". Drones 8, n. 2 (25 gennaio 2024): 35. http://dx.doi.org/10.3390/drones8020035.

Testo completo

Abstract (sommario):

Payload transportation and manipulation by rotorcraft drones are receiving a lot of attention from the military, industrial and logistics research areas. The interactions between the UAV and the payload, plus the means of object attachment or manipulation (such as cables or anthropomorphic robotic arms), may be nonlinear, introducing difficulties in the overall system performance. In this paper, we focus on the current state of the art of aerial transportation systems with suspended loads by a single UAV and a team of them and present a review of different dynamic cable models and control systems. We cover the last sixteen years of the existing literature, and we add a discussion for evaluating the main trends in the referenced research works.

Gli stili APA, Harvard, Vancouver, ISO e altri

10

Lin, J., CS Huang e J. Chang. "A mechatronic kit with a control methodology for a modualized cable-suspended robot". Journal of Vibration and Control 22, n. 20 (10 agosto 2016): 4211–26. http://dx.doi.org/10.1177/1077546315573905.

Testo completo

Abstract (sommario):

Cable-suspended robots are categorized as a type of parallel manipulator that has recently attracted interest in terms of manipulation tasks. The main goal of this paper is to develop a novel mechatronic kit with a control methodology for a modularized cable-suspended robot. The advantages of such system owns modular and reconfigurable over conventional robots. In addition, position and orientation of the end-effector is forced toward the desired values by control of cable lengths. Hence, the new approach for forward and inverse kinematic calculation procedure based on the change of the cable lengths is used to measure the position and orientation of the mobile platform. Furthermore, the input shaping algorithm is implemented for point-to-point control purposes. The modified input shaping uses the s curve command (S-type) to offer superior performance than conventional trapezoidal command (T-type) in point-to-point positioning control. Experimental validation demonstrates the cable oscillation suppression effectiveness of the proposed S-type input shaping control command.

Gli stili APA, Harvard, Vancouver, ISO e altri

11

Jeong, Donghwa, e Kiju Lee. "Design and analysis of an origami-based three-finger manipulator". Robotica 36, n. 2 (7 settembre 2017): 261–74. http://dx.doi.org/10.1017/s0263574717000340.

Testo completo

Abstract (sommario):

SUMMARYThis paper describes a new robotic manipulator with three fingers based on an origami twisted tower design. The design specifications, kinematic description, and results from the stiffness and durability tests for the selected origami design are presented. The robotic arm is made of a 10-layer twisted tower, actuated by four cables with pulleys driven by servo motors. Each finger is made of a smaller 11-layer tower and uses a single cable directly attached to a servo motor. The current hardware setup supports vision-based autonomous control and internet-based remote control in real time. For preliminary evaluation of the robot's object manipulation capabilities, arbitrary objects with varying weights, sizes, and shapes (i.e., a shuttlecock, an egg shell, a paper cub, and a cubic block) were selected and the rate of successful grasping and lifting for each object was measured. In addition, an experiment comparing a rigid gripper and the new origami-based manipulator revealed that the origami structure in the fingers absorbs the excessive force applied to the object through force distribution and structural deformation, demonstrating its potential applications for effective manipulation of fragile objects.

Gli stili APA, Harvard, Vancouver, ISO e altri

12

Sanchez, Daniel, Weiwei Wan e Kensuke Harada. "Tethered Tool Manipulation Planning With Cable Maneuvering". IEEE Robotics and Automation Letters 5, n. 2 (aprile 2020): 2777–84. http://dx.doi.org/10.1109/lra.2020.2974675.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

13

Chang, Peng, e Taşkın Padır. "Model-Based Manipulation of Linear Flexible Objects: Task Automation in Simulation and Real World". Machines 8, n. 3 (8 agosto 2020): 46. http://dx.doi.org/10.3390/machines8030046.

Testo completo

Abstract (sommario):

Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Common deformable objects (e.g., wires, clothes, bed sheets, etc.) are significantly more difficult to model than rigid objects. In this research, we contribute to the model-based manipulation of linear flexible objects such as cables. We propose a 3D geometric model of the linear flexible object that is subject to gravity and a physical model with multiple links connected by revolute joints and identified model parameters. These models enable task automation in manipulating linear flexible objects both in simulation and real world. To bridge the gap between simulation and real world and build a close-to-reality simulation of flexible objects, we propose a new strategy called Simulation-to-Real-to-Simulation (Sim2Real2Sim). We demonstrate the feasibility of our approach by completing the Plug Task used in the 2015 DARPA Robotics Challenge Finals both in simulation and real world, which involves unplugging a power cable from one socket and plugging it into another. Numerical experiments are implemented to validate our approach.

