Dexterous Machining of Soft Objects Difficult to Clump

Prevention of Iodine Deficiency: Difficult to Implement, More Difficult to Sustain

Magnetic Abrasive Machining of Difficult-to-Cut Materials for Ultra-High-Speed Machining of AISI 304 Bars

This research proposes an optimized magnetic abrasive machining process that uses an ultra-high-speed system to perform precision machining on a workpiece. The system can process several microns of material, either for machining surface roughness or for machining a workpiece for a precise micro-diameter. The stainless steel workpieces have been machined using an ultra-high-speed magnetic abrasi...

In-Hand Dexterous Manipulation of Piecewise-Smooth 3-D Objects

We present an algorithm called nger tracking for in-hand manipulation of three dimensional objects with independent robot ngers. We describe and analyze the diierential control for nger tracking and extend it to on-line continuous control for a set of cooperating robot ngers. We show experimental data from a simulation. Finally, we discuss global control issues for nger tracking and compute low...

Design of a Variable Stiffness Soft Dexterous Gripper

This article presents the design of a variable stiffness, soft, three-fingered dexterous gripper. The gripper uses two designs of McKibben muscles. Extensor muscles that increase in length when pressurized are used to form the fingers of the gripper. Contractor muscles that decrease in length when pressurized are then used to apply forces to the fingers through tendons, which cause flexion and ...

Soft annealing: a new approach to difficult computational problems.

I propose a new method to study computationally difficult problems. I consider a new system, larger than the one I want to simulate. The original system is recovered by imposing constraints on the large system. I simulate the large system with the hard constraints replaced by soft constraints. I illustrate the method in the case of a ferromagnetic Ising model and in the case of a three-dimensio...