While humans can naturally feel forces as they manipulate objects, robots need special instrumentation to provide this capability. Force and torque sensing is crucial to enable robots to perform manipulation tasks such as picking up delicate items, screwing in parts for assembly, and handling deformable objects. In this paper, I present a force sensing data acquisition system that I implemented...

In profit-oriented environments, such as warehousing, the minimization of labor costs, and thus the flexibility of labor force is an increasingly important issue. Such an operating policy requires effective capacity planning methods to determine the number of personnel and equipment per activity and scheduling procedures to define the sequence of tasks by considering their strict deadline. In t...

Recently, the minimum number of reticulation events that is required to simultaneously embed a collection P of rooted binary phylogenetic trees into a so-called temporal network has been characterized in terms of cherry-picking sequences. Such a sequence is a particular ordering on the leaves of the trees in P. However, it is well-known that not all collections of phylogenetic trees have a cher...

The terminology, classification, diagnosis and treatment of self-inflicted dermatological lesions are subjects of open debate. The present study is the result of various meetings of a task force of dermatologists, psychiatrists and psychologists, all active in the field of psychodermatology, aimed at clarifying the terminology related to these disorders. A flow chart and glossary of terms and d...

During the operation of vibrating mechanism, push-shaking camellia fruit picking manipulator needs to ensure a constant force output clamping hydraulic motor in order make sure that tree trunk wouldn't loosen or damage, which may affect its later growth, during process. In this regard, paper derived state space model valve-controlled system manipulator, and fuzzy wavelet neural network (FWNN) w...

Based on the structural shortage of an agricultural labor force and continuous increase in tomato planting scale China, as well limitation a greenhouse working environment development picking productivity, motor-driven end-effector for robot based hybrid force/position control strategy was designed. First, applied to process. Consistent with this strategy, mechanical structure design determined...

More than 40 years ago, Magel (1970) used tracings with a compensating polar planimeter to measure propelling forces in swimming. By that time, average height of the curves was calculated in millimetres and converted to average force measures. Advances in technology, permitted picking up old methodologies and give them new features. In fact, the use of a force transducer to assess the forces ex...

Mature broccoli has large flower balls and thick stems. Therefore, manual picking is laborious energy-consuming. However, the big spheroid vegetable-picking manipulator a complex structure poor enveloping effect easily causes mechanical damage. ball-picking with compact simple control system was designed. The smart in stable configuration when enveloped balls. First, physical damage test carrie...

Aiming at the problems that tomatoes are fragile and traditional end-effector design is not suitable for tomato picking, a combination of bionic principle FRE structure finger was proposed. Based on physical properties tomatoes, flexible underactuated picking sorting designed. The optimal structural parameters fingers were determined by finite element analysis, grasping experiment carried out. ...