Gli stili APA, Harvard, Vancouver, ISO e altri

14

Ding, Li, Guibing Zhu, Yangmin Li e Yaoyao Wang. "Cable-Driven Unmanned Aerial Manipulator Systems for Water Sampling: Design, Modeling, and Control". Drones 7, n. 7 (6 luglio 2023): 450. http://dx.doi.org/10.3390/drones7070450.

Testo completo

Abstract (sommario):

The unmanned aerial manipulator (UAM) is a kind of aerial robot that combines a quadrotor aircraft and an onboard manipulator. This paper focuses on the problems of structure design, system modeling, and motion control of an UAM applied for water sampling. A novel, light, cable-driven UAM has been designed. The drive motors installed in the base transmit the force and motion remotely through cables, which can reduce the inertia ratio of the manipulator. The Newton–Euler method and Lagrangian method are adopted to establish the quadrotor model and manipulator model, respectively. External disturbances, model uncertainty, and joint flexibility are also accounted for in the two submodels. The quadrotor and manipulator are controlled separately to ensure the overall accurate aerial operation of the UAM. Specifically, a backstepping control method is designed with the disturbance observer (BC-DOB) technique for the position loop and attitude loop control of the quadrotor. A backstepping integral fast terminal sliding mode control based on the linear extended state observer (BIFTSMC-LESO) has been developed for the manipulator to provide precise manipulation. The DOB and LESO serve as compensators to estimate the external disturbances and model uncertainty. The Lyapunov theory is used to ensure the stability of the two controllers. Three simulation cases are conducted to test the superior performance of the proposed quadrotor controller and manipulator controller. All the results show that the proposed controllers provide better performances than other traditional controllers, which can complete the task of water quality sampling well.

Gli stili APA, Harvard, Vancouver, ISO e altri

15

Kim, Hyeonjin, e Jinhyun Kim. "Prediction of Cable Behavior Using Finite Element Analysis Results for Flexible Cables". Sensors 23, n. 12 (19 giugno 2023): 5707. http://dx.doi.org/10.3390/s23125707.

Testo completo

Abstract (sommario):

In actual industrial sites, verifying the framework for cable manipulation is crucial. Therefore, it is necessary to simulate the deformation of the cable to predict its behavior accurately. By simulating the behavior in advance, it is possible to reduce the time and cost required for work. Although finite element analysis is used in various fields, the results may differ from the actual behavior depending on the method of defining the analysis model and analysis conditions. This paper aims to select appropriate indicators that can effectively cope with finite element analysis and experiments during cable winding work. We perform finite element analysis of the behavior of flexible cables and compare the analysis results with results from experiments. Despite some differences between the experimental and analysis outcomes, an indicator was developed through trial and error to align the two cases. Errors occurred during the experiments depending on the analysis and experimental conditions. To address this, weights were derived through optimization to update the cable analysis results. Additionally, deep learning was utilized to update the errors caused by material properties using the weights. This allowed for finite element analysis even when the exact physical properties of the material were unknown, ultimately improving the analysis performance.

Gli stili APA, Harvard, Vancouver, ISO e altri

16

Ding, Yi, Feng Niu, Shi Min Zhang e Jin Jun Zhang. "Simulation of Hydraulic Characteristic of Injecting Cable into Coiled Tubing". Applied Mechanics and Materials 644-650 (settembre 2014): 1682–88. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.1682.

Testo completo

Abstract (sommario):

In order to control and monitor downhole equipment, it is needed to inject cable into coiled tubing. Being directly against the drawback of the traditional injecting method, a new method of adding pressurized water has been put forward. By using Workbench software, this paper researched the regular pattern that water flow’s pressureaffects cable in coiled tubing after it has various deformations in both entrance and main part of coiled tubing, taking 25mm diameter coiled tubing with 3mm diameter cable as an example. It also simulated the effects of water flow toward cable in coiled tubing as well as how the different diverging distances of entrance for injection affects the speed of cable during injection, taking 50.8mm diameter coiled tubing with 5.6 mm diameter cable as an example. It determined the optimal position of cable entrance and provided the theoretic foundation for the possibility and practical manipulation of the new method for injecting cable into coiled tubing.

Gli stili APA, Harvard, Vancouver, ISO e altri

17

TOZUKA, Keisuke, e Hiroshi IGARASHI. "Elimination Method of Manipulation Resistance for Cable-driven Haptic Interface". Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP 2020 (2020): 1D04. http://dx.doi.org/10.1299/jsmeiip.2020.1d04.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

18

ABE, Akira, e Misato OGURA. "211 Vibration Control for a Pendulum via Cable-Length Manipulation". Proceedings of the Dynamics & Design Conference 2010 (2010): _211–1_—_211–4_. http://dx.doi.org/10.1299/jsmedmc.2010._211-1_.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

19

Nguyen, Van Pho, Wai Tuck Chow, Sunil Bohra Dhyan, Bohan Zhang, Boon Siew Han e Hong Yee Alvin Wong. "Low-Cost Cable-Driven Robot Arm with Low-Inertia Movement and Long-Term Cable Durability". Robotics 13, n. 9 (27 agosto 2024): 128. http://dx.doi.org/10.3390/robotics13090128.

