The document discusses the development of artificial touch for prosthetics. It begins with an introduction on touch in robotics and current prosthetics. The author then describes their bioinspired approach using a simplified tactile system modeled after the star-nosed mole. This system aims to provide feedback to users to help with grasp force control and object slippage. The remainder of the presentation outlines the tactile hardware and software system, modeling approaches, validation methods, and conclusions/future work. Feedback to users is seen as essential for advanced prosthetics despite some issues being solved already through technologies like parallel processing and underactuated mechanics.
Vision Based Approach to Sign Language RecognitionIJAAS Team
We propose an algorithm for automatically recognizing some certain amount of gestures from hand movements to help deaf and dumb and hard hearing people. Hand gesture recognition is quite a challenging problem in its form. We have considered a fixed set of manual commands and a specific environment, and develop a effective, procedure for gesture recognition. Our approach contains steps for segmenting the hand region, locating the fingers, and finally classifying the gesture which in general terms means detecting, tracking and recognising. The algorithm is non-changing to rotations, translations and scale of the hand. We will be demonstrating the effectiveness of the technique on real imagery.
Cave pollution occurs when harmful substances are introduced into cave environments. Caves naturally purify water but are threatened by various types of pollution including oils, trash, sewage, and industrial/agricultural waste. Over 7,500 species of troglobites that live exclusively in caves are defenseless against invasive species and pollution. Pollution enters caves through dumping, poor farming practices, and by people tracking materials inside. It contaminates groundwater and destroys fragile cave ecosystems and habitats. Efforts are needed to properly treat water, reduce waste, and encourage responsible caving to help protect these vulnerable underground environments.
Robotic design: Frontiers in visual and tactile sensingDesign World
This webinar presentation discussed frontiers in visual and tactile sensing for robotic design. It covered advances in computer vision that have enabled perception capabilities for robots in unconstrained environments. Examples of embedded vision systems in automobiles and challenges in implementing computer vision on devices were presented. The presentation concluded with a discussion of the future potential for biomimetic tactile sensing solutions to allow robots to perform delicate human tasks through sensitive touch.
The document discusses and compares different types of temperature sensors, including their advantages and disadvantages. NTC thermistors have advantages such as high sensitivity, accuracy, cost-effectiveness, ruggedness, and flexibility in packaging configurations. However, their output is non-linear. Platinum RTDs offer high accuracy and stability but are more expensive. Thermocouples are inexpensive but have non-linear outputs and require cold junction compensation. Semiconductors have limited applications and stability issues. The best sensor depends on the specific measurement needs and applications.
The thought of mind-controlled prosthetics might sound like something out of the "Star Wars" movies. Yet thanks to the company DARPA, this could soon become a reality/
The PR outreach campaign by StoreDot began on April 7th. As of April 9th, the story had been published in over 410 publications and shared over 83,000 times with over 1.5 million views of their YouTube video. The document then provides details on social sharing metrics and monthly visit statistics for many major technology news and business publications that covered the story.
This document outlines research on transparent conducting oxides (TCOs). It discusses how combining optical transparency with electrical conductivity is achieved through degenerate doping and the Burstein-Moss shift. TCOs made of materials like indium oxide, tin oxide, cadmium oxide and zinc oxide are used to create transparent electronic devices through carrier generation via substitutional doping or oxygen reduction. Applications include use in mobile phones, laptops, solar panels, and potential future uses like solar windows.
This document discusses the use of sensors in robotics. It begins by introducing how sensors give robots human-like sensing abilities like vision, touch, hearing, and movement. It then describes several key sensors used in robotics - vision sensors that allow robots to see their environment, touch sensors that allow robots to feel contact and interpret emotions, and hearing sensors that allow robots to perceive speech. The document also lists and describes other common sensors like proximity, range, tactile, light, sound, temperature, contact, voltage, and current sensors and their applications in robotics.
Vision Based Approach to Sign Language RecognitionIJAAS Team
We propose an algorithm for automatically recognizing some certain amount of gestures from hand movements to help deaf and dumb and hard hearing people. Hand gesture recognition is quite a challenging problem in its form. We have considered a fixed set of manual commands and a specific environment, and develop a effective, procedure for gesture recognition. Our approach contains steps for segmenting the hand region, locating the fingers, and finally classifying the gesture which in general terms means detecting, tracking and recognising. The algorithm is non-changing to rotations, translations and scale of the hand. We will be demonstrating the effectiveness of the technique on real imagery.
Cave pollution occurs when harmful substances are introduced into cave environments. Caves naturally purify water but are threatened by various types of pollution including oils, trash, sewage, and industrial/agricultural waste. Over 7,500 species of troglobites that live exclusively in caves are defenseless against invasive species and pollution. Pollution enters caves through dumping, poor farming practices, and by people tracking materials inside. It contaminates groundwater and destroys fragile cave ecosystems and habitats. Efforts are needed to properly treat water, reduce waste, and encourage responsible caving to help protect these vulnerable underground environments.
Robotic design: Frontiers in visual and tactile sensingDesign World
This webinar presentation discussed frontiers in visual and tactile sensing for robotic design. It covered advances in computer vision that have enabled perception capabilities for robots in unconstrained environments. Examples of embedded vision systems in automobiles and challenges in implementing computer vision on devices were presented. The presentation concluded with a discussion of the future potential for biomimetic tactile sensing solutions to allow robots to perform delicate human tasks through sensitive touch.
The document discusses and compares different types of temperature sensors, including their advantages and disadvantages. NTC thermistors have advantages such as high sensitivity, accuracy, cost-effectiveness, ruggedness, and flexibility in packaging configurations. However, their output is non-linear. Platinum RTDs offer high accuracy and stability but are more expensive. Thermocouples are inexpensive but have non-linear outputs and require cold junction compensation. Semiconductors have limited applications and stability issues. The best sensor depends on the specific measurement needs and applications.
The thought of mind-controlled prosthetics might sound like something out of the "Star Wars" movies. Yet thanks to the company DARPA, this could soon become a reality/
The PR outreach campaign by StoreDot began on April 7th. As of April 9th, the story had been published in over 410 publications and shared over 83,000 times with over 1.5 million views of their YouTube video. The document then provides details on social sharing metrics and monthly visit statistics for many major technology news and business publications that covered the story.
This document outlines research on transparent conducting oxides (TCOs). It discusses how combining optical transparency with electrical conductivity is achieved through degenerate doping and the Burstein-Moss shift. TCOs made of materials like indium oxide, tin oxide, cadmium oxide and zinc oxide are used to create transparent electronic devices through carrier generation via substitutional doping or oxygen reduction. Applications include use in mobile phones, laptops, solar panels, and potential future uses like solar windows.
This document discusses the use of sensors in robotics. It begins by introducing how sensors give robots human-like sensing abilities like vision, touch, hearing, and movement. It then describes several key sensors used in robotics - vision sensors that allow robots to see their environment, touch sensors that allow robots to feel contact and interpret emotions, and hearing sensors that allow robots to perceive speech. The document also lists and describes other common sensors like proximity, range, tactile, light, sound, temperature, contact, voltage, and current sensors and their applications in robotics.
Transparent electronics is an emerging technology that uses wide band-gap semiconductors to create invisible circuits and optoelectronic devices. The goal is to develop transparent materials with high performance and electrical conductivity that can be implemented in transistors and circuits. Transparent oxide semiconductors like zinc oxide and amorphous indium gallium zinc oxide are being researched for use in transparent transistors and devices. Potential applications include see-through displays, touchscreens, solar cells, and other electronic devices that are transparent when deposited on glass. While progress is being made, transparent electronics still face challenges in fully capturing markets due to limitations in current applications and high manufacturing costs.
Transparent electronics by kirti kansalTechnocratz
This document discusses the emerging field of transparent electronics. The key goals are to discover transparent, high-performance electronic materials and implement them in transistors, circuits and systems. This would enable applications like touchscreens, solar cells, displays, and smart windows that are transparent. Technologies like transparent thin-film transistors, resistors, capacitors and indutors are discussed. Recent advances include transparent memory devices that could replace flash memory and memristors that mimic the brain's neurons. Future applications may include electronic devices integrated into car windshields, windows, and other transparent surfaces.
These slides use concepts from my (Jeff Funk) course entitled analyzing hi-tech opportunities to analyze how transparent electronics are becoming economic feasible. Transparent electronics can turn windows into displays and solar cells and enable more aesthetically pleasing designs. Home, car, and office windows can be used to display information or absorb solar energy. The former is also applicable to contact lenses and glasses. Transparent electronics can also enable new forms of designs such as transparent phones, appliances, and monitors. Improvements in transparent conductive films such as indium tin oxides, other forms of oxides, and graphene enable these transparent displays.
