Unperturbed dimensions of stereoregular polymers.- Reinforcement of rubber by carbon black.- Transformations of phenolic antioxidants and the role of their products in the long-term properties of polyolefins.

Properties of polymers

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Guidance And Control Of Ocean Vehicles

https://vbn.aau.dk/ws/files/337950041/robotics_09_00016.pdf

A review on design of upper limb exoskeletons

https://re.public.polimi.it/bitstream/11311/1049581/1/1-s2.0-S0360835218300329-main%281%29.pdf

Placing the operator at the centre of Industry 4.0 design: Modelling and assessing human activities within cyber-physical systems

http://roboticslab.uc3m.es/roboticslab/sites/default/files/montero2015past-preprint.pdf

Past, present and future of robotic tunnel inspection

As a result of the difficulties brought by COVID-19 and its associated lockdowns, many individuals and companies have turned to robots in order to overcome the challenges of the pandemic. Compared with traditional human labor, robotic and autonomous systems have advantages such as an intrinsic immunity to the virus and an inability for human-robot-human spread of any disease-causing pathogens, though there are still many technical hurdles for the robotics industry to overcome. This survey comprehensively reviews over 200 reports covering robotic systems which have emerged or have been repurposed during the past several months, to provide insights to both academia and industry. In each chapter, we cover both the advantages and the challenges for each robot, finding that robotics systems are overall apt solutions for dealing with many of the problems brought on by COVID-19, including: diagnosis, screening, disinfection, surgery, telehealth, care, logistics, manufacturing and broader interpersonal problems unique to the lockdowns of the pandemic. By discussing the potential new robot capabilities and fields they applied to, we expect the robotics industry to take a leap forward due to this unexpected pandemic.

/pdf/robots-under-covid-19-pandemic-a-comprehensive-survey-39kp93qjjw.pdf

Robots Under COVID-19 Pandemic: A Comprehensive Survey

Manual material handling is one of the most frequent operations in industrial manufacturing processes. To avoid undesirable spinal loads, workers are often required to use external aid devices. This paper presents the analysis and design concept of a wearable assistive device for reducing the spinal loads during lifting tasks. A simplified model is used to compare the effects of two possible configurations for the device: the application of a force (a) parallel and (b) perpendicular to the spine. The model suggests that the perpendicular configuration (b) is preferable to (a). A subsequent numerical analysis suggests that the assistive device reduces substantially the spinal compression. This paper also discusses the design of a hardware prototype, that allows the operator to move mostly unhindered while performing lifting tasks. In particular the leg and torso movements on the sagittal plane are covered by the 90% and 60% respectively, while the movements on the frontal plane are fully covered.

A wearable device for reducing spinal loads during lifting tasks: Biomechanics and design concepts

In this paper, we present the design, modeling, and real-time nonlinear model predictive control (NMPC) of an autonomous robotic boat The robot is easy to manufacture, highly maneuverable, and capable of accurate trajectory tracking in both indoor and outdoor environments In particular, a cross type four-thruster configuration is proposed for the robotic boat to produce efficient holonomic motions The robot prototype is rapidly 3D-printed and then sealed by adhering several layers of fiberglass To achieve accurate tracking control, we formulate an NMPC strategy for the four-control-input boat with control input constraints, where the nonlinear dynamic model includes a Coriolis and centripetal matrix, the hydrodynamic added mass, and damping By integrating “GPS” modules and an inertial measurement unit (IMU) into the robot, we demonstrate accurate trajectory tracking of the robotic boat along preplanned paths in both a swimming pool and a natural river Furthermore, the code generation strategy employed in our paper yields a two order of magnitude improvement in the run time of the NMPC algorithm compared to similar systems The robot is designed to form the basis for surface swarm robotics testbeds, on which collective algorithms for surface transportation and self-assembly of dynamic floating infrastructures can be assessed

Design. Modeling, and Nonlinear Model Predictive Tracking Control of a Novel Autonomous Surface Vehicle

Unmanned surface vehicles (USVs) are typically designed for open area marine applications. In this paper, we present a new autonomy system (Roboat) for urban waterways which requires robust localization, perception, planning, and control. A novel localization system, based on the extended Kalman filter (EKF), is proposed for USVs, which utilizes LiDAR, camera, and IMU to provide a decimeter-level precision in dynamic GPS-attenuated urban waterways. Area and shape filters are proposed to crop water reflections and street obstacles from a pointcloud. Euclidean clustering and multi-object contour tracking are then introduced to detect and track the static and moving objects reliably in urban waters. An efficient path planner is tailored to calculate optimal trajectories to avoid these static and dynamic obstacles. Lastly, a nonlinear model predictive control (NMPC) scheme with full state integration is formulated for the four-control-input robot to accurately track the trajectory from the planner in rough water. Extensive experiments show that the robot is able to autonomously navigate in both the indoor waterway and the cluttered outdoor waterway in the presence of static and dynamic obstacles, implying that Roboat could have a great impact on the future of transportation in many coastal and riverside cities.

Roboat: An Autonomous Surface Vehicle for Urban Waterways

Industrial wearable exoskeletons can assist the workers during manual handling of loads at manufacturing facilities. Today, one of their design challenges is to reduce weight so the worker can wear them for an extended length of time, without compromising torque and power requirements. Actuators can largely contribute to the overall weight of such devices. An elastic element in parallel can reduce the technical specifications of the actuator. However, such elastic elements are heavy with a large footprint. We present an innovative Parallel Elastic Actuator (PEA) using an elastic cord made of natural rubber elastomer, which can store energy during lowering and release it while lifting. Trunk exoskeleton requirements are analysed based on human subject data for industrial lowering and lifting scenarios. The mechanical design concept of a PEA for the hip joint of an industrial exoskeleton is discussed in detail. We formulate the mathematical model of the human-exoskeleton motion in the sagittal plane. We perform the virtual testing on industrial lowering and lifting scenarios to verify the actuator performance. The results show the improvement in weight, peak torque and peak power by 20%, 50% and 40% respectively as compared with the current prototype. The new integrated actuator consists of the direct current (DC) motor, the harmonic drive (HD) and the parallel natural rubber elements which reduce size and complexity of the trunk exoskeleton.

Luis A. Mateos

Papers

Robots Under COVID-19 Pandemic: A Comprehensive Survey

A wearable device for reducing spinal loads during lifting tasks: Biomechanics and design concepts

Design. Modeling, and Nonlinear Model Predictive Tracking Control of a Novel Autonomous Surface Vehicle

Roboat: An Autonomous Surface Vehicle for Urban Waterways

Mechanical design and analysis of light weight hip joint Parallel Elastic Actuator for industrial exoskeleton