Testo completo

Abstract (sommario):

Our study presents a novel design for a cable-driven robotic arm, emphasizing low cost, low inertia movement, and long-term cable durability. The robotic arm shares similar specifications with the UR5 robotic arm, featuring a total of six degrees of freedom (DOF) distributed in a 1:1:1:3 ratio at the arm base, shoulder, elbow, and wrist, respectively. The three DOF at the wrist joints are driven by a cable system, with heavy motors relocated from the end-effector to the shoulder base. This repositioning results in a lighter cable-actuated wrist (weighing 0.8 kg), which enhances safety during human interaction and reduces the torque requirements for the elbow and shoulder motors. Consequently, the overall cost and weight of the robotic arm are reduced, achieving a payload-to-body weight ratio of 5:8.4 kg. To ensure good positional repeatability, the shoulder and elbow joints, which influence longer moment arms, are designed with a direct-drive structure. To evaluate the design’s performance, tests were conducted on loading capability, cable durability, position repeatability, and manipulation. The tests demonstrated that the arm could manipulate a 5 kg payload with a positional repeatability error of less than 0.1 mm. Additionally, a novel cable tightener design was introduced, which served dual functions: conveniently tightening the cable and reducing the high-stress concentration near the cable locking end to minimize cable loosening. When subjected to an initial cable tension of 100 kg, this design retained approximately 80% of the load after 10 years at a room temperature of 24 °C.

Gli stili APA, Harvard, Vancouver, ISO e altri

20

Masoud, Ziyad N. "Oscillation Control of Quay-Side Container Cranes Using Cable-Length Manipulation". Journal of Dynamic Systems, Measurement, and Control 129, n. 2 (26 luglio 2006): 224–28. http://dx.doi.org/10.1115/1.2432362.

Testo completo

Abstract (sommario):

Cranes play a very important role in the shipping industry. As a result there is an increasing demand on faster and safer cranes. Inertial forces on crane payloads due to crane-commanded trajectories can cause payloads to experience large sway oscillations. Consequently, sway control on quay-side container cranes is becoming a requirement rather than a luxury. Some modern quay-side container cranes use independent front and rear hoisting cables. This degree of freedom can be utilized to control payload sway oscillations. In this work, a delayed feedback algorithm is used to produce a controlled differential change in the length of the front and rear hoisting cables of a typical quay-side container crane to reduce payload sway.

Gli stili APA, Harvard, Vancouver, ISO e altri

21

Zhang, Deyang, Bo Cheng e Zhiyong Yue. "Design and analysis of cable-driven mechanical gripper for complex manipulation". Journal of Physics: Conference Series 1601 (luglio 2020): 022048. http://dx.doi.org/10.1088/1742-6596/1601/2/022048.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

22

Gungor, G., M. H. Turhan, H. Jamshidifar e B. Fidan. "Online Estimation and Compensation of Friction in Industrial Cable Robot Manipulation". IFAC-PapersOnLine 48, n. 3 (2015): 1332–37. http://dx.doi.org/10.1016/j.ifacol.2015.06.270.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

23

Feng, Fei, Yi Wei Liu, Hong Liu e He Gao Cai. "The Design and Comparison Study on the Large-Scale End-Effector of Large Space Manipulator". Advanced Materials Research 308-310 (agosto 2011): 2095–103. http://dx.doi.org/10.4028/www.scientific.net/amr.308-310.2095.

Testo completo

Abstract (sommario):

The space manipulator which is mounted on a space structure or spacecraft to manipulate space payloads is important for the on-orbit-servicing. Its manipulation tasks depend on its end-effector. The flexibility of the large space manipulator will result in residual vibration on its tip, and let the manipulator have poor capability of end positioning. To overcome the drawbacks mentioned-above, the end-effector needs strong capability of misalignment tolerance and soft capturing. On the base of these requirements and analysis, two kinds of end-effector schemes are presented and designed in detail. The essential performances are in comparison based on the results of dynamic simulations and experiments. Consequently, the conclusion is drawn that the steel cable-snared end-effector which captures the interface by winding the grapple fixture probe, is the best scheme that can combine the ability of soft capturing and great misalignment tolerance perfectly.

Gli stili APA, Harvard, Vancouver, ISO e altri

24

Gu, Jinjing, e Zhibo Wang. "Influence of Vehicle Wake on the Control of Towed Systems". Applied Sciences 14, n. 11 (6 giugno 2024): 4944. http://dx.doi.org/10.3390/app14114944.