The document discusses transparent electronics and transparent conducting materials. It explains that transparent conductors are neither 100% optically transparent nor metallically conductive due to the contradictory nature of these properties from a band structure perspective. Transparent conducting oxides (TCOs) are commonly used by degenerately doping the material to displace the Fermi level into the conduction band, providing high carrier mobility and low optical absorption. The document also discusses applications of transparent amorphous oxide semiconductors (TAOSs) in displays and chemical detection.
Overview of IPv6 protocol along with various transition scenarios for the migration from IPv4 to IPv6
IPv6 is the current and future Internet Protocol standard. As anticipated, IPv4 addresses became exhausted around 2012.
The IP address scarcity is the main driver for IPv6 protocol adoption.
IPv6 defines a much larger address space that should be sufficient for the foreseeable future, even taking into account Internet of Things scenarios with zillions of small devices connected to the Internet.
IPv6 is, however, much more than simply an expansion of the address space. IPv6 defines a clean address architecture with globally aggregatable addresses thus reducing routing table sizes in Internet routers.
IPv6 extension headers provide a standard mechanism for stacking protocols such as IP, IPSec, routing headers and upper layer headers such as TCP.
ICMP (Internet Control Message Protocol) is already defined for IPv4. ICMP was totally revamped for IPv6 and as ICMPv6 provides common functions like IP address and prefix assignment.
Lack of business drivers for migrating to IPv6 is responsible for sluggish adoption of IPv6 in carrier and enterprise networks.
Numerous transition mechanisms were developed to ease the transition from IPv4 to IPv6. Many of these mechanisms are complex and difficult to administer.
The transition mechanisms can be coarsely classified into dual-stack, tunneling and translation mechanisms.
Haptics is a technology that adds the sense of touch to interactions with virtual objects by connecting user movements and actions to corresponding computer-generated feedback such as forces, vibrations, and motions. This allows virtual objects to seem real and tangible to the user. Haptics links the brain's sensing of body position and movement through sensory nerves to provide an immersive experience when interacting with virtual environments and simulated objects.
TRANSPARENT ELECTRONICS
Abstract: Transparent electronics is an emerging science and technology field focused on producing ‘invisible’ electronic circuitry and opto-electronic devices.
Applications include consumer electronics, new energy sources, and transportation; for example, automobilewindshields could transmit visual information to the driver. Glass in almost any setting could also double as an electronic device, possibly improving security systems or offering transparent displays. In a similar vein, windows could be used to produce electrical power. Other civilian and military applications in this research field include realtime wearable displays.
As for conventional Si/III–V-based electronics, the basic device structure is based on semiconductor junctions and transistors. However, the device building block materials, the semiconductor, the electric contacts, and the ielectric/passivation layers, must now be transparent in the visible –a true challenge! Therefore, the first scientific goal of this technology must be to discover,understand, and implement transparent high-performance electronic materials. The second goal is their implementation and evaluation in transistor and circuit structures.
The electronics during the past 10 years, the classes of materials available for transparent electronics applications have grown dramatically. Historically, this area was dominated by transparent conducting oxides (oxide materials that are both electrically conductive and optically transparent) because of their wide use in antistatic coatings, touch display panels, solar cells, flat panel displays, heaters, defrosters, ‘smart windows’ and optical coatings. All these applications use transparent conductive oxides as passive electrical or optical coatings. The field of transparent conducting oxide (TCO) materials has been reviewed and many treatises on the topic are available. However, more recently there have been tremendous efforts to develop new active materials for functional transparent electronics. These new technologies will require new materials sets, in addition to the TCO component, including conducting, dielectric and semiconducting materials, as well as passive components for full device fabrication.
COMBINING OPTICAL TRANSPARENCY WITH ELECTRICAL CONDUCTIVITY
Transparent conductors are neither 100% optically transparent nor metallically conductive. From the band structure point of view, the combination of the two properties in the same material is contradictory: a transparent material is an insulator which possesses completely filled valence and empty conduction bands; whereas metallic conductivity appears when the Fermi level lies within a band with a large density of states to provide high carrier concentration. Efficient transparent conductors find their niche in a compromise between a sufficient transmission within the visible spectral range and a moderate but useful in practice electrical conductivity.
Piezoelectric electric based energy harvestingSubash John
Piezoelectric materials can generate an electric charge when subjected to mechanical stress. This phenomenon known as the piezoelectric effect enables piezoelectric materials to convert mechanical vibrational energy into electrical energy through a process known as energy harvesting. Common sources of vibration that can be used for piezoelectric energy harvesting include footsteps on sidewalks, movements from gym equipment, and vibrations from vehicles. The electric energy produced can be stored in batteries or capacitors and used to power small electronic devices. Piezoelectric materials have applications in various technologies including ultrasound imaging, sensors, musical instruments, and automotive engine management systems.
This document discusses transparent electronics using transparent conducting oxides (TCOs). It introduces TCOs such as indium tin oxide which allow for both optical transparency and electrical conductivity. This is achieved through degenerate doping and the Burstein-Moss shift. TCOs find applications in transparent thin-film transistors, resistors, capacitors and indutors which could enable see-through laptops, phones and solar panels. Further advances could lead to solar windows but also environmental challenges.
Virtual reality is a user interface that involves real-time simulation and interactions through sensory channels to immerse users in virtual environments. It has its origins in flight simulators from the 1950s and early prototypes in the 1960s, with commercial development beginning in the late 1980s. Current applications of VR include movies, video games, and education/training. Emerging technologies like Project Natal, CAVE systems, and the Nintendo Wii are pushing the boundaries of VR by enabling more natural physical interaction. While the future is uncertain, VR is expected to continue evolving entertainment and other industries through immersive experiences.
Tactile sensors and their robotic applicationsAasheesh Tandon
This presentation discusses about artificial tactile sensors, it's comparison with human tactile senses. Further different types of tactile sensors are enlisted ,with a few given in more detail.
Robotic applications are also discussed and then finally future developments in this area is mentioned.
The document discusses different types of sensors based on their output and principles of operation. There are discrete (digital) sensors that provide a single logical output and proportional (analog) sensors that provide an output such as voltage or current. Optical, inductive, reed, magnetic, and capacitive sensors are described in terms of their operating principles, outputs, advantages, and limitations. Symbols are provided for common sensor types.
It is a seminar presentation on a technology called Virtual reality. It key features are what is virtual reality, its history and evolution, its types, devices that are used for Virtual reality and where virtual reality is applicable.
Skybuffer AI: Advanced Conversational and Generative AI Solution on SAP Busin...Tatiana Kojar
Skybuffer AI, built on the robust SAP Business Technology Platform (SAP BTP), is the latest and most advanced version of our AI development, reaffirming our commitment to delivering top-tier AI solutions. Skybuffer AI harnesses all the innovative capabilities of the SAP BTP in the AI domain, from Conversational AI to cutting-edge Generative AI and Retrieval-Augmented Generation (RAG). It also helps SAP customers safeguard their investments into SAP Conversational AI and ensure a seamless, one-click transition to SAP Business AI.
With Skybuffer AI, various AI models can be integrated into a single communication channel such as Microsoft Teams. This integration empowers business users with insights drawn from SAP backend systems, enterprise documents, and the expansive knowledge of Generative AI. And the best part of it is that it is all managed through our intuitive no-code Action Server interface, requiring no extensive coding knowledge and making the advanced AI accessible to more users.
Letter and Document Automation for Bonterra Impact Management (fka Social Sol...Jeffrey Haguewood
Sidekick Solutions uses Bonterra Impact Management (fka Social Solutions Apricot) and automation solutions to integrate data for business workflows.
We believe integration and automation are essential to user experience and the promise of efficient work through technology. Automation is the critical ingredient to realizing that full vision. We develop integration products and services for Bonterra Case Management software to support the deployment of automations for a variety of use cases.
This video focuses on automated letter generation for Bonterra Impact Management using Google Workspace or Microsoft 365.
Interested in deploying letter generation automations for Bonterra Impact Management? Contact us at sales@sidekicksolutionsllc.com to discuss next steps.
