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This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the works using kinesthetic teaching. Third, we address the well-known what to imitate? problem from a different point of view, based on the mutual information between perceptions and actions. Lastly, the teacher’s demonstrations are encoded using a Hidden Markov Model, and the robot execution phase is developed by implementing a modified version of Gaussian Mixture Regression that uses implicit temporal information from the probabilistic model, needed when tackling tasks with ambiguous perceptions. Experimental results show that the robot is able to learn and reproduce two different manipulation tasks, with a performance comparable to the teacher’s one. 相似文献
13.
Rodrygo L.T. Santos Pablo A. Roberto Alberto H.F. Laender 《Journal of Systems and Software》2008,81(5):809-822
We present a new Web services-based framework for building componentized digital libraries (DLs). We particularly demonstrate how traditional RDBMS technology can be easily deployed to support several common digital library services. Configuration and customization of the framework to build specialized systems is supported by a wizard-like tool which is based on a generic metamodel for DLs. Such a tool implements a workflow process that segments the DL design tasks into well-defined steps and drives the designer along these steps. Both the framework and the configuration tool are evaluated in terms of several performance and usability criteria. Our experimental evaluation demonstrates the feasibility and superior performance of our framework, as well as the effectiveness of the wizard tool for setting up DLs. 相似文献
14.
Hukun Yang Hongyuan Jiang Antonio Ramos Pablo García-Sánchez 《Microfluidics and nanofluidics》2009,7(6):767-772
AC electro-osmotic (ACEO) pumping is experimentally demonstrated on a symmetric gold electrode array. Using asymmetric connection
of electrodes to the applied AC voltage, spatial asymmetry along the array is created, which produces unidirectional flow
of electrolyte. An aqueous solution of 100 μM KCl is selected as the pumping fluid. The liquid velocity obtained as a function
of voltage and frequency is compared to that generated using travelling-wave electroosmosis (TWEO) with the same electrode
array. The expected velocities from the linear electrokinetic models of ACEO and TWEO are computed numerically. The comparison
shows that TWEO generates greater velocity amplitudes and the streamlines are smoother than those generated by ACEO. 相似文献
15.
The Journal of Supercomputing - This paper presents an energy-efficient design and evaluation of a novel portable device for the automatic correction of presbyopia in human eyes driven by the use... 相似文献
16.
Roberto C. Dante Francisco M. Sánchez-Arévalo Lazaro Huerta Florinella Muñoz-Bisesti Diana Marquez Pablo Martín-Ramos 《Fullerenes, Nanotubes and Carbon Nanostructures》2017,25(11):630-636
Polymeric carbon nitride was synthesized from urea and doped with Cu and Fe to act as co-catalysts. The material doped with Fe was a new composite material composed of Fe(III) oxides (acting as a co-catalyst) wrapped by the polymer layers and amorphous carbon. Furthermore, the copper doped material was described in a previous report. The photocatalytic degradation of the azo dye direct blue 1 (DB) was studied using as photocatalysts: pure carbon nitride (CN), carbon nitride doped with Cu (CN-Cu) and carbon nitride doped with Fe (CN-Fe). The catalysts were characterized by Fourier transform infrared (FTIR) spectroscopy, X-ray diffraction (XRD), by X-ray photoelectron spectroscopy (XPS) and Brunauer–Emmett–Teller method (BET), etc. The adsorption phenomenon was studied using the Langmuir and Freundlich models. For the kinetic study, a solution of 500 mg L?1 of DB1 was treated with each catalyst, visible light and H2O2. The dye concentration was measured by spectrophotometry at the wavelength of 565 nm, and the removal of the total organic content (TOC) was quantified. BET analysis yielded surface areas of 60.029, 20.116 and 70.662 m2g?1 for CN, CN-Cu and CN-Fe, respectively. The kinetics of degradation were pseudo-first order, whose constants were 0.093, 0.039 and 0.110 min?1 for CN, CN-Cu and CN-Fe, respectively. The total organic carbon (TOC) removal reached the highest value of 14.46% with CN-Fe. 相似文献
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Qi Jia Xin Ou Manuel Langer Benjamin Schreiber Jörg Grenzer Pablo F. Siles Raul D. Rodriguez Kai Huang Ye Yuan Alireza Heidarian René Hübner Tiangui You Wenjie Yu Kilian Lenz Jürgen Lindner Xi Wang Stefan Facsko 《Nano Research》2018,11(7):3519-3528
A nanofabrication method for the production of ultra-dense planar metallic nanowire arrays scalable to wafer-size is presented. The method is based on an efficient template deposition process to grow diverse metallic nanowire arrays with extreme regularity in only two steps. First, III–V semiconductor substrates are irradiated by a low-energy ion beam at an elevated temperature, forming a highly ordered nanogroove pattern by a “reverse epitaxy” process due to self-assembly of surface vacancies. Second, diverse metallic nanowire arrays (Au, Fe, Ni, Co, FeAl alloy) are fabricated on these III–V templates by deposition at a glancing incidence angle. This method allows for the fabrication of metallic nanowire arrays with periodicities down to 45 nm scaled up to wafer-size fabrication. As typical noble and magnetic metals, the Au and Fe nanowire arrays produced here exhibited large anisotropic optical and magnetic properties, respectively. The excitation of localized surface plasmon resonances (LSPRs) of the Au nanowire arrays resulted in a high electric field enhancement, which was used to detect phthalocyanine (CoPc) in surface-enhanced Raman scattering (SERS). Furthermore, the Fe nanowire arrays showed a very high in-plane magnetic anisotropy of approximately 412 mT, which may be the largest in-plane magnetic anisotropy field yet reported that is solely induced via shape anisotropy within the plane of a thin film. 相似文献
20.
Aitor Almeida Pablo Orduña Eduardo Castillejo Diego López-de-Ipiña Marcos Sacristán 《Personal and Ubiquitous Computing》2011,15(4):419-429
As the dependence on mobile devices increases, the need for supporting a wider range of users and devices becomes crucial.
Elders and people with disabilities adopt new technologies reluctantly, a tendency caused by the lack of adaptation of these
technologies to their needs. To address this challenge, this paper describes a framework, Imhotep, whose aim is to aid developers
in the accessible application creation process, making the creation of user-centered applications easier and faster. Our framework
allows to easily adapt the applications to the constraints imposed by the user capabilities (sensorial, cognitive, and physical
capabilities) and device capabilities by providing a repository that will manage the compilation and deployment of applications
that include a set of preprocessor directives in the source code. These directives are enhanced with concepts that are automatically
adjusted to the current trends of mobile devices by using a Fuzzy Knowledge-Eliciting Reasoner. Our final goal is to increase
the number of applications targeted to elders and people with disabilities providing tools that facilitate their development.
The paper also describes the evaluation of both the accuracy of the fuzzy terms generated for mobile devices and the usability
of the proposed platform. 相似文献