Abstract: Caging is a method to capture an object geometrically by position-controlled robots without any force and tactile sensors. Many previous researches focused on caging constraints of objects, and those on planning are few. In this paper, we present a motion planner for caging by a multifingered hand and a manipulator to produce whole motion which includes approaching to a target object and capturing it without any collisions. We derive sufficient conditions required for the caging tasks about three caging patterns. Since the planner requires the object properties including the position
and orientation of the object, we adopt an object recognition using AR picture markers. We apply the proposed method to caging about four target objects: a cylinder, a ring, a mug and a dumbbell. Some experimental results shows that each motion are successfully planned, and executed by the arm/hand system.
Presented in ICMA2012 in Chengdu, China
Presented in Int. conf. on Advanced Mechatronics 2015.
It gives a series of methods to detect scissors by vision system and to generate robotic caging grasp motions by Choreonoid, a motion planner.
This document summarizes the research of Satoshi Makita, an assistant professor specializing in robotic manipulation by incomplete grasping. His research topics include analyzing contact forces in robotic manipulation, caging grasping using geometrical constraints from position-controlled robots, and designing and controlling robot hands. Specifically, he studies graspless manipulation where objects are supported by both the robot and environment, caging where objects are constrained but can move, and planning caging grasps using motion planners. He also works to improve the manipulability of tendon-driven hands like the human hand. Makita hopes to learn more about Korean robotics and make contacts in the field.
1) 3D multifingered caging involves using multiple robot fingers to constrain an object's movement in 3D space without grasping it.
2) The document discusses different types of caging patterns (envelope, ring, waist) and develops sufficient conditions for caging common shapes like spheres, disks, rings, and dumbbells.
3) It also introduces the concept of partial caging, which aims to constrain an object as much as possible even if a robot is unable to achieve complete caging due to limitations like low degrees of freedom. Partial caging could be useful for prosthetic hands.
This document proposes a mechanical model to estimate the elasticity of the flexor digitorum muscle-tendon complex (MTC) in the human hand. It describes measuring the relationship between joint angle and fingertip force applied during loading and unloading of the finger. The results show an exponential curve for loading and hysteresis between loading and unloading, consistent with tendon behavior. It also measures the relationship between joint angle and angular velocity when the finger is released, again showing hysteresis. This simple model allows estimating the elastic properties of the MTC without expensive equipment, providing insight into hand function and application to sports coaching.
We investigate the quality of "partial caging", where a position-controlled robotic hand confines an object geometrically but the object can escape from the hand through a narrow gap. Which arrangement of the fingers can capture the object more restrictedly?
Abstract: Caging is a method to capture an object geometrically by position-controlled robots without any force and tactile sensors. Many previous researches focused on caging constraints of objects, and those on planning are few. In this paper, we present a motion planner for caging by a multifingered hand and a manipulator to produce whole motion which includes approaching to a target object and capturing it without any collisions. We derive sufficient conditions required for the caging tasks about three caging patterns. Since the planner requires the object properties including the position
and orientation of the object, we adopt an object recognition using AR picture markers. We apply the proposed method to caging about four target objects: a cylinder, a ring, a mug and a dumbbell. Some experimental results shows that each motion are successfully planned, and executed by the arm/hand system.
Presented in ICMA2012 in Chengdu, China
Presented in Int. conf. on Advanced Mechatronics 2015.
It gives a series of methods to detect scissors by vision system and to generate robotic caging grasp motions by Choreonoid, a motion planner.
This document summarizes the research of Satoshi Makita, an assistant professor specializing in robotic manipulation by incomplete grasping. His research topics include analyzing contact forces in robotic manipulation, caging grasping using geometrical constraints from position-controlled robots, and designing and controlling robot hands. Specifically, he studies graspless manipulation where objects are supported by both the robot and environment, caging where objects are constrained but can move, and planning caging grasps using motion planners. He also works to improve the manipulability of tendon-driven hands like the human hand. Makita hopes to learn more about Korean robotics and make contacts in the field.
1) 3D multifingered caging involves using multiple robot fingers to constrain an object's movement in 3D space without grasping it.
2) The document discusses different types of caging patterns (envelope, ring, waist) and develops sufficient conditions for caging common shapes like spheres, disks, rings, and dumbbells.
3) It also introduces the concept of partial caging, which aims to constrain an object as much as possible even if a robot is unable to achieve complete caging due to limitations like low degrees of freedom. Partial caging could be useful for prosthetic hands.