Generating privacy-protected synthetic data using Secludy and MilvusZilliz
During this demo, the founders of Secludy will demonstrate how their system utilizes Milvus to store and manipulate embeddings for generating privacy-protected synthetic data. Their approach not only maintains the confidentiality of the original data but also enhances the utility and scalability of LLMs under privacy constraints. Attendees, including machine learning engineers, data scientists, and data managers, will witness first-hand how Secludy's integration with Milvus empowers organizations to harness the power of LLMs securely and efficiently.
Main news related to the CCS TSI 2023 (2023/1695)Jakub Marek
An English 🇬🇧 translation of a presentation to the speech I gave about the main changes brought by CCS TSI 2023 at the biggest Czech conference on Communications and signalling systems on Railways, which was held in Clarion Hotel Olomouc from 7th to 9th November 2023 (konferenceszt.cz). Attended by around 500 participants and 200 on-line followers.
The original Czech 🇨🇿 version of the presentation can be found here: https://www.slideshare.net/slideshow/hlavni-novinky-souvisejici-s-ccs-tsi-2023-2023-1695/269688092 .
The videorecording (in Czech) from the presentation is available here: https://youtu.be/WzjJWm4IyPk?si=SImb06tuXGb30BEH .
Transparent electronics is an emerging technology that uses wide band-gap semiconductors to create invisible circuits and optoelectronic devices. The goal is to develop transparent materials with high performance and electrical conductivity that can be implemented in transistors and circuits. Transparent oxide semiconductors like zinc oxide and amorphous indium gallium zinc oxide are being researched for use in transparent transistors and devices. Potential applications include see-through displays, touchscreens, solar cells, and other electronic devices that are transparent when deposited on glass. While progress is being made, transparent electronics still face challenges in fully capturing markets due to limitations in current applications and high manufacturing costs.
Transparent electronics by kirti kansalTechnocratz
This document discusses the emerging field of transparent electronics. The key goals are to discover transparent, high-performance electronic materials and implement them in transistors, circuits and systems. This would enable applications like touchscreens, solar cells, displays, and smart windows that are transparent. Technologies like transparent thin-film transistors, resistors, capacitors and indutors are discussed. Recent advances include transparent memory devices that could replace flash memory and memristors that mimic the brain's neurons. Future applications may include electronic devices integrated into car windshields, windows, and other transparent surfaces.
These slides use concepts from my (Jeff Funk) course entitled analyzing hi-tech opportunities to analyze how transparent electronics are becoming economic feasible. Transparent electronics can turn windows into displays and solar cells and enable more aesthetically pleasing designs. Home, car, and office windows can be used to display information or absorb solar energy. The former is also applicable to contact lenses and glasses. Transparent electronics can also enable new forms of designs such as transparent phones, appliances, and monitors. Improvements in transparent conductive films such as indium tin oxides, other forms of oxides, and graphene enable these transparent displays.
The document discusses transparent electronics and transparent conducting materials. It explains that transparent conductors are neither 100% optically transparent nor metallically conductive due to the contradictory nature of these properties from a band structure perspective. Transparent conducting oxides (TCOs) are commonly used by degenerately doping the material to displace the Fermi level into the conduction band, providing high carrier mobility and low optical absorption. The document also discusses applications of transparent amorphous oxide semiconductors (TAOSs) in displays and chemical detection.
Overview of IPv6 protocol along with various transition scenarios for the migration from IPv4 to IPv6
IPv6 is the current and future Internet Protocol standard. As anticipated, IPv4 addresses became exhausted around 2012.
The IP address scarcity is the main driver for IPv6 protocol adoption.
IPv6 defines a much larger address space that should be sufficient for the foreseeable future, even taking into account Internet of Things scenarios with zillions of small devices connected to the Internet.
IPv6 is, however, much more than simply an expansion of the address space. IPv6 defines a clean address architecture with globally aggregatable addresses thus reducing routing table sizes in Internet routers.
IPv6 extension headers provide a standard mechanism for stacking protocols such as IP, IPSec, routing headers and upper layer headers such as TCP.
ICMP (Internet Control Message Protocol) is already defined for IPv4. ICMP was totally revamped for IPv6 and as ICMPv6 provides common functions like IP address and prefix assignment.
Lack of business drivers for migrating to IPv6 is responsible for sluggish adoption of IPv6 in carrier and enterprise networks.
Numerous transition mechanisms were developed to ease the transition from IPv4 to IPv6. Many of these mechanisms are complex and difficult to administer.
The transition mechanisms can be coarsely classified into dual-stack, tunneling and translation mechanisms.
Haptics is a technology that adds the sense of touch to interactions with virtual objects by connecting user movements and actions to corresponding computer-generated feedback such as forces, vibrations, and motions. This allows virtual objects to seem real and tangible to the user. Haptics links the brain's sensing of body position and movement through sensory nerves to provide an immersive experience when interacting with virtual environments and simulated objects.
TRANSPARENT ELECTRONICS
Abstract: Transparent electronics is an emerging science and technology field focused on producing ‘invisible’ electronic circuitry and opto-electronic devices.
Applications include consumer electronics, new energy sources, and transportation; for example, automobilewindshields could transmit visual information to the driver. Glass in almost any setting could also double as an electronic device, possibly improving security systems or offering transparent displays. In a similar vein, windows could be used to produce electrical power. Other civilian and military applications in this research field include realtime wearable displays.
As for conventional Si/III–V-based electronics, the basic device structure is based on semiconductor junctions and transistors. However, the device building block materials, the semiconductor, the electric contacts, and the ielectric/passivation layers, must now be transparent in the visible –a true challenge! Therefore, the first scientific goal of this technology must be to discover,understand, and implement transparent high-performance electronic materials. The second goal is their implementation and evaluation in transistor and circuit structures.
The electronics during the past 10 years, the classes of materials available for transparent electronics applications have grown dramatically. Historically, this area was dominated by transparent conducting oxides (oxide materials that are both electrically conductive and optically transparent) because of their wide use in antistatic coatings, touch display panels, solar cells, flat panel displays, heaters, defrosters, ‘smart windows’ and optical coatings. All these applications use transparent conductive oxides as passive electrical or optical coatings. The field of transparent conducting oxide (TCO) materials has been reviewed and many treatises on the topic are available. However, more recently there have been tremendous efforts to develop new active materials for functional transparent electronics. These new technologies will require new materials sets, in addition to the TCO component, including conducting, dielectric and semiconducting materials, as well as passive components for full device fabrication.
COMBINING OPTICAL TRANSPARENCY WITH ELECTRICAL CONDUCTIVITY
Transparent conductors are neither 100% optically transparent nor metallically conductive. From the band structure point of view, the combination of the two properties in the same material is contradictory: a transparent material is an insulator which possesses completely filled valence and empty conduction bands; whereas metallic conductivity appears when the Fermi level lies within a band with a large density of states to provide high carrier concentration. Efficient transparent conductors find their niche in a compromise between a sufficient transmission within the visible spectral range and a moderate but useful in practice electrical conductivity.
Piezoelectric electric based energy harvestingSubash John
Piezoelectric materials can generate an electric charge when subjected to mechanical stress. This phenomenon known as the piezoelectric effect enables piezoelectric materials to convert mechanical vibrational energy into electrical energy through a process known as energy harvesting. Common sources of vibration that can be used for piezoelectric energy harvesting include footsteps on sidewalks, movements from gym equipment, and vibrations from vehicles. The electric energy produced can be stored in batteries or capacitors and used to power small electronic devices. Piezoelectric materials have applications in various technologies including ultrasound imaging, sensors, musical instruments, and automotive engine management systems.
This document discusses transparent electronics using transparent conducting oxides (TCOs). It introduces TCOs such as indium tin oxide which allow for both optical transparency and electrical conductivity. This is achieved through degenerate doping and the Burstein-Moss shift. TCOs find applications in transparent thin-film transistors, resistors, capacitors and indutors which could enable see-through laptops, phones and solar panels. Further advances could lead to solar windows but also environmental challenges.
Virtual reality is a user interface that involves real-time simulation and interactions through sensory channels to immerse users in virtual environments. It has its origins in flight simulators from the 1950s and early prototypes in the 1960s, with commercial development beginning in the late 1980s. Current applications of VR include movies, video games, and education/training. Emerging technologies like Project Natal, CAVE systems, and the Nintendo Wii are pushing the boundaries of VR by enabling more natural physical interaction. While the future is uncertain, VR is expected to continue evolving entertainment and other industries through immersive experiences.