Testo completo

Abstract (sommario):

The hydrodynamic wake generated by the underwater vehicle’s motion has a considerable impact on the movement of the towed system underwater. This paper utilizes the lumped mass method to model the towed cable in order to improve the accuracy of predicting its position and attitude in the wake, and to determine the suitable cable-towed position. Velocity is transferred from the flow field to the cable dynamic model in an innovative way to imitate the motion of the cable. Several iterations are conducted to enhance the dynamic reactivity of the cable system. Numerical simulations are used to model both the straight towed and turning movements. The numerical calculation provides the characteristics of vorticity in the flow field formed by the energy exchange between the vorticity and the cable, as well as the gradually dissipating vorticity and momentum exchange characteristics at the trailing edge of the enclosure. The results indicate that the best location for the cable towed is where its motion does not cause any adhesion. On the other hand, the disadvantageous scenario for cable-towed systems occurs when the cable’s movement causes substantial adhesion. This paper innovatively establishes a model of mechanical energy exchange, describes the characteristics of energy exchange between the cable and fluid dynamics, and divides the four regions of cable motion. In the manipulation state, the dynamic energy exchange between the cable and the wake results in the transient vibration response of the cable. The fluid structure coupling method can accurately determine the separation region of the towed point of the vehicle based on its compatibility (non-adhesive) and incompatibility (adhesive). The boundary of the region is defined to distinguish a free tow point from a wall-attached tow point. A transition zone has the possibility to change the pattern from a free tow to a wall-attached tow. The wake can be divided into free tow region, transition zone, and adjacent wall tow region by this fluid structure interaction assessment method.

Gli stili APA, Harvard, Vancouver, ISO e altri

25

Cho, Gun Rae, Geonhui Ki e Ji-Hong Li. "Touch Screen Based Assistance Technique for Underwater Manipulation of Cable Burying ROV". Journal of the Korean Society for Precision Engineering 36, n. 4 (1 aprile 2019): 349–61. http://dx.doi.org/10.7736/kspe.2019.36.4.349.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

26

Seriani, S., P. Gallina e A. Wedler. "A modular cable robot for inspection and light manipulation on celestial bodies". Acta Astronautica 123 (giugno 2016): 145–53. http://dx.doi.org/10.1016/j.actaastro.2016.03.020.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

27

QIN, Yili, Adrien ESCANDE e Eiichi YOSHIDA. "Dual-arm Cable Manipulation by Whole-body Control of a Humanoid Robot". Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (2018): 2A2—H11. http://dx.doi.org/10.1299/jsmermd.2018.2a2-h11.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

28

La Vigne, Hughes, Guillaume Charron, David Rancourt e Alexis Lussier Desbiens. "The Mamba: A Suspended Manipulator to Sample Plants in Cliff Environments". Drones 8, n. 4 (3 aprile 2024): 139. http://dx.doi.org/10.3390/drones8040139.

Testo completo

Abstract (sommario):

Conservation efforts in cliff habitats pose unique challenges due to their inaccessibility, limiting the study and protection of rare endemic species. This project introduces a novel approach utilizing aerial manipulation through a suspended manipulator attached with a cable under a drone to address these challenges. Unlike existing solutions, the Mamba provides a horizontal reach up to 8 m to approach cliffs while keeping the drone at a safe distance. The system includes a model-based control system relying solely on an inertial measurement unit (IMU), reducing sensor requirements and computing power to minimize overall system mass. This article presents novel contributions such as a double pendulum dynamic modeling approach and the development and evaluation of a precise control system for sampling operations. Indoor and outdoor tests demonstrate the effectiveness of the suspended aerial manipulator in real-world environments allowing the collection of 55 samples from 28 different species. This research signifies a significant step toward enhancing the efficiency and safety of conservation efforts in challenging cliff habitats.

Gli stili APA, Harvard, Vancouver, ISO e altri

29

Rodriguez-Castaño, Angel, Saeed Rafee Nekoo, Honorio Romero, Rafael Salmoral, José Ángel Acosta e Anibal Ollero. "Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation". Applied Sciences 11, n. 16 (12 agosto 2021): 7427. http://dx.doi.org/10.3390/app11167427.

Testo completo

Abstract (sommario):

This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however, it is isolated from the aerial robot through a passive joint. Thus, the aerial robot stability is not compromised during the installation. This paper thoroughly describes the designed prototype and the control system for semi-autonomous operation. Flight experiments conducted in an illustrative scenario validate the performance of the system; the tests were carried out in an indoor testbed using a power line cable mock-up.