This document proposes a mechanical model to estimate the elasticity of the flexor digitorum muscle-tendon complex (MTC) in the human hand. It describes measuring the relationship between joint angle and fingertip force applied during loading and unloading of the finger. The results show an exponential curve for loading and hysteresis between loading and unloading, consistent with tendon behavior. It also measures the relationship between joint angle and angular velocity when the finger is released, again showing hysteresis. This simple model allows estimating the elastic properties of the MTC without expensive equipment, providing insight into hand function and application to sports coaching.
We investigate the quality of "partial caging", where a position-controlled robotic hand confines an object geometrically but the object can escape from the hand through a narrow gap. Which arrangement of the fingers can capture the object more restrictedly?
セル生産方式におけるロボットの活用には様々な問題があるが,その一つとして 3 体以上の物体の組み立てが挙げられる.一般に,複数物体を同時に組み立てる際は,対象の部品をそれぞれロボットアームまたは治具でそれぞれ独立に保持することで組み立てを遂行すると考えられる.ただし,この方法ではロボットアームや治具を部品数と同じ数だけ必要とし,部品数が多いほどコスト面や設置スペースの関係で無駄が多くなる.この課題に対して音𣷓らは組み立て対象物に働く接触力等の解析により,治具等で固定されていない対象物が組み立て作業中に運動しにくい状態となる条件を求めた.すなわち,環境中の非把持対象物のロバスト性を考慮して,組み立て作業条件を検討している.本研究ではこの方策に基づいて,複数物体の組み立て作業を単腕マニピュレータで実行することを目的とする.このとき,対象物のロバスト性を考慮することで,仮組状態の複数物体を同時に扱う手法を提案する.作業対象としてパイプジョイントの組み立てを挙げ,簡易な道具を用いることで単腕マニピュレータで複数物体を同時に把持できることを示す.さらに,作業成功率の向上のために RGB-D カメラを用いた物体の位置検出に基づくロボット制御及び動作計画を実装する.
This paper discusses assembly operations using a single manipulator and a parallel gripper to simultaneously
grasp multiple objects and hold the group of temporarily assembled objects. Multiple robots and jigs generally operate
assembly tasks by constraining the target objects mechanically or geometrically to prevent them from moving. It is
necessary to analyze the physical interaction between the objects for such constraints to achieve the tasks with a single
gripper. In this paper, we focus on assembling pipe joints as an example and discuss constraining the motion of the
objects. Our demonstration shows that a simple tool can facilitate holding multiple objects with a single gripper.
This paper provides a comprehensive overview of motion planning for robotic manipulation, encompassing grasp planning, motion planning, MoveIt in ROS, OMPL, RRT, forward and inverse kinematics, singularity of robotic manipulators, and manipulability.
This paper presents a load estimation method using a mechanochromic hydrogel sheet. The structural color of the gel is changed depending on the applied pressure to the gel sheet. The proposed load estimator based on the combined approaches with image features and machine learning can detect the applied load from the captured images of the gel sheet. The extracted image features of the color images of the gel sheet are superimposed on the captured initial images. By using the superimposed images as input to the machine learning system, we improve the success rate and precision of the load estimation. The experimental results show that the estimator recognizes the applied force with every 100 gf from 0 to 1,000.
第26回ロボティクス・シンポジア オーバーナイトセッション「どうするどうなるオンライン学会発表!画面越しでも楽しむ100の方法」で話題提供した,オンラインサービスのまとめです.
A survey of web services for on-line academic conferences. For example, I pick up services for video chat or web meeting, services for texting, environments for virtual reality, webinars, and broadcasting.
This paper presents a homogeneous evaluation of difficulty of moving attributed to both geometrical and mechanical constraints. Although caging grasp usually considers to confine an object geometrically by surrounding robots, it is not always feasible due to limitation of robots such as few number of robots or fingers. Such incomplete caging is often called as partial caging, and in which the object can escape from the cage of robots. And then the object is prevented from moving by both geometrical constraints and mechanical effects. The former can be discussed with arrangements of robots and environments, and the latter is investigated with static/dynamic analyses of contact forces. This paper addresses both different indexes homogeneously based on robustness measure for grasping and contact tasks. We introduce a novel interpretation for evaluation of complete/partial caging quality, and show some numerical examples.
Keywords: Manipulation, Grasping, Caging, Force analysis
This paper proposes a motion classification with electromyogram for twisting manipulation, which is composed
of flexion/expansion and pronation/supination. Instead of attaching a set of electrodes at the surfaces on each target muscle, we adopt a commercial arm-band-type electrodes array with focusing on wearability. A typical signal processing, Integrated Electromyogram, and a classifier, Support Vector Machine, are employed to analyze eight channels of electromyogram for six hand actions. We experimentally investigate the accuracy of classification in real-time and interference of muscle fatigue. Since each pattern of electromyogram for a particular action is changed by posture of upper limb, its interference as noises are also investigated.