Tactile sensors and their robotic applicationsAasheesh Tandon
This presentation discusses about artificial tactile sensors, it's comparison with human tactile senses. Further different types of tactile sensors are enlisted ,with a few given in more detail.
Robotic applications are also discussed and then finally future developments in this area is mentioned.
The document discusses different types of sensors based on their output and principles of operation. There are discrete (digital) sensors that provide a single logical output and proportional (analog) sensors that provide an output such as voltage or current. Optical, inductive, reed, magnetic, and capacitive sensors are described in terms of their operating principles, outputs, advantages, and limitations. Symbols are provided for common sensor types.
It is a seminar presentation on a technology called Virtual reality. It key features are what is virtual reality, its history and evolution, its types, devices that are used for Virtual reality and where virtual reality is applicable.
Skybuffer AI: Advanced Conversational and Generative AI Solution on SAP Busin...Tatiana Kojar
Skybuffer AI, built on the robust SAP Business Technology Platform (SAP BTP), is the latest and most advanced version of our AI development, reaffirming our commitment to delivering top-tier AI solutions. Skybuffer AI harnesses all the innovative capabilities of the SAP BTP in the AI domain, from Conversational AI to cutting-edge Generative AI and Retrieval-Augmented Generation (RAG). It also helps SAP customers safeguard their investments into SAP Conversational AI and ensure a seamless, one-click transition to SAP Business AI.
With Skybuffer AI, various AI models can be integrated into a single communication channel such as Microsoft Teams. This integration empowers business users with insights drawn from SAP backend systems, enterprise documents, and the expansive knowledge of Generative AI. And the best part of it is that it is all managed through our intuitive no-code Action Server interface, requiring no extensive coding knowledge and making the advanced AI accessible to more users.
Letter and Document Automation for Bonterra Impact Management (fka Social Sol...Jeffrey Haguewood
Sidekick Solutions uses Bonterra Impact Management (fka Social Solutions Apricot) and automation solutions to integrate data for business workflows.
We believe integration and automation are essential to user experience and the promise of efficient work through technology. Automation is the critical ingredient to realizing that full vision. We develop integration products and services for Bonterra Case Management software to support the deployment of automations for a variety of use cases.
This video focuses on automated letter generation for Bonterra Impact Management using Google Workspace or Microsoft 365.
Interested in deploying letter generation automations for Bonterra Impact Management? Contact us at sales@sidekicksolutionsllc.com to discuss next steps.
Generating privacy-protected synthetic data using Secludy and MilvusZilliz
During this demo, the founders of Secludy will demonstrate how their system utilizes Milvus to store and manipulate embeddings for generating privacy-protected synthetic data. Their approach not only maintains the confidentiality of the original data but also enhances the utility and scalability of LLMs under privacy constraints. Attendees, including machine learning engineers, data scientists, and data managers, will witness first-hand how Secludy's integration with Milvus empowers organizations to harness the power of LLMs securely and efficiently.
Main news related to the CCS TSI 2023 (2023/1695)Jakub Marek
An English 🇬🇧 translation of a presentation to the speech I gave about the main changes brought by CCS TSI 2023 at the biggest Czech conference on Communications and signalling systems on Railways, which was held in Clarion Hotel Olomouc from 7th to 9th November 2023 (konferenceszt.cz). Attended by around 500 participants and 200 on-line followers.
The original Czech 🇨🇿 version of the presentation can be found here: https://www.slideshare.net/slideshow/hlavni-novinky-souvisejici-s-ccs-tsi-2023-2023-1695/269688092 .
The videorecording (in Czech) from the presentation is available here: https://youtu.be/WzjJWm4IyPk?si=SImb06tuXGb30BEH .
Taking AI to the Next Level in Manufacturing.pdfssuserfac0301
Read Taking AI to the Next Level in Manufacturing to gain insights on AI adoption in the manufacturing industry, such as:
1. How quickly AI is being implemented in manufacturing.
2. Which barriers stand in the way of AI adoption.
3. How data quality and governance form the backbone of AI.
4. Organizational processes and structures that may inhibit effective AI adoption.
6. Ideas and approaches to help build your organization's AI strategy.
Driving Business Innovation: Latest Generative AI Advancements & Success StorySafe Software
Are you ready to revolutionize how you handle data? Join us for a webinar where we’ll bring you up to speed with the latest advancements in Generative AI technology and discover how leveraging FME with tools from giants like Google Gemini, Amazon, and Microsoft OpenAI can supercharge your workflow efficiency.
During the hour, we’ll take you through:
Guest Speaker Segment with Hannah Barrington: Dive into the world of dynamic real estate marketing with Hannah, the Marketing Manager at Workspace Group. Hear firsthand how their team generates engaging descriptions for thousands of office units by integrating diverse data sources—from PDF floorplans to web pages—using FME transformers, like OpenAIVisionConnector and AnthropicVisionConnector. This use case will show you how GenAI can streamline content creation for marketing across the board.
Ollama Use Case: Learn how Scenario Specialist Dmitri Bagh has utilized Ollama within FME to input data, create custom models, and enhance security protocols. This segment will include demos to illustrate the full capabilities of FME in AI-driven processes.
Custom AI Models: Discover how to leverage FME to build personalized AI models using your data. Whether it’s populating a model with local data for added security or integrating public AI tools, find out how FME facilitates a versatile and secure approach to AI.
We’ll wrap up with a live Q&A session where you can engage with our experts on your specific use cases, and learn more about optimizing your data workflows with AI.
This webinar is ideal for professionals seeking to harness the power of AI within their data management systems while ensuring high levels of customization and security. Whether you're a novice or an expert, gain actionable insights and strategies to elevate your data processes. Join us to see how FME and AI can revolutionize how you work with data!
5th LF Energy Power Grid Model Meet-up SlidesDanBrown980551
5th Power Grid Model Meet-up
It is with great pleasure that we extend to you an invitation to the 5th Power Grid Model Meet-up, scheduled for 6th June 2024. This event will adopt a hybrid format, allowing participants to join us either through an online Mircosoft Teams session or in person at TU/e located at Den Dolech 2, Eindhoven, Netherlands. The meet-up will be hosted by Eindhoven University of Technology (TU/e), a research university specializing in engineering science & technology.
Power Grid Model
The global energy transition is placing new and unprecedented demands on Distribution System Operators (DSOs). Alongside upgrades to grid capacity, processes such as digitization, capacity optimization, and congestion management are becoming vital for delivering reliable services.
Power Grid Model is an open source project from Linux Foundation Energy and provides a calculation engine that is increasingly essential for DSOs. It offers a standards-based foundation enabling real-time power systems analysis, simulations of electrical power grids, and sophisticated what-if analysis. In addition, it enables in-depth studies and analysis of the electrical power grid’s behavior and performance. This comprehensive model incorporates essential factors such as power generation capacity, electrical losses, voltage levels, power flows, and system stability.
Power Grid Model is currently being applied in a wide variety of use cases, including grid planning, expansion, reliability, and congestion studies. It can also help in analyzing the impact of renewable energy integration, assessing the effects of disturbances or faults, and developing strategies for grid control and optimization.
What to expect
For the upcoming meetup we are organizing, we have an exciting lineup of activities planned:
-Insightful presentations covering two practical applications of the Power Grid Model.
-An update on the latest advancements in Power Grid -Model technology during the first and second quarters of 2024.
-An interactive brainstorming session to discuss and propose new feature requests.
-An opportunity to connect with fellow Power Grid Model enthusiasts and users.
TrustArc Webinar - 2024 Global Privacy SurveyTrustArc
How does your privacy program stack up against your peers? What challenges are privacy teams tackling and prioritizing in 2024?
