A robot learning from demonstration framework to perform force-based manipulation tasks

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.     

Innovative potential of 3D software applications in fashion and textile design

Advanced cloth simulation plug-in tools are increasingly being used by designers in movies, television, advertising and computer games, to take the strain out of creating and simulating realistic cloth effects for dressing virtual characters. This paper describes experiments into designing textiles and clothing using 3D graphics software and a digital cloth dynamics plug-in, which are an integral part of PhD research in progress. The methods used in testing the 3D software and the cloth dynamics plug-in illustrate the experiences of a designer/learner. The results identify designer/learner needs and expectations for the further educational development of the research and use of cloth simulation tools in textiles/fashion design in the near future.     

Variable Structure Control with Chattering Reduction of a Generalized T‐S Model

In this paper, a fuzzy logic controller (FLC) based variable structure control (VSC) is presented. The main objective is to obtain an improved performance of highly non‐linear unstable systems. New functions for chattering reduction and error convergence without sacrificing invariant properties are proposed. The main feature of the proposed method is that the switching function is added as an additional fuzzy variable and will be introduced in the premise part of the fuzzy rules; together with the state variables. In this work, a tuning of the well known weighting parameters approach is proposed to optimize local and global approximation and modelling capability of the Takagi‐Sugeno (T‐S) fuzzy model to improve the choice of the performance index and minimize it. The main problem encountered is that the T‐S identification method can not be applied when the membership functions are overlapped by pairs. This in turn restricts the application of the T‐S method because this type of membership function has been widely used in control applications. The approach developed here can be considered as a generalized version of the T‐S method. An inverted pendulum mounted on a cart is chosen to evaluate the robustness, effectiveness, accuracy and remarkable performance of the proposed estimation approach in comparison with the original T‐S model. Simulation results indicate the potential, simplicity and generality of the estimation method and the robustness of the chattering reduction algorithm. In this paper, we prove that the proposed estimation algorithm converge the very fast, thereby making it very practical to use. The application of the proposed FLC‐VSC shows that both alleviation of chattering and robust performance are achieved.     

Variable Structure Control with chattering elimination and guaranteed stability for a generalized T-S model

In this paper, a fuzzy based Variable Structure Control (VSC) with guaranteed stability is presented. The main objective is to obtain an improved performance of highly non-linear unstable systems. The main contribution of this work is that, firstly, new functions for chattering reduction and error convergence without sacrificing invariant properties are proposed, which is considered the main drawback of the VSC control. Secondly, the global stability of the controlled system is guaranteed.The well known weighting parameters approach, is used in this paper to optimize local and global approximation and modeling capability of T-S fuzzy model.A one link robot is chosen as a nonlinear unstable system to evaluate the robustness, effectiveness and remarkable performance of optimization approach and the high accuracy obtained in approximating nonlinear systems in comparison with the original T-S model. Simulation results indicate the potential and generality of the algorithm. The application of the proposed FLC-VSC shows that both alleviation of chattering and robust performance are achieved with the proposed FLC-VSC controller. The effectiveness of the proposed controller is proven infront of disturbances and noise effects.     

Line patterning of graphite and the fabrication of cheap, inexpensive, “throw-away” sensors

A new simple method (“line patterning technique”) using only standard office equipment is described whereby clearly defined, electrically conducting patterns of graphite can be deposited on polymer (plastic) or paper substrates. The properties of the conductive patterns have been characterized by electrical conductivity and SEM measurements. Sensors were constructed by using interdigitated patterns of graphite deposited on plastic and paper, and coated with a thin film of conducting electronic polymer, e.g. polyaniline emeraldine salt.     

Supporting the creative drive: investigating paralinguistic voice as a mode of interaction for artists with upper limb disabilities

For people with upper limb disabilities visual art is an important activity that allows for expression of individuality and independence. They show remarkable endurance, patience and determination to adapt their remaining capabilities to create visual art. There are significant advantages of digital technologies in assisting artists with upper limb disabilities. Paralinguistic voice recognition technologies have proven to be a particularly promising mode of interaction. Despite these benefits, technological support for people with upper limb disabilities to create visual art is scarce. This paper reports on a number of case studies of several artists with upper limb disabilities. These case studies illustrate the struggles they face to be creative and also show the significant advantages of digital technologies in assisting such artists. An investigation into people’s ability to use the volume of their voice to control cursor movement to create drawings on the screen is also reported. With motivation, training and practise, use of volume to control drawing tasks shows great promise. It is believed that paralinguistic voice has wider implications beyond assisting artists with upper limb disabilities, such as: an alternative mode of interaction for disabled people to perform tasks other than creating visual art, alternative mode of interaction for hands busy environments and as a voice training system for people with speech impairments.     

改善PLC的兼容性和功能灵活性

兼容性方面的问题可能使整个升级项目趋于停滞。威勒工程公司是一家原始设备制造商(OEM)。当他们在对无菌包装制造机械的驱动系统进行升级时,遇到了新系统与现有控制器之间无法兼容的问题,并因此限制了设备功能的充分发挥。这时,一种具有针对性的PLC整合工程解决方案不仅提供了威勒工程公司所需要的机器操作界面,而且显著提高了PLC应用上的灵活性。     

Symptomatic subclavian steal syndrome four decades after operation for dysphagia lusoria

Congenital abnormalities of the aortic arch may lead to signs and symptoms of tracheal and esophageal obstruction secondary to a restrictive vascular ring. There are many case reports and monographs concerning the surgical management of dysphagia lusoria. This case provides the first example of long-term follow-up of surgical intervention for relief of dysphagia lusoria. A 45-year-old laborer presented with a several year history of episodic bilateral blindness and a more recent onset of "drop attacks." Notably this patient had presented at the age of 18 months with difficulty breathing and eating since birth. The patient also had frequent upper respiratory infections and episodes of pneumonia. Workup revealed a right-sided aortic arch with a left ligamentum arteriosum. When he was first seen in our clinic, history and physical examination revealed claudication and diminished pulses in the left upper extremity. Arteriography and duplex studies confirmed reversal of flow in the patient's left vertebral artery. The arteriogram demonstrated the presence of a right-sided aortic arch and descending aorta along with the proximal stump of the previously ligated left subclavian artery. He underwent left carotid to left axillary artery bypass for the treatment of symptomatic subclavian steal syndrome. His symptoms have resolved with return of antegrade vertebral flow and the presence of normal pulses in the left arm. Congenital aortic abnormalities that lead to tracheal and esophageal compromise are numerous and varied. Surgical management requires a thorough understanding of the person's anatomy and preoperative planning. The life expectancy of patients with dysphagia lusoria necessitates consideration of the long-term consequences of surgical intervention.