本研究では幾何学的拘束と力学的拘束を同時に評価する手法を提案する.ケージングは対象物をロボットで囲い込み,抜け出せないように拘束する手法である.物体の囲い込みが不完全なとき,対象物はロボットが障害物となる幾何学的拘束と,重力などの力学的作用との両方によって運動しにくくなる.本論文ではマニピュレーションのロバスト性評価に基づいて,幾何学的拘束を力学解析の枠組みで評価できる解釈を示す.いくつかの数値例を以て,その有用性を検証する.
This paper presents a novel measurement method for caging quality based on static analysis of robotic grasping and manipulation. Caging is a geometrical constraint of objects in which they captured by surrounding robots are restricted to move in the bounded space. In cases of partially caged objects, simultaneous evaluation of both caging quality and force closure is required, and we propose one based on the robustness measure of grasping and manipulation. Some numerical results are presented to validate our proposed procedure of evaluation.
牧原 昂志,槇田 諭,第24回ロボティクスシンポジア,pp. 189-192,2019年3月15日.
Abstract --- This paper introduces a community for young researchers in robotics, HUROBINT (HUman and ROBot INTeraction) and its social activities. Additionally it addresses importance and merit of science communication with citizens and researchers in other fields. The HUROBINT community helps young researchers make collaborators who join their research projects and other activities. And it provides us with good opportunities to make friends in the same fields. Social activities and science communication are essentially parts of research activities, and they contribute to not only widely spread our achievement but also provide us with interdisciplinary viewpoints. Making social network and implementation of out-reaching will give us fruitful effects on robotics researches that are going to be highly complicated day by day.
For sightseeing, Northern Kyushu, Japan, has excellent cities and cultures! From Hakata, Fukuoka, which is the largest city in Kyushu, most of the cities in Kyushu can be easily reached by train or bus.
Using telepresence robots and video conferencing systems, researchers aimed to address social issues faced by remote island communities by increasing educational opportunities. The robots allowed virtual tours of research labs and museums located hundreds of kilometers away. Live streaming and video conferencing were also used to broadcast forums and discussions. The goal was to cancel geographical barriers and provide more communication and learning opportunities for children and others living in small, remote islands.
GraphSummit Singapore | The Future of Agility: Supercharging Digital Transfor...Neo4j
Leonard Jayamohan, Partner & Generative AI Lead, Deloitte
This keynote will reveal how Deloitte leverages Neo4j’s graph power for groundbreaking digital twin solutions, achieving a staggering 100x performance boost. Discover the essential role knowledge graphs play in successful generative AI implementations. Plus, get an exclusive look at an innovative Neo4j + Generative AI solution Deloitte is developing in-house.
Climate Impact of Software Testing at Nordic Testing DaysKari Kakkonen
My slides at Nordic Testing Days 6.6.2024
Climate impact / sustainability of software testing discussed on the talk. ICT and testing must carry their part of global responsibility to help with the climat warming. We can minimize the carbon footprint but we can also have a carbon handprint, a positive impact on the climate. Quality characteristics can be added with sustainability, and then measured continuously. Test environments can be used less, and in smaller scale and on demand. Test techniques can be used in optimizing or minimizing number of tests. Test automation can be used to speed up testing.
セル生産方式におけるロボットの活用には様々な問題があるが,その一つとして 3 体以上の物体の組み立てが挙げられる.一般に,複数物体を同時に組み立てる際は,対象の部品をそれぞれロボットアームまたは治具でそれぞれ独立に保持することで組み立てを遂行すると考えられる.ただし,この方法ではロボットアームや治具を部品数と同じ数だけ必要とし,部品数が多いほどコスト面や設置スペースの関係で無駄が多くなる.この課題に対して音𣷓らは組み立て対象物に働く接触力等の解析により,治具等で固定されていない対象物が組み立て作業中に運動しにくい状態となる条件を求めた.すなわち,環境中の非把持対象物のロバスト性を考慮して,組み立て作業条件を検討している.本研究ではこの方策に基づいて,複数物体の組み立て作業を単腕マニピュレータで実行することを目的とする.このとき,対象物のロバスト性を考慮することで,仮組状態の複数物体を同時に扱う手法を提案する.作業対象としてパイプジョイントの組み立てを挙げ,簡易な道具を用いることで単腕マニピュレータで複数物体を同時に把持できることを示す.さらに,作業成功率の向上のために RGB-D カメラを用いた物体の位置検出に基づくロボット制御及び動作計画を実装する.