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Bio-inspired robotic touch
1. Artificial
Touch
L. Ascari
Artificial Touch
Introduction
Towards a new approach in prosthetics? The tactile
system
Modelling
L. Ascari Validation
Conclusions
and Future
HENESIS S.R.L. Options
References
Parma - February 22nd, 2012
—
All the activity described in the presentation has been
carried on while post-doc at
Scuola Superiore Sant’Anna, Pisa (I)
2. Outline
Artificial
Touch
1 Introduction
L. Ascari
Touch in Robotics
Touch in Prosthetics - Commercial SoA Introduction
Approach The tactile
system
The pick and lift task Modelling
Bioinspiration Validation
Conclusions
2 The tactile system and Future
Options
Hardware
References
Software
3 Modelling
4 Validation
5 Conclusions and Future Options
3. Outline
Artificial
Touch
1 Introduction
L. Ascari
Touch in Robotics
Touch in Prosthetics - Commercial SoA Introduction
Approach The tactile
system
The pick and lift task Modelling
Bioinspiration Validation
Conclusions
2 The tactile system and Future
Options
Hardware
References
Software
3 Modelling
4 Validation
5 Conclusions and Future Options
4. Outline
Artificial
Touch
1 Introduction
L. Ascari
Touch in Robotics
Touch in Prosthetics - Commercial SoA Introduction
Approach The tactile
system
The pick and lift task Modelling
Bioinspiration Validation
Conclusions
2 The tactile system and Future
Options
Hardware
References
Software
3 Modelling
4 Validation
5 Conclusions and Future Options
5. Outline
Artificial
Touch
1 Introduction
L. Ascari
Touch in Robotics
Touch in Prosthetics - Commercial SoA Introduction
Approach The tactile
system
The pick and lift task Modelling
Bioinspiration Validation
Conclusions
2 The tactile system and Future
Options
Hardware
References
Software
3 Modelling
4 Validation
5 Conclusions and Future Options
6. Outline
Artificial
Touch
1 Introduction
L. Ascari
Touch in Robotics
Touch in Prosthetics - Commercial SoA Introduction
Approach The tactile
system
The pick and lift task Modelling
Bioinspiration Validation
Conclusions
2 The tactile system and Future
Options
Hardware
References
Software
3 Modelling
4 Validation
5 Conclusions and Future Options
7. Outline
Artificial
Touch
1 Introduction
L. Ascari
Touch in Robotics
Touch in Prosthetics - Commercial SoA Introduction
Touch in Robotics
Approach Prosthetics SoA
Approach
The pick and lift task The pick and lift task
Bioinspiration
Bioinspiration
The tactile
system
2 The tactile system Modelling
Hardware Validation
Software Conclusions
and Future
3 Modelling Options
References
4 Validation
5 Conclusions and Future Options
8. Touch in Robotics I
Artificial
Touch
L. Ascari
Introduction
Robots are now very complex and sophisticated systems. Touch in Robotics
Higher computational requirements. Prosthetics SoA
Approach
The pick and lift task
Automation robots: very high performing and reliable Bioinspiration
machines. The tactile
system
Outside the factory floor: limited interaction with humans, Modelling
specially in terms of autonomous behavior and of friendly Validation
HMIs1 , Conclusions
and Future
despite a huge market is expected to develop rapidly2 . Options
References
9. Touch in Robotics II
Artificial
Touch
L. Ascari
Tactile sensing can provide information about mechanical
properties such as compliance, friction, and mass. Introduction
Touch in Robotics
Knowledge of these parameters is essential if robots are to Prosthetics SoA
Approach
reliably handle unknown objects in unstructured The pick and lift task
Bioinspiration
environments. For interaction, localization of the stimulus
The tactile
is essential3 . system
Modelling
Validation
Conclusions
1 and Future
J. Ayers et al. Neurotechnology for biomimetic robots. MIT Press, Options
2002. References
2
WorldRobotics. World Robotics 2006. International Federation of
Robotics, Statistical Department, 2006. url:
http://www.worldrobotics-online.org/.
3
R. D. Howe. “Tactile sensing and control of robotic manipulation”. In:
Journal of Advanced Robotics 8 (1994), pp. 245–261.
10. For what?
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
Approach
Interaction The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Autonomy
Conclusions
and Future
Options
References
Locomotion
11. For what?
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
Approach
Interaction The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Autonomy
Conclusions
and Future
Options
References
Locomotion
12. For what?
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
Approach
Interaction The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Autonomy
Conclusions
and Future
Options
References
Locomotion
13. For what?
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
Approach
Interaction The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Autonomy
Conclusions
and Future
Options
References
Locomotion
14. SOA in robotic skins?
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
Approach
The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
15. Open Issues
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
wiring Approach
The pick and lift task
robustness Bioinspiration
The tactile
stretchability system
Modelling
bandwidth
Validation
processing Conclusions
and Future
Options
References
16. Open Issues
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
wiring Approach
The pick and lift task
robustness Bioinspiration
The tactile
stretchability system
Modelling
bandwidth
Validation
processing Conclusions
and Future
Options
References
17. Open Issues
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
wiring Approach
The pick and lift task
robustness Bioinspiration
The tactile
stretchability system
Modelling
bandwidth
Validation
processing Conclusions
and Future
Options
References
18. Open Issues
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
wiring Approach
The pick and lift task
robustness Bioinspiration
The tactile
stretchability system
Modelling
bandwidth
Validation
processing Conclusions
and Future
Options
References
19. Open Issues
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
wiring Approach
The pick and lift task
robustness Bioinspiration
The tactile
stretchability system
Modelling
bandwidth
Validation
processing Conclusions
and Future
Options
References
20. Touch in Prosthetics - Commercial SoA
Artificial
Touch
More advanced: myoelectric control
L. Ascari
I-Limb Ultra from Touch Bionics
Introduction
Ultra from BeBionics Touch in Robotics
Prosthetics SoA
Approach
The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
21. Touch in Prosthetics - Commercial SoA
Artificial
Touch
More advanced: myoelectric control
L. Ascari
I-Limb Ultra from Touch Bionics
Introduction
Ultra from BeBionics Touch in Robotics
Prosthetics SoA
Approach
The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
Often refused by patients!
22. Touch in Prosthetics - Commercial SoA
Artificial
Touch
Classical prosthesis, cable actuated
L. Ascari
Otto bock grippers
Introduction
Touch in Robotics
Prosthetics SoA
Approach
The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
23. Touch in Prosthetics - Commercial SoA
Artificial
Touch
Classical prosthesis, cable actuated
L. Ascari
Otto bock grippers
Introduction
Touch in Robotics
Prosthetics SoA
Approach
The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
Not sensorized. Higher user acceptance. Why?
24. Contemporary prosthetics: directions and open
issues4
Artificial
Directions Touch
autonomous control of low level tasks L. Ascari
higher spatial resolution of the sensing system Introduction
Touch in Robotics
neural control (prototypes exist) Prosthetics SoA
Approach
feedback to the patient (preliminary results) The pick and lift task
Bioinspiration
The tactile
system
Open issues
Modelling
connection with tactile nerves Validation
dexterity Conclusions
and Future
sensitivity Options
References
CONTROL (myo-electrical vs neural)
feedback to the patient
4
R.G.E. Clement et al. “Bionic prosthetic hands: A review of present
technology and future aspirations”. In: The Surgeon 9.6 (12/2011),
25. Contemporary prosthetics: directions and open
issues4
Artificial
Directions Touch
autonomous control of low level tasks L. Ascari
higher spatial resolution of the sensing system Introduction
Touch in Robotics
neural control (prototypes exist) Prosthetics SoA
Approach
feedback to the patient (preliminary results) The pick and lift task
Bioinspiration
The tactile
system
Open issues
Modelling
connection with tactile nerves Validation
dexterity Conclusions
and Future
sensitivity Options
References
CONTROL (myo-electrical vs neural)
feedback to the patient
4
R.G.E. Clement et al. “Bionic prosthetic hands: A review of present
technology and future aspirations”. In: The Surgeon 9.6 (12/2011),
26. Basic questions
Artificial
Touch
Some fundamental questions
L. Ascari
What is the main issue with advanced prosthesis?
Introduction
Touch in Robotics
Prosthetics SoA
Is feedback to the user essential for this? Approach
The pick and lift task
Bioinspiration
“Solved” Issues The tactile
system
low level control with many signals (here) Modelling
parallel but portable processing (here) Validation
Conclusions
mechanics (single fingers, underactuation, . . . ) and Future
Options
References
27. Basic questions
Artificial
Touch
Some fundamental questions
L. Ascari
What is the main issue with advanced prosthesis? Object
Introduction
Slippage and Grasp force control Touch in Robotics
Prosthetics SoA
Is feedback to the user essential for this? Approach
The pick and lift task
Bioinspiration
“Solved” Issues The tactile
system
low level control with many signals (here) Modelling
parallel but portable processing (here) Validation
Conclusions
mechanics (single fingers, underactuation, . . . ) and Future
Options
References
28. Basic questions
Artificial
Touch
Some fundamental questions
L. Ascari
What is the main issue with advanced prosthesis? Object
Introduction
Slippage and Grasp force control Touch in Robotics
Prosthetics SoA
Is feedback to the user essential for this? No! Approach
The pick and lift task
Bioinspiration
“Solved” Issues The tactile
system
low level control with many signals (here) Modelling
parallel but portable processing (here) Validation
Conclusions
mechanics (single fingers, underactuation, . . . ) and Future
Options
References
29. Basic questions
Artificial
Touch
Some fundamental questions
L. Ascari
What is the main issue with advanced prosthesis? Object
Introduction
Slippage and Grasp force control Touch in Robotics
Prosthetics SoA
Is feedback to the user essential for this? No! Approach
The pick and lift task
Bioinspiration
“Solved” Issues The tactile
system
low level control with many signals (here) Modelling
parallel but portable processing (here) Validation
Conclusions
mechanics (single fingers, underactuation, . . . ) and Future
Options
References
30. Bio-inspired approach
Artificial
Touch
Why and to what extent?
