Slip detection plays a vital role in robotic manipulation and it has long been a challenging problem in the robotic community. In this paper, we propose a new method based on deep neural network (DNN) to detect slip. The training data is acquired by a GelSight tactile sensor and a camera mounted on a gripper when we use a robot arm to grasp and lift 94 daily objects with different grasping forc...

Understanding and controlling fluids flow at the microscale is a matter of growing scientific and technological interest. Flow enhancements of water-based nanoparticle dispersions through microscale porous media are investigated through twelve hydrophilic sedimentary rocks with pore-throat radius between 1.2 and 10 μm, which are quantitatively explained with a simple model with slip length corr...

This paper addresses issues of mechanical emulation of sti walls and stick-slip friction with a 6-DOF magnetically levitated joystick. In the case of sti wall emulation, it is shown that the PD control implementation commonly used severely limits achievable wall damping and sti ness. It is also shown that the perceived surface sti ness can be increased without loss of stability by applying a br...

Ground robotics rely on accurate dynamic models for high performance control and estimation systems. To use odometry or predict the robots motion, an accurate model is needed for the vehicle’s slip. For mobile robots, the mapping between inputs and resultant behavior depends critically on terrain conditions which vary significantly over time and space so cannot be pre-programmed. Integrated Per...

Rarefied gas slip microflow and heat transfer in rectangular microchannels and backward facing steps are numerically investigated. A control-volume based numerical method is used to solve the Navier–Stokes and energy equations with velocity-slip and temperature-jump conditions at the walls. The effects of Knudsen number (Kn ! 0.1), thermal creep, and viscous heating on the velocity and temperat...

We study the effect of atomic-scale surface-lubricant interactions on nanoscale boundary-lubricated friction by considering two example surfaces-hydrophilic mica and hydrophobic graphene-confining thin layers of water in molecular dynamics simulations. We observe stick-slip dynamics for thin water films confined by mica sheets, involving periodic breaking-reforming transitions of atomic-scale c...

in reinforced concrete design, there are situations where transfer of shear across a specific plane needs to be considered. examples of such situation include corbels, bearing shoes, ledger beam bearing, and a host of connection between precast concrete elements. in this study, the shear transfer behavior of reinforced concrete is investigated experimentally by conducting test on 6 precracked p...

Current finite-state control strategies for powered below-knee prosthesis, though effective to the normal gait, can not eliminate the disturbance of abnormal gaits such as slip and stamp. In addition, toe joint is not taken into consideration. This paper presents a finite-state control strategy for a powered below-knee prosthesis with ankle and toe. We first introduce the concerned prosthesis p...

In this paper, a novel pointing device is proposed which utilizes the deformation of the fingerprint. When the fingertip is pressed and slid slightly on a rigid plate, a partial slip, called “incipient slip”, occurs on the contact surface. Since the deformation around the center of the contact surface is small, the center of the fingerprint can be detected during the incipient slip. The Group D...