This paper discusses assembly operations using a single manipulator and a parallel gripper to simultaneously
grasp multiple objects and hold the group of temporarily assembled objects. Multiple robots and jigs generally operate
assembly tasks by constraining the target objects mechanically or geometrically to prevent them from moving. It is
necessary to analyze the physical interaction between the objects for such constraints to achieve the tasks with a single
gripper. In this paper, we focus on assembling pipe joints as an example and discuss constraining the motion of the
objects. Our demonstration shows that a simple tool can facilitate holding multiple objects with a single gripper.
This paper provides a comprehensive overview of motion planning for robotic manipulation, encompassing grasp planning, motion planning, MoveIt in ROS, OMPL, RRT, forward and inverse kinematics, singularity of robotic manipulators, and manipulability.
This paper presents a load estimation method using a mechanochromic hydrogel sheet. The structural color of the gel is changed depending on the applied pressure to the gel sheet. The proposed load estimator based on the combined approaches with image features and machine learning can detect the applied load from the captured images of the gel sheet. The extracted image features of the color images of the gel sheet are superimposed on the captured initial images. By using the superimposed images as input to the machine learning system, we improve the success rate and precision of the load estimation. The experimental results show that the estimator recognizes the applied force with every 100 gf from 0 to 1,000.
第26回ロボティクス・シンポジア オーバーナイトセッション「どうするどうなるオンライン学会発表!画面越しでも楽しむ100の方法」で話題提供した,オンラインサービスのまとめです.
A survey of web services for on-line academic conferences. For example, I pick up services for video chat or web meeting, services for texting, environments for virtual reality, webinars, and broadcasting.
This paper presents a homogeneous evaluation of difficulty of moving attributed to both geometrical and mechanical constraints. Although caging grasp usually considers to confine an object geometrically by surrounding robots, it is not always feasible due to limitation of robots such as few number of robots or fingers. Such incomplete caging is often called as partial caging, and in which the object can escape from the cage of robots. And then the object is prevented from moving by both geometrical constraints and mechanical effects. The former can be discussed with arrangements of robots and environments, and the latter is investigated with static/dynamic analyses of contact forces. This paper addresses both different indexes homogeneously based on robustness measure for grasping and contact tasks. We introduce a novel interpretation for evaluation of complete/partial caging quality, and show some numerical examples.
Keywords: Manipulation, Grasping, Caging, Force analysis
This paper proposes a motion classification with electromyogram for twisting manipulation, which is composed
of flexion/expansion and pronation/supination. Instead of attaching a set of electrodes at the surfaces on each target muscle, we adopt a commercial arm-band-type electrodes array with focusing on wearability. A typical signal processing, Integrated Electromyogram, and a classifier, Support Vector Machine, are employed to analyze eight channels of electromyogram for six hand actions. We experimentally investigate the accuracy of classification in real-time and interference of muscle fatigue. Since each pattern of electromyogram for a particular action is changed by posture of upper limb, its interference as noises are also investigated.
本研究では幾何学的拘束と力学的拘束を同時に評価する手法を提案する.ケージングは対象物をロボットで囲い込み,抜け出せないように拘束する手法である.物体の囲い込みが不完全なとき,対象物はロボットが障害物となる幾何学的拘束と,重力などの力学的作用との両方によって運動しにくくなる.本論文ではマニピュレーションのロバスト性評価に基づいて,幾何学的拘束を力学解析の枠組みで評価できる解釈を示す.いくつかの数値例を以て,その有用性を検証する.
This paper presents a novel measurement method for caging quality based on static analysis of robotic grasping and manipulation. Caging is a geometrical constraint of objects in which they captured by surrounding robots are restricted to move in the bounded space. In cases of partially caged objects, simultaneous evaluation of both caging quality and force closure is required, and we propose one based on the robustness measure of grasping and manipulation. Some numerical results are presented to validate our proposed procedure of evaluation.
牧原 昂志,槇田 諭,第24回ロボティクスシンポジア,pp. 189-192,2019年3月15日.
Abstract --- This paper introduces a community for young researchers in robotics, HUROBINT (HUman and ROBot INTeraction) and its social activities. Additionally it addresses importance and merit of science communication with citizens and researchers in other fields. The HUROBINT community helps young researchers make collaborators who join their research projects and other activities. And it provides us with good opportunities to make friends in the same fields. Social activities and science communication are essentially parts of research activities, and they contribute to not only widely spread our achievement but also provide us with interdisciplinary viewpoints. Making social network and implementation of out-reaching will give us fruitful effects on robotics researches that are going to be highly complicated day by day.
