Robust bin-picking system using tactile sensor

ABSTRACT

This paper presents a robust bin-picking system utilizing tactile sensors and a vision sensor. The object position and orientation are estimated using a fast template-matching method through the vision sensor. When a robot picks up an object, the tactile sensors detect the success or failure of the grasping, and a force sensor detects the contact with the environment. A weight sensor is also used to judge whether the lifting of the object has been successful. The robust and efficient bin-picking system presented herein is implemented through the integration of different sensors. In particular, the tactile sensors realize rope-shaped object picking that has yet to be made possible with conventional picking systems. The effectiveness of the proposed method was confirmed through grasping experiments and in a competitive event at the World Robot Challenge 2018.     

An approximate method of shallow shells with variable thickness

An approximate method is developed to study the static bending of shallow shells with variable thickness. The solutions are obtained by transforming the partial differential equations into the integral equations and applying the numerical integrations. Some numerical examples are shown together with other solutions, and as an application of this method, the results of shallow shell with variable thickness are shown.     

Backscattering coefficients of H,D, and He ions from solids

Experimental data on the number-backscattering coefficient R_N, the energy-backscattering coefficient R_E, and the mean fractional energy r_E of backscattered particles are tabulated for H, D, and He ions normally incident on elemental solids. References through 1981 are covered. The dependence of R_N and R_E on incident energy is shown graphically for energies from about 10 eV to 100 keV by plotting the experimental data and the empirical formulas of Tabata et al. Graphs are provided for 36 elemental targets of atomic numbers from 6 to 92.     

Chemical compositions,fine structure and physicochemical properties of kudzu (Pueraria lobata) starches from different regions

Three commercial kudzu starches from Vietnam, Japan and Korea were used to determine chemical compositions, isoflavone compounds, fine structure and physicochemical properties. The kudzu starch from Vietnam had polygonal granules, whereas the kudzu starches from Japan and Korea contained both polygonal and spherical granules. Total protein, lipid, ash and phosphorus contents present in these kudzu starches were less than 1% (starch basis). The kudzu starch from Vietnam and Korea contained both daidzein and daidzin, whereas the kudzu starch from Japan had only daidzein. These starches had similar actual amylose contents (22.2–22.9%). However, λ_max, blue value and apparent amylose contents of the kudzu starch from Vietnam were lower than those from Japan and Korea. Amylose molecules of the kudzu starch from Vietnam had the largest average degree of polymerization (DP_n) and number of chains (NC), followed by the kudzu starches from Japan and Korea. Amylopectin molecules of the kudzu starch from Vietnam also had the largest DP_n and NC, followed by the kudzu starches from Korea and Japan. X-ray diffraction patterns of the kudzu starches from Vietnam, Japan and Korea were A-type, C-type and B-type, respectively. The kudzu starch from Vietnam was found to have the specific characteristics such as significantly high gelatinization temperature, transition enthalpy and degree of crystallinity as compared to the kudzu starch from Korea and Japan.     

Theoretical analysis of atomic-scale friction in frictional-force microscopy

We perform a theoretical analysis of frictional-force microscopy(FFM) images of a cleaved graphite surface. The Tomlinson model with a single-atom tip is powerful for reproducing experimental FFM images. A mapping relation between the tip atom position and the cantilever basal position obtained by a stable equilibrium condition, gives a clear explanation of the physical meaning of FFM image patterns. This revised version was published online in June 2006 with corrections to the Cover Date.     

Catalytic Use of a Soluble Organoindium(III) Species for Allylation and Crotylation of Ketones with Boronates

The unprecedented use of a soluble organoindium species, indium(III) hexamethyldisilazide [In(III)(hmds)₃], for catalytic carbon carbon bond formations between ketones and boronates, is reported. Various functionalized tertiary homoallyl alcohols were generated easily in high yields. Remarkably, free hydroxy and primary amine functionalities proved to be tolerated. A rate acceleration and markedly improved diastereoselectivities were observed in the presence of methanol. Based on preliminary NMR experiments and the α‐selectivity with an α‐substituted boronate, we assume the in situ generation of reactive allylindium(III) species through catalytic boron‐to‐indium transmetalation.     

Two-dimensionally quantized friction observed with two-dimensional frictional force microscope

Using a two-dimensional frictional force microscope, we studied the two-dimensional nature of the atomic scale friction between a Si₃N₄ sharp tip and a cleaved graphite surface, which is composed of only C atoms and is a good conductor. As a result, we observed the two-dimensionally quantized friction with the lattice periodicity of the graphite surface, similarly to mica, MoS₂ and NaF surfaces. Thus quantized friction occurs at material surfaces which are composed of not only some elements but also of a single element, and the quantized friction does not depend on the conductivity of the surface.