L. Ascari
Ultimate model: man
Man Larger dimensions,
Introduction
Touch in Robotics
Infinite Complexity: higher densities Prosthetics SoA
sensors and processing Approach
The pick and lift task
Technological, Bioinspiration
wiring, processing The tactile
limitations system
Modelling
Model and
Simplification Principle Validation
Lower complexity validation Conclusions
Innovative approach
sensory systems and Future
Options
•Technology
References
•Processing
•Scalability
Star-nosed mole
31. Bio-inspired approach
Artificial
Touch
Why and to what extent?
L. Ascari
Ultimate model: man
Man Larger dimensions,
Introduction
Touch in Robotics
Infinite Complexity: higher densities Prosthetics SoA
sensors and processing Approach
The pick and lift task
Technological,
Bioinspiration
wiring, processing The tactile
limitations system
Touch sense Modelling
Model and
Simplification Principle Validation
Lower complexity validation Conclusions
Innovative approach and Future
sensory systems Options
•Technology
References
•Processing
•Scalability
Star-nosed mole
32. The human hand: tactile structure
Artificial
Touch
L. Ascari
Human hand touch Structure of the skin
Introduction
3 major groups of afferent Touch in Robotics
(tactile afferents, joint Prosthetics SoA
Approach
mechanoreceptors, spindles) The pick and lift task
Bioinspiration
The glabrous skin has 17.000 The tactile
system
tactile units
Modelling
4 main types of Validation
mechanoreceptors (Ruffini, Conclusions
and Future
Pacini, Merkel, Meissner) for Options
intensity, pressure, acceleration References
stimuli
33. The human hand: tactile structure
Artificial
Touch
L. Ascari
Human hand touch Structure of the skin
Introduction
3 major groups of afferent Touch in Robotics
(tactile afferents, joint Prosthetics SoA
Approach
mechanoreceptors, spindles) The pick and lift task
Bioinspiration
The glabrous skin has 17.000 The tactile
system
tactile units
Modelling
4 main types of Validation
mechanoreceptors (Ruffini, Conclusions
and Future
Pacini, Merkel, Meissner) for Options
intensity, pressure, acceleration References
stimuli
from Johansson and Westling (“Roles of glabrous skin receptors and
sensorimotor memory in automatic control of precision grip when
lifting rougher or more slippery objects”)
34. Sensors performance...
Artificial
Touch
... in engineering terms
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
Approach
The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
35. The pick and lift task
Artificial
Two aspects are crucial for a stable grasp: Touch
L. Ascari
the ability of the HW/SW system to avoid object slip
Introduction
to control in real-time the grasping force. Touch in Robotics
Prosthetics SoA
Approach
Human physiology of the task The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
36. The pick and lift task
Artificial
Two aspects are crucial for a stable grasp: Touch
L. Ascari
the ability of the HW/SW system to avoid object slip
Introduction
to control in real-time the grasping force. Touch in Robotics
Prosthetics SoA
Approach
Human physiology of the task The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
37. On the need for feedback
Artificial
Touch
L. Ascari
Evidence Where?
Introduction
Johansson measured Touch in Robotics
50-60ms of reaction Prosthetics SoA
Approach
time The pick and lift task
Bioinspiration
incompatible with The tactile
system
propagation time to the
Modelling
motor cortex Validation
evidence of circuit Conclusions
and Future
closed at subcortical Options
level (olivo-cerebellar References
system and thalamus).
from Johansson and Westling (“Roles of glabrous skin receptors and
sensorimotor memory in automatic control of precision grip when
lifting rougher or more slippery objects”)
38. On the need for feedback
Artificial
Touch
L. Ascari
Evidence Where?
Introduction
Johansson measured Touch in Robotics
50-60ms of reaction Prosthetics SoA
Approach
time The pick and lift task
Bioinspiration
incompatible with The tactile
system
propagation time to the
Modelling
motor cortex Validation
evidence of circuit Conclusions
and Future
closed at subcortical Options
level (olivo-cerebellar References
system and thalamus).
from Johansson and Westling (“Roles of glabrous skin receptors and
sensorimotor memory in automatic control of precision grip when
lifting rougher or more slippery objects”)
39. On the need for feedback
Artificial
Touch
L. Ascari
Evidence Where?
Introduction
Johansson measured Touch in Robotics
50-60ms of reaction Prosthetics SoA
Approach
time The pick and lift task
Bioinspiration
incompatible with The tactile
system
propagation time to the
Modelling
motor cortex Validation
evidence of circuit Conclusions
and Future
closed at subcortical Options
level (olivo-cerebellar References
system and thalamus).
from Johansson and Westling (“Roles of glabrous skin receptors and
sensorimotor memory in automatic control of precision grip when
lifting rougher or more slippery objects”)
40. Biological vs Robotic worlds
Artificial
Touch
Do we have these limitations (signaling speed) in robots? L. Ascari
Man Introduction
Biological models for the Touch in Robotics
design of biomimetic robots Prosthetics SoA
Approach
The pick and lift task
Nerves
Brain Limbs Bioinspiration
The tactile
system
Interfacing
Bio and Modelling
Robotics
Validation
Robot
Conclusions
and Future
Options
• Robots as physical platforms
for validating biological models References
Artificial Electric Artificial
Brain wires limbs
3
41. Biological vs Robotic worlds
Artificial
Touch
Do we have these limitations (signaling speed) in robots? L. Ascari
Man Introduction
Biological models for the Touch in Robotics
design of biomimetic robots Prosthetics SoA
Approach
The pick and lift task
Nerves
Brain Limbs Bioinspiration
The tactile
system
Interfacing
Bio and Modelling
Robotics
Validation
Robot
Conclusions
and Future
Options
• Robots as physical platforms
for validating biological models References
Artificial Electric Artificial
Brain wires limbs
3
No, but other constraints exist. Ex: computational power
42. Biological vs Robotic worlds
Artificial
Touch
Do we have these limitations (signaling speed) in robots?
L. Ascari
Ultimate model: man Introduction
Man Larger dimensions, Touch in Robotics
Infinite Complexity: higher densities Prosthetics SoA
sensors and processing Approach
The pick and lift task
Technological, Bioinspiration
wiring, processing
The tactile
limitations
Touch sense system
Model and Modelling
Simplification Principle
Lower complexity validation Validation
Innovative approach
sensory systems Conclusions
•Technology and Future
Options
•Processing
References
•Scalability
Star-nosed mole
No, but other constraints exist. Ex: computational power
43. Biological vs Robotic worlds
Artificial
Touch
Do we have these limitations (signaling speed) in robots?
