Wyniki wyszukiwania - BazTech

Ograniczanie wyników

Znaleziono wyników: 3

Liczba wyników na stronie

Wyniki wyszukiwania

Sortuj według:

Ogranicz wyniki do:

Compensating pose uncertainties through appropriate gripper finger cutouts

Wolniakowski A., Gams M., Kramberger A., Miatliuk K., Kiforenko L., Petersen H. G., Hagelskjaer F., Buch A. G., Krüger N., Chrysostomou D., Madsen O., Ude A.

Acta Mechanica et Automatica

2018

Vol. 12, no. 1

78--83

The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to accommodate for a new batch of objects typically requires engineering expertise, and is a lengthy and costly iterative trial-and-error process. One of the open challenges is the need for the gripper to compensate for uncertainties inherent to the workcell, e.g. due to errors in calibration, inaccurate pose estimation from the vision system, or object deformation. In this paper, we present an analysis of gripper uncertainty compensating capabilities in a sample industrial object grasping scenario for a finger that was designed using an automated simulation-based geometry optimization method (Wolniakowski et al., 2013, 2015). We test the developed gripper with a set of grasps subjected to structured perturbation in a simulation environment and in the real-world setting. We provide a comparison of the data obtained by using both of these approaches. We argue that the strong correspondence observed in results validates the use of dynamic simulation for the gripper finger design and optimization.

Making FTTH happen: the Danish experience

Pedersen J. M., Jensen M., Nielsen R., Riaz T., Gutierrez J., Madsen O.

Image Processing & Communications

2009

Vol. 14, no 1

7-12

The deployment of Fiber To The Home (FTTH) in Denmark has accelerated over the previous years, and made Denmark one of the countries in Europe with the highest FTTH deployment rate. This development has been largely driven by the consumer-owned utilities and with almost no interference from government institutions and the incumbent operator, which makes the Danish FTTH evolution quite unique. In this paper we analyze the Danish FTTH deployment, and highlight some of the main drivers and challenges. A main conclusion is that FTTH can actually be deployed, even in rural areas. On the other hand the fast development in Denmark would probably not have happened without the special organization of electricity companies, and the traditions of these. In addition to technical challenges, ranging from system integration problems to handling of the physical fibers, it has been a significant challenge to actually attract customers: The development of speed and availability of xDSL solutions has increased the need for "killer" applications which take full advantage of the speeds offered by FTTH. The main contribution of this short paper is the analysis of the Danish FTTH experiences, which is valuable when developing technologies and services for FTTH, or when taking initiatives for supporting FTTH deployment in other countries.

Degree 3 networks topological routing

Gutierrez J., Riaz T., Pedersen J., Labeaga S., Madsen O.

Image Processing & Communications

2009

Vol. 14, no 4

35-48

Topological routing is a table free alternative to traditional routing methods. It is specially well suited for organized network interconnection schemes. Topological routing algorithms correspond to the type O(1), constant complexity, being very attractive for large scale networks. It has been proposed for many topologies and this work compares the algorithms for three degree three topologies using a more analytical approach than previous studies.