For sightseeing, Northern Kyushu, Japan, has excellent cities and cultures! From Hakata, Fukuoka, which is the largest city in Kyushu, most of the cities in Kyushu can be easily reached by train or bus.
Using telepresence robots and video conferencing systems, researchers aimed to address social issues faced by remote island communities by increasing educational opportunities. The robots allowed virtual tours of research labs and museums located hundreds of kilometers away. Live streaming and video conferencing were also used to broadcast forums and discussions. The goal was to cancel geographical barriers and provide more communication and learning opportunities for children and others living in small, remote islands.
GraphSummit Singapore | The Future of Agility: Supercharging Digital Transfor...Neo4j
Leonard Jayamohan, Partner & Generative AI Lead, Deloitte
This keynote will reveal how Deloitte leverages Neo4j’s graph power for groundbreaking digital twin solutions, achieving a staggering 100x performance boost. Discover the essential role knowledge graphs play in successful generative AI implementations. Plus, get an exclusive look at an innovative Neo4j + Generative AI solution Deloitte is developing in-house.
Climate Impact of Software Testing at Nordic Testing DaysKari Kakkonen
My slides at Nordic Testing Days 6.6.2024
Climate impact / sustainability of software testing discussed on the talk. ICT and testing must carry their part of global responsibility to help with the climat warming. We can minimize the carbon footprint but we can also have a carbon handprint, a positive impact on the climate. Quality characteristics can be added with sustainability, and then measured continuously. Test environments can be used less, and in smaller scale and on demand. Test techniques can be used in optimizing or minimizing number of tests. Test automation can be used to speed up testing.
Generative AI Deep Dive: Advancing from Proof of Concept to ProductionAggregage
Join Maher Hanafi, VP of Engineering at Betterworks, in this new session where he'll share a practical framework to transform Gen AI prototypes into impactful products! He'll delve into the complexities of data collection and management, model selection and optimization, and ensuring security, scalability, and responsible use.
Dr. Sean Tan, Head of Data Science, Changi Airport Group
Discover how Changi Airport Group (CAG) leverages graph technologies and generative AI to revolutionize their search capabilities. This session delves into the unique search needs of CAG’s diverse passengers and customers, showcasing how graph data structures enhance the accuracy and relevance of AI-generated search results, mitigating the risk of “hallucinations” and improving the overall customer journey.
In his public lecture, Christian Timmerer provides insights into the fascinating history of video streaming, starting from its humble beginnings before YouTube to the groundbreaking technologies that now dominate platforms like Netflix and ORF ON. Timmerer also presents provocative contributions of his own that have significantly influenced the industry. He concludes by looking at future challenges and invites the audience to join in a discussion.
For the full video of this presentation, please visit: https://www.edge-ai-vision.com/2024/06/building-and-scaling-ai-applications-with-the-nx-ai-manager-a-presentation-from-network-optix/
Robin van Emden, Senior Director of Data Science at Network Optix, presents the “Building and Scaling AI Applications with the Nx AI Manager,” tutorial at the May 2024 Embedded Vision Summit.
In this presentation, van Emden covers the basics of scaling edge AI solutions using the Nx tool kit. He emphasizes the process of developing AI models and deploying them globally. He also showcases the conversion of AI models and the creation of effective edge AI pipelines, with a focus on pre-processing, model conversion, selecting the appropriate inference engine for the target hardware and post-processing.
van Emden shows how Nx can simplify the developer’s life and facilitate a rapid transition from concept to production-ready applications.He provides valuable insights into developing scalable and efficient edge AI solutions, with a strong focus on practical implementation.
Observability Concepts EVERY Developer Should Know -- DeveloperWeek Europe.pdfPaige Cruz
Monitoring and observability aren’t traditionally found in software curriculums and many of us cobble this knowledge together from whatever vendor or ecosystem we were first introduced to and whatever is a part of your current company’s observability stack.
While the dev and ops silo continues to crumble….many organizations still relegate monitoring & observability as the purview of ops, infra and SRE teams. This is a mistake - achieving a highly observable system requires collaboration up and down the stack.
I, a former op, would like to extend an invitation to all application developers to join the observability party will share these foundational concepts to build on:
UiPath Test Automation using UiPath Test Suite series, part 6DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 6. In this session, we will cover Test Automation with generative AI and Open AI.
UiPath Test Automation with generative AI and Open AI webinar offers an in-depth exploration of leveraging cutting-edge technologies for test automation within the UiPath platform. Attendees will delve into the integration of generative AI, a test automation solution, with Open AI advanced natural language processing capabilities.