L. Ascari
Man Ultimate model: man
Introduction
Touch in Robotics
Prosthetics SoA
Approach
The pick and lift task
Bioinspiration
The tactile
system
Touch sense
Modelling
Validation
Lower complexity
Innovative approach sensory systems Conclusions
and Future
•Technological Options
•Processing
References
•Scalability
Star-nosed mole
No, but other constraints exist. Ex: computational power
44. Multidisciplinarity — The animal model (touch)
Artificial
Touch
L. Ascari
Condylura Cristata A nose to see / Eimer
Introduction
12 mobile appendages Touch in Robotics
covered with more than Prosthetics SoA
Approach
25.000 tactile receptors The pick and lift task
Bioinspiration
(Eimer organs) The tactile
system
Structure of the Eimer Modelling
organ: a sort of pillar with Validation
3 nervous terminations Conclusions
(for constant pressures, and Future
Options
vibrations, fine surface References
details);
foveated tactile vision.
from Catania and Kaas (“Somatosensory Fovea in the Star-Nosed
Mole: Behavioral Use of the Star in Relation to Innervation Patterns
45. Multidisciplinarity — The animal model (touch)
Artificial
Touch
L. Ascari
Condylura Cristata A nose to see / Eimer
Introduction
12 mobile appendages Touch in Robotics
covered with more than Prosthetics SoA
Approach
25.000 tactile receptors The pick and lift task
Bioinspiration
(Eimer organs) The tactile
system
Structure of the Eimer Modelling
organ: a sort of pillar with Validation
3 nervous terminations Conclusions
(for constant pressures, and Future
Options
vibrations, fine surface References
details);
foveated tactile vision.
from Catania and Kaas (“Somatosensory Fovea in the Star-Nosed
Mole: Behavioral Use of the Star in Relation to Innervation Patterns
46. Multidisciplinarity — The animal model (touch)
Artificial
Touch
L. Ascari
Condylura Cristata A nose to see / Eimer
Introduction
12 mobile appendages Touch in Robotics
covered with more than Prosthetics SoA
Approach
25.000 tactile receptors The pick and lift task
Bioinspiration
(Eimer organs) The tactile
system
Structure of the Eimer Modelling
organ: a sort of pillar with Validation
3 nervous terminations Conclusions
(for constant pressures, and Future
Options
vibrations, fine surface References
details);
foveated tactile vision.
from Catania and Kaas (“Somatosensory Fovea in the Star-Nosed
Mole: Behavioral Use of the Star in Relation to Innervation Patterns
47. Multidisciplinarity — The animal model (vision)
Artificial
Touch
L. Ascari
Honeybee Fixed yet good eye
Introduction
Non-mobile compound Touch in Robotics
eyes (ommatidia); Prosthetics SoA
Approach
The pick and lift task
3000-4000 facets each eye Bioinspiration
( = 64x64 pixel array); The tactile
system
spatial resolution = 1/60 Modelling
of the human eye; Validation
No distance information Conclusions
and Future
from stereo vision; Options
References
Center facets larger than
the peripheral sensors.
yet: high performance
48. Multidisciplinarity — The animal model (vision)
Artificial
Touch
L. Ascari
Honeybee Fixed yet good eye
Introduction
Non-mobile compound Touch in Robotics
eyes (ommatidia); Prosthetics SoA
Approach
The pick and lift task
3000-4000 facets each eye Bioinspiration
( = 64x64 pixel array); The tactile
system
spatial resolution = 1/60 Modelling
of the human eye; Validation
No distance information Conclusions
and Future
from stereo vision; Options
References
Center facets larger than
the peripheral sensors.
yet: high performance
49. Multidisciplinarity — The animal model (vision)
Artificial
Touch
L. Ascari
Honeybee Fixed yet good eye
Introduction
Non-mobile compound Touch in Robotics
eyes (ommatidia); Prosthetics SoA
Approach
The pick and lift task
3000-4000 facets each eye Bioinspiration
( = 64x64 pixel array); The tactile
system
spatial resolution = 1/60 Modelling
of the human eye; Validation
No distance information Conclusions
and Future
from stereo vision; Options
References
Center facets larger than
the peripheral sensors.
yet: high performance
50. Multidisciplinarity — The animal model (vision)
Artificial
Touch
L. Ascari
Honeybee Fixed yet good eye
Introduction
Non-mobile compound Touch in Robotics
eyes (ommatidia); Prosthetics SoA
Approach
The pick and lift task
3000-4000 facets each eye Bioinspiration
( = 64x64 pixel array); The tactile
system
spatial resolution = 1/60 Modelling
of the human eye; Validation
No distance information Conclusions
and Future
from stereo vision; Options
References
Center facets larger than
the peripheral sensors.
yet: high performance
51. Multidisciplinarity — The animal model (vision)
Artificial
Touch
L. Ascari
Honeybee Fixed yet good eye
Introduction
Non-mobile compound Touch in Robotics
eyes (ommatidia); Prosthetics SoA
Approach
The pick and lift task
3000-4000 facets each eye Bioinspiration
( = 64x64 pixel array); The tactile
system
spatial resolution = 1/60 Modelling
of the human eye; Validation
No distance information Conclusions
and Future
from stereo vision; Options
References
Center facets larger than
the peripheral sensors.
yet: high performance
52. Multidisciplinarity — The animal model (vision)
Artificial
Touch
L. Ascari
Honeybee Fixed yet good eye
Introduction
Non-mobile compound Touch in Robotics
eyes (ommatidia); Prosthetics SoA
Approach
The pick and lift task
3000-4000 facets each eye Bioinspiration
( = 64x64 pixel array); The tactile
system
spatial resolution = 1/60 Modelling
of the human eye; Validation
No distance information Conclusions
and Future
from stereo vision; Options
References
Center facets larger than
the peripheral sensors. optical flow balance
yet: high performance motion detection
(Flicker effect)
53. Multidisciplinarity — The computational model
Artificial
Touch
L. Ascari
Cellular non linear networks Parallel topological
Introduction
CNN is a massive parallel architecture Touch in Robotics
computing paradigm defined Prosthetics SoA
Approach
in discrete N-dimensional The pick and lift task
Bioinspiration
spaces. The tactile
system
A CNN is an N-dimensional
Modelling
regular array of elements Validation
(cells); Conclusions
and Future
Cells are multiple input-single Options
output analog processors, all References
described by one or just some
few parametric functionals.
from Chua and Roska (Cellular Neural Networks and Visual
Computing: Foundations and Applications)
54. Multidisciplinarity — The computational model
Artificial
Touch
L. Ascari
Cellular non linear networks Parallel topological
Introduction
CNN is a massive parallel architecture Touch in Robotics
computing paradigm defined Prosthetics SoA
Approach
in discrete N-dimensional The pick and lift task
Bioinspiration
spaces. The tactile
system
A CNN is an N-dimensional
Modelling
regular array of elements Validation
(cells); Conclusions
and Future
Cells are multiple input-single Options
output analog processors, all References
described by one or just some
few parametric functionals.
from Chua and Roska (Cellular Neural Networks and Visual
Computing: Foundations and Applications)
55. CNN characteristics I
Artificial
Touch
L. Ascari
Locality of the connections between the units: in fact the Introduction
Touch in Robotics
main difference between CNN and other Neural Networks Prosthetics SoA
Approach
paradigms is the fact that information are directly The pick and lift task
exchanged just between neighbouring units. Of course this Bioinspiration
The tactile
characteristic allows also to obtain global parallel system
processing. Modelling
Validation
A cell is characterized by an internal state variable,
Conclusions
sometimes not directly observable from outside the cell and Future
Options
itself;
References
More than one connection network can be present;
56. CNN characteristics II
Artificial
Touch
L. Ascari
A CNN dynamical system can operate both in continuous
Introduction
(CT-CNN) or discrete time (DT-CNN), with analogical Touch in Robotics
Prosthetics SoA
signals from different sources; Approach
The pick and lift task
CNN data and parameters are typically real values; Bioinspiration
The tactile
CNN operate typically with more than one iteration, i.e. system
they are recurrent networks; It is a Universal Machine Modelling
(CNN-UM); Validation
Conclusions
It offers Stored programmability; and Future
Options
a Hardware implementation exists. References
57. CNN core: the template
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
Approach
The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
58. Template meaning
Artificial
Touch
L. Ascari
Introduction
Touch in Robotics
Prosthetics SoA
Approach
The pick and lift task
Bioinspiration
The tactile
system
Modelling
Validation
State-out
Conclusions
and Future
Options
References
in
59. Features of the ACE4K (16K) chip — 3TOps
Artificial
Touch
System Desktop PC, PC-104 industrial PC, Windows NT, 2000
L. Ascari
Bus PCI, 33 MHz, 32 bit data width;
Visual Microprocessor type ACE4k, 64x64 processor array Introduction