Gli stili APA, Harvard, Vancouver, ISO e altri

30

Wang, Changhao, Yuyou Zhang, Xiang Zhang, Zheng Wu, Xinghao Zhu, Shiyu Jin, Te Tang e Masayoshi Tomizuka. "Offline-Online Learning of Deformation Model for Cable Manipulation With Graph Neural Networks". IEEE Robotics and Automation Letters 7, n. 2 (aprile 2022): 5544–51. http://dx.doi.org/10.1109/lra.2022.3158376.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

31

Kostikov, Alexander, Alexander Perig, Oleksii Larichkin, Alexander Stadnik e Eduard Gribkov. "Research into payload swaying reduction through cable length manipulation during Boom crane motion". FME Transactions 47, n. 3 (2019): 464–76. http://dx.doi.org/10.5937/fmet1903464k.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

32

SANO, Kazuki, Kimitoshi YAMAZAKI e Tadashi YAMAZAKI. "Flat-Flexible-Cable Manipulation for Constructing Electric Appliance by a Dual-armed Robot". Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2017 (2017): 1P2—A12. http://dx.doi.org/10.1299/jsmermd.2017.1p2-a12.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

33

Xiong, Hao, e Xiumin Diao. "The effects of cables' strain and specific stiffness on the stiffness of cable-driven parallel manipulators". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, n. 15 (2 maggio 2019): 5448–59. http://dx.doi.org/10.1177/0954406219846536.

Testo completo

Abstract (sommario):

A cable-driven parallel manipulator is driven by a set of cables instead of rigid links. Since cables usually have more flexibility than rigid links, the stiffness of a cable-driven parallel manipulator has been a concern for many applications that require controllable system stiffness. This paper studies how cables' strain and specific stiffness affect the stiffness of a cable-driven parallel manipulator that has p degrees of freedom and [Formula: see text] cables. A decoupled stiffness model of a cable-driven parallel manipulator is derived mathematically. In the decoupled stiffness model, cables' specific stiffness is decoupled from the other factors that affect the stiffness of the cable-driven parallel manipulator, namely, cable strains, positions of anchor points on the end-effector, and extended lengths and orientations of cables. The concept of stiffness change ratio is proposed to reflect how significantly the stiffness of a cable-driven parallel manipulator can be regulated at a specific pose. The decoupled stiffness model shows that it is cable strains, rather than just cable tensions, that determine the stiffness change ratio of a cable-driven parallel manipulator at a specific pose. It is mathematically proved that, at a specific pose, the stiffness change ratio of a cable-driven parallel manipulator using cables with an extended strain range is larger than or equal to that of the cable-driven parallel manipulator using cables with the original strain range.

Gli stili APA, Harvard, Vancouver, ISO e altri

34

Song, Zhibin, Wenjie Zhang, Wenhui Zhang e Dario Paolo. "A Novel Biopsy Capsule Robot Based on High-Speed Cutting Tissue". Cyborg and Bionic Systems 2022 (8 agosto 2022): 1–11. http://dx.doi.org/10.34133/2022/9783517.

Testo completo

Abstract (sommario):

The capsule robot (CR) is a promising endoscopic method in gastrointestinal diagnosis because of its low discomfort to users. Most CRs are used to acquire image information only and lack the ability to collect samples. Although some biopsy capsule robots (BCRs) have been developed, it remains challenging to acquire the intestinal tissue while avoiding tearing and adhesion due to the flexibility of colonic tissue. In this study, we develop a BCR with a novel sampling strategy in which soft tissue is scratched with sharp blades rotating at high speed to avoid tissue tearing. In the BCR design, a spiral spring with prestored energy is used to release high energy within a short period of time, which is difficult for a motor or magnet to perform within a small capacity installation space. The energy of the tightened spiral spring is transmitted to drive sharp blades to rotate quickly via a designed gear mechanism. To guarantee reliable sampling, a Bowden cable is used to transmit the user’s manipulation to trigger the rotation of the blades, and the triggering force transmitted by the cable can be monitored in real time by a force sensor installed at the manipulating end. A prototype of the proposed BCR is designed and fabricated, and its performance is tested through in vitro experiments. The results show that the proposed BCR is effective and the size of its acquired samples satisfies clinical requirements.

Gli stili APA, Harvard, Vancouver, ISO e altri

35

Sanalitro, Dario, Heitor J. Savino, Marco Tognon, Juan Cortes e Antonio Franchi. "Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties". IEEE Robotics and Automation Letters 5, n. 2 (aprile 2020): 2185–91. http://dx.doi.org/10.1109/lra.2020.2969930.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

36

Yu, Son-Cheol, Junku Yuh e Jinwhan Kim. "Armless underwater manipulation using a small deployable agent vehicle connected by a smart cable". Ocean Engineering 70 (settembre 2013): 149–59. http://dx.doi.org/10.1016/j.oceaneng.2013.06.006.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

37

Campeau-Lecours, Alexandre, Simon Foucault, Thierry Laliberte, Boris Mayer-St-Onge e Clement Gosselin. "A Cable-Suspended Intelligent Crane Assist Device for the Intuitive Manipulation of Large Payloads". IEEE/ASME Transactions on Mechatronics 21, n. 4 (agosto 2016): 2073–84. http://dx.doi.org/10.1109/tmech.2016.2531626.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

38

Lee, Jongseok, Ribin Balachandran, Konstantin Kondak, Andre Coelho, Marco De Stefano, Matthias Humt, Jianxiang Feng, Tamim Asfour e Rudolph Triebel. "Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities". Field Robotics 3, n. 1 (10 gennaio 2023): 323–67. http://dx.doi.org/10.55417/fr.2023010.