Throughout the session, participants will discover how this synergy empowers testers to automate repetitive tasks, enhance testing accuracy, and expedite the software testing life cycle. Topics covered include the seamless integration process, practical use cases, and the benefits of harnessing AI-driven automation for UiPath testing initiatives. By attending this webinar, testers, and automation professionals can gain valuable insights into harnessing the power of AI to optimize their test automation workflows within the UiPath ecosystem, ultimately driving efficiency and quality in software development processes.
What will you get from this session?
1. Insights into integrating generative AI.
2. Understanding how this integration enhances test automation within the UiPath platform
3. Practical demonstrations
4. Exploration of real-world use cases illustrating the benefits of AI-driven test automation for UiPath
Topics covered:
What is generative AI
Test Automation with generative AI and Open AI.
UiPath integration with generative AI
Speaker:
Deepak Rai, Automation Practice Lead, Boundaryless Group and UiPath MVP
Let's Integrate MuleSoft RPA, COMPOSER, APM with AWS IDP along with Slackshyamraj55
Discover the seamless integration of RPA (Robotic Process Automation), COMPOSER, and APM with AWS IDP enhanced with Slack notifications. Explore how these technologies converge to streamline workflows, optimize performance, and ensure secure access, all while leveraging the power of AWS IDP and real-time communication via Slack notifications.
Unlocking Productivity: Leveraging the Potential of Copilot in Microsoft 365, a presentation by Christoforos Vlachos, Senior Solutions Manager – Modern Workplace, Uni Systems
Maruthi Prithivirajan, Head of ASEAN & IN Solution Architecture, Neo4j
Get an inside look at the latest Neo4j innovations that enable relationship-driven intelligence at scale. Learn more about the newest cloud integrations and product enhancements that make Neo4j an essential choice for developers building apps with interconnected data and generative AI.
A tale of scale & speed: How the US Navy is enabling software delivery from l...sonjaschweigert1
Rapid and secure feature delivery is a goal across every application team and every branch of the DoD. The Navy’s DevSecOps platform, Party Barge, has achieved:
- Reduction in onboarding time from 5 weeks to 1 day
- Improved developer experience and productivity through actionable findings and reduction of false positives
- Maintenance of superior security standards and inherent policy enforcement with Authorization to Operate (ATO)
Development teams can ship efficiently and ensure applications are cyber ready for Navy Authorizing Officials (AOs). In this webinar, Sigma Defense and Anchore will give attendees a look behind the scenes and demo secure pipeline automation and security artifacts that speed up application ATO and time to production.
We will cover:
- How to remove silos in DevSecOps
- How to build efficient development pipeline roles and component templates
- How to deliver security artifacts that matter for ATO’s (SBOMs, vulnerability reports, and policy evidence)
- How to streamline operations with automated policy checks on container images
Threats to mobile devices are more prevalent and increasing in scope and complexity. Users of mobile devices desire to take full advantage of the features
available on those devices, but many of the features provide convenience and capability but sacrifice security. This best practices guide outlines steps the users can take to better protect personal devices and information.
Why You Should Replace Windows 11 with Nitrux Linux 3.5.0 for enhanced perfor...SOFTTECHHUB
The choice of an operating system plays a pivotal role in shaping our computing experience. For decades, Microsoft's Windows has dominated the market, offering a familiar and widely adopted platform for personal and professional use. However, as technological advancements continue to push the boundaries of innovation, alternative operating systems have emerged, challenging the status quo and offering users a fresh perspective on computing.
One such alternative that has garnered significant attention and acclaim is Nitrux Linux 3.5.0, a sleek, powerful, and user-friendly Linux distribution that promises to redefine the way we interact with our devices. With its focus on performance, security, and customization, Nitrux Linux presents a compelling case for those seeking to break free from the constraints of proprietary software and embrace the freedom and flexibility of open-source computing.
Alt. GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using ...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
The software team must secure its software delivery process to avoid vulnerability and security breaches. This needs to be achieved with existing tool chains and without extensive rework of the delivery processes. This talk will present strategies and techniques for providing visibility into the true risk of the existing vulnerabilities, preventing the introduction of security issues in the software, resolving vulnerabilities in production environments quickly, and capturing the deployment bill of materials (DBOM).
Speakers:
Bob Boule
Robert Boule is a technology enthusiast with PASSION for technology and making things work along with a knack for helping others understand how things work. He comes with around 20 years of solution engineering experience in application security, software continuous delivery, and SaaS platforms. He is known for his dynamic presentations in CI/CD and application security integrated in software delivery lifecycle.
Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
Alt. GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using ...
Icra2015 interactive presentation - Evaluation of Finger Configuration for Partial Caging
1. Evaluation of Finger Configuration
for Partial Caging
*Satoshi Makita (NIT, SaseboCollege, Japan)
Kazuyuki Nagata (AIST, Japan)
The 2015 IEEE Int. Conf. on Robotics and Automation, 29/May/2015, Grasping II
2. Partial Caging?
Incomplete confinement
• Caging: a geometrical capturing by robots in
position-controlled.
• The captured object can escape from the hand, but it
is difficult.
• Taking advantage for robot hands with mechanical
restriction.
Objective
• To determine robot configuration that prevent the
object well from escaping
(Complete) Caging
Partial Caging
Evaluation of Finger Configuration for Partial Caging
3. Summary
Evaluating efficient configuration of robot
hand
• For capturing objects and confining them
geometrically
Evaluation indexes:
• Difficulty of escaping from the hand
• Ease of entering the hand
Results
• Suitable finger posture is present
Which hand posture is suitable?
Fish trap
Evaluation of Finger Configuration for Partial Caging
4. Evaluation indexes
Assumption
• Two-fingered planar hand
Elapsed time
• How long time does it take to escape?
• How long time does it take to enter?
Evaluation of Finger Configuration for Partial Caging
5. Evaluation results
(index score) =
The time to escape from the hand
The time to enter the hand
0
1
2
3
4
5
6
7
-80 -60 -40 -20 0 20 40 60 80
escapingtime/enteringtime
angle of the gate [deg]
r=0.01Lp
r=0.05Lp
r=0.1Lp
Suitable
Fingertip
angle
Evaluation of Finger Configuration for Partial Caging
6. More results
• Changing the size of the object
• Changing the angle of the fingertips
• Changing the width between fingertips
Let’s discuss at the display #1
Evaluation of Finger Configuration for Partial Caging
7. Evaluation of Finger Configuration for Partial Caging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan)
Summary
Evaluating efficient configuration of robot hand
• For capturing objects and confining them geometrically (without any
force sensing and control)
Evaluation indexes:
• Difficulty of escaping from the hand (DoEs)
• Ease of entering the hand (EoEn)
Assumption
• Two-fingered planar hand
Simulation Results
• DoEs decreases corresponding to the width between the fingertips
• EoEn seldom changes at a certain range of angle of the fingertips
Which hand posture is good for confinement?
Fish trap
Partial caging = Incomplete confinement
• Caging: a geometrical capturing by robots even in position-
controlled.
• The captured object can escape from the hand, but it is difficult.
=The object can enter the hand.
• Available for robot hands with mechanical restriction.
Advantages of using Geometrical Features
• Easier strategies to grasp objects (e.g. ring-shape)
• As fault-tolerance system when grasp contacts break
(Complete) Caging Partial Caging
0
50
100
150
200
250
300
350
400
450
500
-80 -60 -40 -20 0 20 40 60 80
timeuntiltheobjectescaped[s]
angle of the gate [deg]
r=0.01Lp
r=0.05Lp
r=0.1Lp
Simulation result: Ease of entering
0
50
100
150
200
250
300
350
400
-80 -60 -40 -20 0 20 40 60 80
timeuntiltheobjectentered[s]
the angle of the gate [deg]
r=0.01Lp
r=0.05Lp
r=0.1Lp
Simulation result: Partial caging quality
0
1
2
3
4
5
6
7
-80 -60 -40 -20 0 20 40 60 80
escapingtime/enteringtime
angle of the gate [deg]
r=0.01Lp
r=0.05Lp
r=0.1Lp
Simulation result: Difficulty of escaping
The difficulty of
escaping increasing
corresponding to
the width of the
fingertips
The difficulty of
entering increases
corresponding to
the width of the
fingertips, except
the smaller angle of
the fingertips than
10 [deg]
Changing the index
score
corresponding to
the width of the
fingertips, and
there exists a peak
of the index score
from 10 to 20 [deg]
8. Evaluation of Finger Configuration for PartialCaging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan)
Related Works
Using Geometrical Features
• Grasping a flat-shaped object by lateral pinching [Kosuge BioRob
2008]
• Grasping Objects with Holes [Pokorny ICRA2013]
• Gravity caging [Jiang ICRA2012]
• Complete caging
• 2D by planar fingertips: [Rimon IJRR 1999] and more
• 3D by multifingered hand [Diankov Humanoids2008]
Partial caging
• Evaluating the quality of partial caging by probabilistic
approaches [Makapunyo et al. ICRA2013]
Our research focuses on
• Partial caging by a multifingered hand
• Evaluating quality of partial caging depending on the posture of
the hand
Gravity
Partial caging
The constrained object can escape form incomplete surrounding
= It can enter the semi-closed region
Fish trap
Anisotropy of constraint
Is it possible to acquire an
ability of grasping without any
finger control?