Grayscale image download (64x64) 2688 frame/sec 372 !s Touch in Robotics
Prosthetics SoA
Grayscale image readback (64x64) 3536 frame/sec (compensated through look-up table); 283!s
Approach
Binary image download (64x64) 44014 frame/sec; 22.72 !s The pick and lift task
Bioinspiration
Binary image readback (64x64) 23937frame/sec; 41.78 !s
Array operation (64x64) 9 !s + N*100ns The tactile
Logical operation (64x64) 3.8 !s
system
DSP type Texas TMS320C6202; 250MHz, 1600 MIPS operation Modelling
Memory 16MB, SDRAM 125 MHz; 2Mbyte FLASH (bootable)
Validation
Serial Ports 3
Other features Watch Dog, Timer
Conclusions
and Future
Options
Programmability C language, native languages References
Image processing library Several image processing functions optimized for CVM
Application Program Interface (API) Integrate the Aladdin systerm into different environments
60. Recall
Artificial
Touch
FINAL GOAL COMPUTATIONAL PLATFORM
L. Ascari
Introduction
ROBOTIC Touch in Robotics
PLATFORM Prosthetics SoA
Approach
The pick and lift task
Tactile Bioinspiration
system SW
The tactile
system
Modelling
TASK
CONTROLLER Validation
Tactile
system HW Conclusions
and Future
Options
References
TASK,
PHYSIOLOGICAL
STRATEGY
61. Outline
Artificial
Touch
1 Introduction
L. Ascari
Touch in Robotics
Touch in Prosthetics - Commercial SoA Introduction
Approach The tactile
system
The pick and lift task Hardware
Software
Bioinspiration Modelling
Validation
2 The tactile system
Conclusions
Hardware and Future
Options
Software
References
3 Modelling
4 Validation
5 Conclusions and Future Options
62. The MEMS mechanoreceptor
Artificial
Touch
L. Ascari
Introduction
The tactile
system
Hardware
Software
Rpu
Vc
Modelling
R1 R2 Validation
V13 V24
Conclusions
R3 R4 and Future
Options
References
0
63. The array — Fabrication steps
Artificial
Touch
L. Ascari
Introduction
The tactile
system
Hardware
Software
Modelling
Validation
Conclusions
and Future
Options
References
64. The whole system — HW
Artificial
Touch
L. Ascari
Introduction
The tactile
system
Hardware
Software
Modelling
Validation
Conclusions
and Future
Options
References
From L Ascari et al. “A miniaturized and flexible optoelectronic
sensing system for tactile skin”. In: Journal of Micromechanics
and Microengineering 17.11 (11/2007), pp. 2288–2298. issn:
0960-1317. doi: 10.1088/0960-1317/17/11/016. url:
http://ejournals.ebsco.com/direct.asp?ArticleID=
4A9A98E0B7D16F0C429C
65. The whole system — from HW to SW
Artificial
Touch
L. Ascari
Introduction
The tactile
system
Hardware
Software
Modelling
Validation
Conclusions
and Future
Options
References
From L. Ascari et al. “Bio-inspired grasp control in a robotic
hand with massive sensorial input”. In: Biological Cybernetics
100.2 (2009), p. 109. doi: 10.1007/s00422-008-0279-0
66. Recap
Artificial
Touch
L. Ascari
We have an array of analog multidirectional tactile signals
Introduction
The load cell were NOT calibrated: qualitative and only
The tactile
loose orthogonality system
Hardware
we can load and process analog tactile images on the CNN Software
Modelling
chip at 400 Hz
Validation
54 sensors wrapped around the thumb and index fingers of Conclusions
a robotic underactuated hand and Future
Options
robotic arm controlled by DSP References
67. Recap
Artificial
Touch
L. Ascari
We have an array of analog multidirectional tactile signals
Introduction
The load cell were NOT calibrated: qualitative and only
The tactile
loose orthogonality system
Hardware
we can load and process analog tactile images on the CNN Software
Modelling
chip at 400 Hz
Validation
54 sensors wrapped around the thumb and index fingers of Conclusions
a robotic underactuated hand and Future
Options
robotic arm controlled by DSP References
68. Recap
Artificial
Touch
L. Ascari
We have an array of analog multidirectional tactile signals
Introduction
The load cell were NOT calibrated: qualitative and only
The tactile
loose orthogonality system
Hardware
we can load and process analog tactile images on the CNN Software
Modelling
chip at 400 Hz
Validation
54 sensors wrapped around the thumb and index fingers of Conclusions
a robotic underactuated hand and Future
Options
robotic arm controlled by DSP References
69. Recap
Artificial
Touch
L. Ascari
We have an array of analog multidirectional tactile signals
Introduction
The load cell were NOT calibrated: qualitative and only
The tactile
loose orthogonality system
Hardware
we can load and process analog tactile images on the CNN Software
Modelling
chip at 400 Hz
Validation
54 sensors wrapped around the thumb and index fingers of Conclusions
a robotic underactuated hand and Future
Options
robotic arm controlled by DSP References
70. Recap
Artificial
Touch
L. Ascari
We have an array of analog multidirectional tactile signals
Introduction
The load cell were NOT calibrated: qualitative and only
The tactile
loose orthogonality system
Hardware
we can load and process analog tactile images on the CNN Software
Modelling
chip at 400 Hz
Validation
54 sensors wrapped around the thumb and index fingers of Conclusions
a robotic underactuated hand and Future
Options
robotic arm controlled by DSP References
71. Recap
Artificial
Touch
L. Ascari
We have an array of analog multidirectional tactile signals
Introduction
The load cell were NOT calibrated: qualitative and only
The tactile
loose orthogonality system
Hardware
we can load and process analog tactile images on the CNN Software
Modelling
chip at 400 Hz
Validation
54 sensors wrapped around the thumb and index fingers of Conclusions
a robotic underactuated hand and Future
Options
robotic arm controlled by DSP References
Where is information? What kind of spatial and temporal
patterns? How to recognize and prevent slippage?
72. Recap
Artificial
Touch
L. Ascari
We have an array of analog multidirectional tactile signals
Introduction
The load cell were NOT calibrated: qualitative and only
The tactile
loose orthogonality system
Hardware
we can load and process analog tactile images on the CNN Software
Modelling
chip at 400 Hz
Validation
54 sensors wrapped around the thumb and index fingers of Conclusions
a robotic underactuated hand and Future
Options
robotic arm controlled by DSP References
Where is information? What kind of spatial and temporal
patterns? How to recognize and prevent slippage?
We need to learn the tactile “alphabet”
73. The task controller — FSM
Artificial
Touch
L. Ascari
Introduction
The tactile
system
Hardware
Software
Modelling
Validation
Conclusions
and Future
Options
References
74. The task controller — FSM
Artificial
Touch
L. Ascari
Introduction
The tactile
system
Hardware
Software
Modelling
Validation
Conclusions
and Future
Options
References
75. The task controller — Features
Artificial
Touch
L. Ascari
Introduction
The tactile
system
Hardware
Software
Modelling
Validation
Conclusions
and Future
Options
References
76. Outline
Artificial
Touch
1 Introduction
L. Ascari
Touch in Robotics
Touch in Prosthetics - Commercial SoA Introduction
Approach The tactile
system
The pick and lift task Modelling
Bioinspiration Validation
Conclusions
2 The tactile system and Future
Options
Hardware
References
Software
3 Modelling
4 Validation
5 Conclusions and Future Options
77. The slip effect in robotic grasp
Artificial
Touch
Slip as vibrations. “Catch and snap” effect on the rubber
L. Ascari
(60Hz stable + initial 10Hz component). Recall FAII human
mechanoreceptors. Introduction
The tactile
system
Modelling
Validation
Conclusions
and Future
Options
References
Holweg et al., “Slip detection by tactile sensors: algorithms and
experimental results”
78. Definition of Tactile Events of interest
Artificial
Touch
L. Ascari
Variations, oscillations, vibrations
Introduction
Time is divided in periods of
The tactile
duration T ∗ s system
Modelling
Variation change in signal
Validation
larger than σ in
Conclusions
same period and Future
Options
Oscillation seq. of 2 subsequent References
variations of opposite
sign in same T ∗ .
(m,n)
Vibration seq. of 2 oscillations
in 2 adjacent periods σ = 2% dynamic range
79. Definition of Tactile Events of interest
Artificial
Touch
L. Ascari
Variations, oscillations, vibrations
Introduction
Time is divided in periods of
The tactile
duration T ∗ s system
Modelling
Variation change in signal
Validation
larger than σ in
Conclusions
same period and Future
Options
Oscillation seq. of 2 subsequent References
variations of opposite
sign in same T ∗ .
(m,n)
Vibration seq. of 2 oscillations
in 2 adjacent periods σ = 2% dynamic range
80. Definition of Tactile Events of interest
Artificial
Touch
L. Ascari
Variations, oscillations, vibrations
Introduction
Time is divided in periods of
The tactile
duration T ∗ s system
Modelling
Variation change in signal
Validation
larger than σ in
Conclusions
same period and Future
Options
Oscillation seq. of 2 subsequent References
variations of opposite
sign in same T ∗ .
(m,n)
Vibration seq. of 2 oscillations
in 2 adjacent periods σ = 2% dynamic range