Testo completo

Abstract (sommario):

This paper presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides real-time 3D displays of the robot’s workspace as well as a haptic guidance to its remotely located operator. To realize this, multiple sensors, namely, a LiDAR, cameras, and IMUs are utilized. For processing of the acquired sensory data, pose estimation pipelines are devised for industrial objects of both known and unknown geometries. We further propose an active learning pipeline in order to increase the sample efficiency of a pipeline component that relies on a Deep Neural Network (DNN) based object detector. All these algorithms jointly address various challenges encountered during the execution of perception tasks in industrial scenarios. In the experiments, exhaustive ablation studies are provided to validate the proposed pipelines. Methodologically, these results commonly suggest how an awareness of the algorithms’ own failures and uncertainty (“introspection”) can be used to tackle the encountered problems. Moreover, outdoor experiments are conducted to evaluate the effectiveness of the overall system in enhancing aerial manipulation capabilities. In particular, with flight campaigns over days and nights, from spring to winter, and with different users and locations, we demonstrate over 70 robust executions of pick-andplace, force application and peg-in-hole tasks with the DLR cable-Suspended Aerial Manipulator (SAM). As a result, we show the viability of the proposed system in future industrial applications.

Gli stili APA, Harvard, Vancouver, ISO e altri

39

NOZAKI, Kyoto, Yuichiro MATSUURA e Kimitoshi YAMAZAKI. "Manipulation Planning of Wiring a Cable with Connector Considering Shape Transition of Deformable Linear Object". Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 (2022): 2A1—N07. http://dx.doi.org/10.1299/jsmermd.2022.2a1-n07.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

40

Wang, Mei, e Jing Wu. "Cable Fault Recognition Based on the Wavelet Energy Spectrum of Mode Components". Applied Mechanics and Materials 427-429 (settembre 2013): 834–37. http://dx.doi.org/10.4028/www.scientific.net/amm.427-429.834.

Testo completo

Abstract (sommario):

When a fault appeared in a power cable transmission line, the transient current with high frequencies would be produced in the system. Three independent mode components could be obtained by applying the phase mode transformation to the transient current. For different types of the faults, the three independent mode components have different features. Based on wavelet energy spectrum of mode components, a method for cable fault recognition is developed in this paper. First, the fault current is decomposed by using Karenbaue transformation matrix. Then, wavelet transformation is uses to obtain the coefficients of the high frequency components which reflect the original signal high frequency energy. Finally, based on the wavelet energy spectrum method and the detailed coefficient manipulation, the equivalent norms of the mode components are obtained. Compared with the traditional fault recognition method, the new method depends less on zero mode component in two-phase short to ground state, and it can recognize the fault class in the cases of different fault positions, different fault path resistances and different inception angles.

Gli stili APA, Harvard, Vancouver, ISO e altri

41

Dragone, Donatella, Francesca Federica Donadio, Chiara Mirabelli, Carlo Cosentino, Francesco Amato, Paolo Zaffino, Maria Francesca Spadea, Domenico La Torre e Alessio Merola. "Design and Experimental Validation of a 3D-Printed Embedded-Sensing Continuum Robot for Neurosurgery". Micromachines 14, n. 9 (6 settembre 2023): 1743. http://dx.doi.org/10.3390/mi14091743.

Testo completo

Abstract (sommario):

A minimally-invasive manipulator characterized by hyper-redundant kinematics and embedded sensing modules is presented in this work. The bending angles (tilt and pan) of the robot tip are controlled through tendon-driven actuation; the transmission of the actuation forces to the tip is based on a Bowden-cable solution integrating some channels for optical fibers. The viability of the real-time measurement of the feedback control variables, through optoelectronic acquisition, is evaluated for automated bending of the flexible endoscope and trajectory tracking of the tip angles. Indeed, unlike conventional catheters and cannulae adopted in neurosurgery, the proposed robot can extend the actuation and control of snake-like kinematic chains with embedded sensing solutions, enabling real-time measurement, robust and accurate control of curvature, and tip bending of continuum robots for the manipulation of cannulae and microsurgical instruments in neurosurgical procedures. A prototype of the manipulator with a length of 43 mm and a diameter of 5.5 mm has been realized via 3D printing. Moreover, a multiple regression model has been estimated through a novel experimental setup to predict the tip angles from measured outputs of the optoelectronic modules. The sensing and control performance has also been evaluated during tasks involving tip rotations.

