University of Patras

About: University of Patras is a education organization based out in Pátrai, Greece. It is known for research contribution in the topics: Population & Catalysis. The organization has 13372 authors who have published 31263 publications receiving 677159 citations. The organization is also known as: Panepistímio Patrón.

Online Stability in Human-Robot Cooperation with Admittance Control

Abstract: In the design of a compliant admittance controller for physical human-robot interaction, it is necessary to ensure stable and effective cooperation. The stability of the admittance controller is mainly threatened by a stiff environment. Many methods that guarantee stability in arbitrary environments, impose conservative control gains that limit the effectiveness of the cooperation. Inspired by previous work in frequency domain stability observers, a method is proposed in this paper to detect unstable behavior and stabilize the robot with online adaptation of the admittance control gains. The introduced instability index is based on frequency domain analysis, which very quickly detects unstable behavior by monitoring high frequency oscillation in the force signal. To treat the instability, an adaptation scheme of the admittance parameters is proposed, that relaxes conservative gains and improves the cooperation by considering the effect of variable admittance on the operators’ effort. We investigate two human-robot co-manipulation tasks; cooperation within a zero stiffness environment and cooperation in contact with a stiff double-wall virtual environment. The proposed methods are validated experimentally with a number of subjects in cooperation with an LWR manipulator.

Context-based design of mobile applications for museums: a survey of existing practices

Abstract: This paper includes a review of mobile applications used in museum environments, focusing on the notion of context and its constituent dimensions Museums are a representative example in which the context influences interaction During a museum visit, the visitors interact with the exhibits through mobile devices We argue that, effective interaction design needs to take into consideration multiple dimensions of the context Since context is often misinterpreted, superficially used or poorly defined, we attempt to analyze a number of existing mobile applications used in museum environments, through this perspective The point of analysis is to evaluate those applications against various context dimensions We argue that these results can be useful in other kinds of applications, in which the impact of context is not taken for granted

High-speed parallel-prefix module 2/sup n/-1 adders

Abstract: A novel parallel-prefix architecture for high speed module 2/sup n/-1 adders is presented. The proposed architecture is based on the idea of recirculating the generate and propagate signals, instead of the traditional end-around carry approach. Static CMOS implementations verify that the proposed architecture compares favorably with the already known parallel-prefix or carry look-ahead structures.

Nonlinear Optical Properties and Broadband Optical Power Limiting Action of Graphene Oxide Colloids

Abstract: In this work we report on the preparation of some aqueous graphene oxide (GO) dispersions and the investigation of their nonlinear optical response under visible (532 nm) and infrared (1064 nm), picosecond and nanosecond laser excitation. The GO colloids were prepared under specific and well-defined conditions resulting in finely dispersed heavily oxidized large GO sheets. In all cases, GO colloids were found to present large nonlinear absorption and negligible nonlinear refraction. The physical mechanisms responsible for their nonlinear optical response are discussed. In addition, the so-prepared GO dispersions were found to exhibit large broadband optical power limiting action for both pulse durations, comparable to that of C60 for visible laser pulses and much superior for infrared ones.