Motivation of applying partial caging
• To take advantage of geometrical constraint
• To apply caging grasps to robot hands with mechanical
restriction
• To explorer the ability of confining an object without
any control feedback
Simulation results
• Changing angle of the fingertips
• Discussion on effect of the angle to
facilitate the object to escape
●:Initial position of object
●:Fingers
●:Locus of moving object
9. Evaluation of Finger Configuration for PartialCaging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan)
Evaluation settings
The robot hand
• Looks like a semi-closed box with a door
• The planar robot hand is manipulated randomly by a 2 DOF
manipulator
Evaluation indexes:
• Difficulty of escaping from the hand (DoEs)
• Ease of entering the hand (EoEn)
Simulation settings
• The average elapsed time is calculated from 5,000 times
• The gate (fingertips) is closing when the angle is positive,
and vise versa
Difficulty of
escaping
Ease of
Entering
Robot hand
Gate setting
Simulation Result
●:Initial position of object
●:Fingers,Walls
●:Locus of moving object
Partial caging
• Caging: a geometrical capturing by robots
even in position-controlled.
• The captured object can escape from the hand,
but it is difficult.
=The object can enter the hand.
• Available for robot hands with mechanical
restriction.
Advantages of using Geometrical Features
• Easier strategies to grasp objects (e.g. ring-
shape)
• As fault-tolerance system when grasp contacts
break
10. Evaluation of Finger Configuration for PartialCaging / *S. Makita (NIT, Sasebo Coll., Japan) and K. Nagata (AIST, Japan)
Two factors affecting the evaluation scores
Retention of the object and getting over the gate
• The object tends to stay at the foot of the fingertip when the angle of
the fingertip is negative
Width of the goal (gap between fingertips)
• The width of goal entrance decreases according to the angle of the
fingertips
Editor's Notes
In this research, we focus on evaluation of robot hand configuration for a geometric strategy to capture an object.
(We investigated which posture of the hand is suitable to confine the object without any finger motion.)
(I explain you what is partial caging.
Partial caging can be defined as an incomplete confinement by robots.
As some of you know, caging is a geometrical capturing strategy by robots, where position-controlled robots surround the object.
The geometrical constraint has some advantages for robotic manipulation as supplement of force closure grasp, but complete caging is sometimes difficult for robot hands to achieve due to mechanical limitation.
Thus, we consider PARTIAL caging to take advantages of geometrical constraints for such robot hands, (as incomplete confinement.)
m
(This is a summary of our presentation.)
We evaluate efficient configuration of robot hand for capturing.
For example, seeing these figure, a circular object is partially confined in the planar hand, and it can move inside the hand.
And then, we’d like to know which hand posture is suitable for confinement without any finger motion, that is, when the robot hand is (assumed to be) in position-controlled.
This situation is similar to fish traps, (which has a tapered gate and a fish can pass through here.
According to the character of the fish, a certain direction of passing facilitate fishes to enter the opening.
On the other hand, the opposite direction makes it difficult for fishes to escape from the trap passing through the gap.
It suggests that robot hands like fish traps could acquire such ability to make objects almost inescapable without any control and sensing.
We propose two scores as evaluation indexes: one is difficulty of escaping from the hand.
It has been already presented in other previous works on caging and partial caging.
And another is ease of entering the semi-closed region.
As a results, we can find that a suitable finger posture is present.
that represents how easy does the object in free movement enter inside the robot hand through the gap of the fingers.
As an introduction of partial caging, we consider a two-fingered planar robot hand like that.
The evaluation index can be defined as the elapsed time to escape from the semi-closed confinement.
(And we introduce two index scores: one denotes the time that the object elapses to escape from the hand,) and another is elapsed time to enter the hand from a certain limited region drawn by the dots line.
The evaluation score of partial caging quality can be defined as this division.
We tried 5,000 times simulations for each hand posture and evaluated how difficult the object can pass through the gap.
As a results, fingertip angle with about 10 deg like that figure is suitable to snap and capture the object.
These two scores lead an evaluation index for partial caging.
When the score is high, the form of the robot hand is assumed to be suitable to capture the object and prevent it from escaping even without any control feedback.
We have more results with changing the parameters of the simulation.
We’d like to discuss with you on the concept of partial caging by robot hands and our results.