Gli stili APA, Harvard, Vancouver, ISO e altri

42

Stark, Eran, Tibor Koos e György Buzsáki. "Diode probes for spatiotemporal optical control of multiple neurons in freely moving animals". Journal of Neurophysiology 108, n. 1 (1 luglio 2012): 349–63. http://dx.doi.org/10.1152/jn.00153.2012.

Testo completo

Abstract (sommario):

Neuronal control with high temporal precision is possible with optogenetics, yet currently available methods do not enable to control independently multiple locations in the brains of freely moving animals. Here, we describe a diode-probe system that allows real-time and location-specific control of neuronal activity at multiple sites. Manipulation of neuronal activity in arbitrary spatiotemporal patterns is achieved by means of an optoelectronic array, manufactured by attaching multiple diode-fiber assemblies to high-density silicon probes or wire tetrodes and implanted into the brains of animals that are expressing light-responsive opsins. Each diode can be controlled separately, allowing localized light stimulation of neuronal activators and silencers in any temporal configuration and concurrent recording of the stimulated neurons. Because the only connections to the animals are via a highly flexible wire cable, unimpeded behavior is allowed for circuit monitoring and multisite perturbations in the intact brain. The capacity of the system to generate unique neural activity patterns facilitates multisite manipulation of neural circuits in a closed-loop manner and opens the door to addressing novel questions.

Gli stili APA, Harvard, Vancouver, ISO e altri

43

Diao, Xiumin, e Ou Ma. "Force-closure analysis of 6-DOF cable manipulators with seven or more cables". Robotica 27, n. 2 (marzo 2009): 209–15. http://dx.doi.org/10.1017/s0263574708004591.

Testo completo

Abstract (sommario):

SUMMARYA cable manipulator controls its end-effector by a number of cables. If the cables can balance any external and inertia wrenches at a certain pose of the end-effector, the cable manipulator is said to have a force-closure at this pose. Since a cable can work only in tension, the force-closure at a specific pose may not exist. Thus, how to check the existence of force-closure at a given pose is an important issue for design and control of cable manipulators. This paper describes a systematic method of verifying the existence of force-closure at a specific pose of a general 6-DOF cable manipulator with seven or more cables. By examining the Jacobian matrix of the manipulator, the method can determine whether a force-closure exists at the pose corresponding to the Jacobian matrix. The necessity and sufficiency of the proposed method are mathematically proven. Moreover, a convex-analysis-based simplification of the method for manipulators with more than seven cables is also discussed.

Gli stili APA, Harvard, Vancouver, ISO e altri

44

Goh, Guo Liang, Xi Huang, William Toh, Zhengchen Li, Samuel Lee, Van Pho Nguyen, Wai Yee Yeong, Boon Siew Han e Teng Yong Ng. "Joint angle prediction for a cable-driven gripper with variable joint stiffness through numerical modeling and machine learning". International Journal of AI for Materials and Design 1, n. 1 (29 gennaio 2024): 2328. http://dx.doi.org/10.36922/ijamd.2328.

Testo completo

Abstract (sommario):

Soft grippers in automation, particularly those with variable joint stiffness, offer promising possibilities for precise manipulation tasks. However, accurately predicting finger joint bending angles in this field poses significant challenges due to the soft and complex nature of the grippers, making modeling and angle prediction difficult. This paper presents the development of a predictive model for precisely controlling bending angles in multi-material printed soft grippers with variable stiffness, which are pivotal for delicate manipulation tasks in automation. In particular, we explore a cable-driven gripper design made of thermoplastic polyurethane and conductive polylactic acid materials, featuring integrated resistive joints for stiffness modulation through controlled Joule heating. A data-driven modeling approach, combining numerical modeling of the gripper and machine learning techniques, was employed for the development of the predictive model. We performed static structural simulations using ANSYS Workbench to measure bending angles under various conditions for developing datasets for model training. In this work, we evaluated several machine learning models such as linear regression, decision tree, and K-nearest neighbor regression models to predict the correlation between temperature, pull distance, and bending angle. The K-nearest neighbor regression model demonstrated the highest accuracy, with a mean absolute error of approximately 11%. These findings underline the importance of precise angle prediction models in enhancing the functionality and reliability of soft grippers, paving the way for their broader application in automation and robotics.

