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Microinjection is the highly efficient delivery method of exogenous materials into cells, and it has been widely used in biomedical research areas such as transgenics and genomics. However, this direct injection task is time consu...
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Microinjection is the highly efficient delivery method of exogenous materials into cells, and it has been widely used in biomedical research areas such as transgenics and genomics. However, this direct injection task is time consuming and laborious, resulting in low throughput and poor reproducibility. This paper describes a telerobotic shared control (TSC) framework for the microinjection with high manipulation efficiencies, in which a micromanipulator is controlled by the shared motion commands of both the human operator (direct manipulation) and the autonomous controller. To determine the optimal gains between the operator and the controller, we proposed a quantitative evaluation method using Fitts’ and steering laws. The results showed that a 40%–60% weighting on the human operator produced better performance for both speed and accuracy of task completion, and suggested that some level of automation or human involvement is important for microinjection tasks.
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This paper presents a perception-based GPSfree approach for localizing a mobile robot in an orchard environment. An extended Kalman filter (EKF) algorithm is presented that uses a wheel odometry prediction step and laser rangefind...
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This paper presents a perception-based GPSfree approach for localizing a mobile robot in an orchard environment. An extended Kalman filter (EKF) algorithm is presented that uses a wheel odometry prediction step and laser rangefinder update steps. There are two update steps, one that uses measurements to reflective point features and one that uses measurements to linear features formed by tree rows. The features are associated to landmarks in previously surveyed maps. The practical issues of dealing with uncertainty both from the environment and the on-board sensors are discussed and accounted for. The resulting algorithm is demonstrated in over 20km of online operation in a variety of real orchard environments.
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There are many motivations for building robots which imitate life or living things. This paper examines some aspects of the use of robots in the imitation of life for scientific purposes, and divides the field into two parts: the ...
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There are many motivations for building robots which imitate life or living things. This paper examines some aspects of the use of robots in the imitation of life for scientific purposes, and divides the field into two parts: the imitation of behaviour, and the imitation of consciousness. A re-examination of the early work of Grey Walter in mimicking behaviour is used as the inspiration for a possible approach to building conscious robots.
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Nylon abrasive filament (NAF) brushes solve many deburring, edge radiusing and finishing problems. Their compliancy and filamentary nature accommodate part contours, prevent damage to value added components, and make them ideal ca...
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Nylon abrasive filament (NAF) brushes solve many deburring, edge radiusing and finishing problems. Their compliancy and filamentary nature accommodate part contours, prevent damage to value added components, and make them ideal candidates for robotic and automated work stations. These brushes replace tedious hand operations, provide consistent quality, improve productivity, shorten cycle times, improve part finishes, generate precise edge radii, and lower finishing costs.
This paper discusses guidelines to engineering automated deburring solutions using NAF brushes. Applications include blanked steel components, carbide inserts, aluminum aircraft parts, and automotive components such as camshafts, cylinder heads, wheel rims, and tranmission housings and valve bodies.
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摘要 :
Nylon abrasive filament (NAF) brushes solve many deburring, edge radiusing and finishing problems. Their compliancy and filamentary nature accommodate part contours, prevent damage to value added components, and make them ideal ca...
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Nylon abrasive filament (NAF) brushes solve many deburring, edge radiusing and finishing problems. Their compliancy and filamentary nature accommodate part contours, prevent damage to value added components, and make them ideal candidates for robotic and automated work stations. These brushes replace tedious hand operations, provide consistent quality, improve productivity, shorten cycle times, improve part finishes, generate precise edge radii, and lower finishing costs.
This paper discusses guidelines to engineering automated deburring solutions using NAF brushes. Applications include blanked steel components, carbide inserts, aluminum aircraft parts, and automotive components such as camshafts, cylinder heads, wheel rims, and tranmission housings and valve bodies.
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In this paper we describe the hardware design, the control and navigation system, and our preliminary experiments with the robotic wheelchair MAid (Mobility Aid for Elderly and Disabled People). MAid's general task is to transport...
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In this paper we describe the hardware design, the control and navigation system, and our preliminary experiments with the robotic wheelchair MAid (Mobility Aid for Elderly and Disabled People). MAid's general task is to transport people with severely impaired motion skills such as, for example, paraplegia, multiple sclerosis, poliomyelitis, or muscular dystrophy. Following the advice of disabled people and physicians we did not set out to re-invent and re-develop the set of standard skills of so-called intelligent wheelchairs, such as FollowWall, FollowCorridor, PassDoorway which are commonly described in the literature. These maneuvers do not always requrie fine motion control and disabled people, in spite of their disability, are often well capable of navigating their wheelchair along a corridor and actually eager to do it. In our work we focused instead on maneuvers which are very burdensome because they take a long time and require extreme attention. One of these functions is deliberative locomotion in rapidly changing, large-scale environments, such as shopping malls, entry halls of theaters, and concourses of airports or railway stations, where tens or hundreds of people and objects are moving around. This function was not only acknowledged as being very useful but also very entertaining, because MAid often had to work very hard to find its way through a crowd of people. MAid's performance was tested in the central station of Ulm during rush-hour, and in the exhibition halls of the Hannover Messe '98, the biggest industrial fair worldwide. Altogether, MAid has survived more than 36 hours of testing in public, crowded environments with heavy passenger traffic. To our knowledge this is the first system among robotic wheelchairs and mobile robots to have achieved a similar performance.
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In this paper the usefulness of active systems is considered, whereby their advantages and disadvantages are emphasized. Some characteristic examples of breakdowns and disasters of objects and constructions are presented, such as ...
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In this paper the usefulness of active systems is considered, whereby their advantages and disadvantages are emphasized. Some characteristic examples of breakdowns and disasters of objects and constructions are presented, such as the catastrophe of the Tacoma bridge, collapse of cooling towers, the breakdown of vertical mine transport and others. Also, some possible solutions of the mentioned constructions with properties of active response to various external perturbations of high intensity are given. Beside these, basically hypothetical solutions of active systems, in the paper the problems of road vehicles control, active control of aerofoil flutter, control of buildings and structures, variable mechanical structure, are briefly presented. All these examples of active systems can be classified as future special dedicated robotic systems.
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We describe a set of preliminary experiments to evolve spiking neural controllers for a vision-based mobile robot. All the evolutionary experiments are carried out on physical robots without human intervention. After discussing ho...
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We describe a set of preliminary experiments to evolve spiking neural controllers for a vision-based mobile robot. All the evolutionary experiments are carried out on physical robots without human intervention. After discussing how to implement and interface these neurons with a physical robot, we show that evolution finds relatively quickly functional spiking controllers capable of navigating in irregularly textured environments without hitting obstacles using a very simple genetic encoding and fitness function. Neuroethological analysis of the network activity let us understand the functioning of evolved controllers and tell the relative importance of single neurons independently of their observed firing rate. Finally, a number of systematic lesion experiments indicate that evolved spiking controllers are very robust to synaptic strength decay that typically occurs in hardware implementations of spiking circuits.
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