Gli stili APA, Harvard, Vancouver, ISO e altri

45

Patil, Raveendra H., Mette Laegdsmand, Jørgen E. Olesen e John R. Porter. "Soil Temperature Manipulation to Study Global Warming Effects in Arable Land: Performance of Buried Heating-cable Method". Environment and Ecology Research 1, n. 4 (dicembre 2013): 196–204. http://dx.doi.org/10.13189/eer.2013.010402.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

46

Hanai, Toshinori, Naoto Taneda, Kae Doki e Shinji Doki. "1A1-P22 Path planning of autonomous mobile robots considering the curvature of the cable(Mobile Manipulation Robot)". Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _1A1—P22_1—_1A1—P22_2. http://dx.doi.org/10.1299/jsmermd.2013._1a1-p22_1.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

47

Ansari, Yasmin, Mariangela Manti, Egidio Falotico, Yoan Mollard, Matteo Cianchetti e Cecilia Laschi. "Towards the development of a soft manipulator as an assistive robot for personal care of elderly people". International Journal of Advanced Robotic Systems 14, n. 2 (1 marzo 2017): 172988141668713. http://dx.doi.org/10.1177/1729881416687132.

Testo completo

Abstract (sommario):

Manipulators based on soft robotic technologies exhibit compliance and dexterity which ensures safe human–robot interaction. This article is a novel attempt at exploiting these desirable properties to develop a manipulator for an assistive application, in particular, a shower arm to assist the elderly in the bathing task. The overall vision for the soft manipulator is to concatenate three modules in a serial manner such that (i) the proximal segment is made up of cable-based actuation to compensate for gravitational effects and (ii) the central and distal segments are made up of hybrid actuation to autonomously reach delicate body parts to perform the main tasks related to bathing. The role of the latter modules is crucial to the application of the system in the bathing task; however, it is a nontrivial challenge to develop a robust and controllable hybrid actuated system with advanced manipulation capabilities and hence, the focus of this article. We first introduce our design and experimentally characterize its functionalities, which include elongation, shortening, omnidirectional bending. Next, we propose a control concept capable of solving the inverse kinetics problem using multiagent reinforcement learning to exploit these functionalities despite high dimensionality and redundancy. We demonstrate the effectiveness of the design and control of this module by demonstrating an open-loop task space control where it successfully moves through an asymmetric 3-D trajectory sampled at 12 points with an average reaching accuracy of 0.79 cm ± 0.18 cm. Our quantitative experimental results present a promising step toward the development of the soft manipulator eventually contributing to the advancement of soft robotics.

Gli stili APA, Harvard, Vancouver, ISO e altri

48

Guo, Jiuming, Jiwen Zhang, Dan Wu, Yuhang Gai e Ken Chen. "An algorithm based on bidirectional searching and geometric constrained sampling for automatic manipulation planning in aircraft cable assembly". Journal of Manufacturing Systems 57 (ottobre 2020): 158–68. http://dx.doi.org/10.1016/j.jmsy.2020.08.015.

Testo completo

Gli stili APA, Harvard, Vancouver, ISO e altri

49

Ghaffar, Asim, e Mahir Hassan. "Failure Analysis of Cable Based Parallel Manipulators". Applied Mechanics and Materials 736 (marzo 2015): 203–10. http://dx.doi.org/10.4028/www.scientific.net/amm.736.203.

Testo completo

Abstract (sommario):

In this study, the effect of a cable failure on the performance of the manipulator is investigated. The post failure trajectory and cable tensions after failure are analysed and ship position optimization is conducted in order to minimize the cable tensions after failure. The optimization is demonstrated with six, eight and ten ships in a cable based parallel manipulator (CPM). The performance of the system after failure is improved with higher number of cables in a CPM.

Gli stili APA, Harvard, Vancouver, ISO e altri

50

Su, Y. X., B. Y. Duan, R. D. Nan e B. Peng. "Development of a pilot of an Arecibo-type large spherical radio telescope for the square kilometre array". Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 215, n. 11 (1 novembre 2001): 1321–29. http://dx.doi.org/10.1243/0954406011524702.

Testo completo

Abstract (sommario):

An optomechatronics design project for the pilot of an Arecibo-type large spherical radio telescope for the square kilometre array (SKA) is proposed, concentrating on the feed-supporting system with large-span cables. The feed-supporting system consists of two parallel manipulators: the parallel cable manipulator, which provides a large workspace for the trajectory tracking and realizes the coarse tracking control, and the fine-tuning Stewart platform, which connects the parallel cable manipulator to the cabin structure and implements the high-accuracy requirement of tracking. In order to improve the real-time controllability, an approximate kinematics model of the parallel cable manipulator is developed using straight links to approximate the cables based on static equilibrium at low tracking velocity. A control strategy for the feed-supporting system is proposed using the independent control method, and the corresponding tracking accuracy of the coarse control and fine tuning is presented. The simulation results have supported the rationale of this approximate model of the parallel cable manipulator and the feasibility of this mechatronics design project for the SKA.

Gli stili APA, Harvard, Vancouver, ISO e altri

Articoli di riviste sul tema "Cable manipulation"

Cita una fonte nei formati APA, MLA, Chicago, Harvard e in molti altri stili