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1. Wrench Analysis of Kinematically Redundant Planar CDPRs

   https://doi.org/10.1007/978-3-030-75789-2_8  

   Raman A. ; Schmid M. ; Krovi, V. ( June 2021 , Cable-Driven Parallel Robots. CableCon 2021. Mechanisms and Machine Science)

   Gouttefarde M. ; Bruckmann T. ; Pott A. (Ed.)

   A fully-constrained 𝑛−𝐷𝑂𝐹 cable-driven parallel robot (CDPR) has wrench closure if there are 𝑛+1 cables exerting positive tensions spanning the wrench space. However, the quality of wrench closure is often dependent on the geometric configuration of the supporting in-parallel chains of the CDPR. The reconfigurability endowed by adding in-chain kinematic and/or actuation redundancy to a conventional cable robot could greatly improve quality of the workspace. However, the status of various joints (active, passive or locked) affect the complexity of the systematic formulation and ultimate wrench-based analysis. Past efforts have tended to equilibrate the forces in these systems in such a way as to avoid kinematic redundancies. To this end, we formulate the kinematics of the redundant reconfigurable CDPR using matrix Lie group formulation (to allow ease of formulation and subsequent generalizability). Reciprocity (and selective reciprocity) permits the development of wrench analyses including the partitioning of actuation vs structural equilibration components. The total wrench set is greatly expanded both by the addition of kinematic redundancy and selective actuation/locking of the joints. The approach adopted facilitates the holistic determination of the true wrench polytope which accounts for the wrench contributions from all actuation sources. All these aspects are examined with variants of a 4-PRPR planar cable driven parallel manipulator (with varied active/passive/locked joints). 

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2. TESS first look at evolved compact pulsators: Asteroseismology of the pulsating helium-atmosphere white dwarf TIC 257459955

   https://doi.org/10.1051/0004-6361/201936340  

   Bell, Keaton J. ; Córsico, Alejandro H. ; Bischoff-Kim, Agnès ; Althaus, Leandro G. ; Bradley, Paul A. ; Calcaferro, Leila M. ; Montgomery, Michael H. ; Uzundag, Murat ; Baran, Andrzej S. ; Bognár, Zsófia ; et al ( December 2019 , Astronomy & Astrophysics)

   Context. Pulsation frequencies reveal the interior structures of white dwarf stars, shedding light on the properties of these compact objects that represent the final evolutionary stage of most stars. Two-minute cadence photometry from the Transiting Exoplanet Survey Satellite (TESS) records pulsation signatures from bright white dwarfs over the entire sky. Aims. As part of a series of first-light papers from TESS Asteroseismic Science Consortium Working Group 8, we aim to demonstrate the sensitivity of TESS data, by measuring pulsations of helium-atmosphere white dwarfs in the DBV instability strip, and what asteroseismic analysis of these measurements can reveal about their stellar structures. We present a case study of the pulsating DBV WD 0158−160 that was observed as TIC 257459955 with the two-minute cadence for 20.3 days in TESS Sector 3. Methods. We measured the frequencies of variability of TIC 257459955 with an iterative periodogram and prewhitening procedure. The measured frequencies were compared to calculations from two sets of white dwarf models to constrain the stellar parameters: the fully evolutionary models from LPCODE and the structural models from WDEC . Results. We detected and measured the frequencies of nine pulsation modes and eleven combination frequencies of WD 0158−160 to ∼0.01  μ Hz precision. Most, if not all, of the observed pulsations belong to an incomplete sequence of dipole (ℓ = 1) modes with a mean period spacing of 38.1 ± 1.0 s. The global best-fit seismic models from both LPCODE and WDEC have effective temperatures that are ≳3000 K hotter than archival spectroscopic values of 24 100–25 500 K; however, cooler secondary solutions are found that are consistent with both the spectroscopic effective temperature and distance constraints from Gaia astrometry. Conclusions. Our results demonstrate the value of the TESS data for DBV white dwarf asteroseismology. The extent of the short-cadence photometry enables reliably accurate and extremely precise pulsation frequency measurements. Similar subsets of both the LPCODE and WDEC models show good agreement with these measurements, supporting that the asteroseismic interpretation of DBV observations from TESS is not dominated by the set of models used. However, given the sensitivity of the observed set of pulsation modes to the stellar structure, external constraints from spectroscopy and/or astrometry are needed to identify the best seismic solutions. 

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3. Visual Identification of Articulated Object Parts

   Zeng, V. ; Lee, T. ; Liang, J. ; Kroemer, O. ( October 2021 , Proceedings of the IEEERSJ International Conference on Intelligent Robots and Systems)

   null (Ed.)

   As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cabinets. Many prior works in object articulation identification require manipulation of the object, either by the robot or a human. While recent works have addressed predicting articulation types from visual observations alone, they often assume prior knowledge of category-level kinematic motion models or sequence of observations where the articulated parts are moving according to their kinematic constraints. In this work, we propose FormNet, a neural network that identifies the articulation mechanisms between pairs of object parts from a single frame of an RGB-D image and segmentation masks. The network is trained on 100k synthetic images of 149 articulated objects from 6 categories. Synthetic images are rendered via a photorealistic simulator with domain randomization. Our proposed model predicts motion residual flows of object parts, and these flows are used to determine the articulation type and parameters. The network achieves an articulation type classification accuracy of 82.5% on novel object instances in trained categories. Experiments also show how this method enables generalization to novel categories and can be applied to real-world images without fine-tuning. 

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4. Learning to Generalize Kinematic Models to Novel Objects

   Abbatematteo, B ; Tellex, S ; Konidaris, G ( October 2019 , Proceedings of the 3rd Conference on Robot Learning)

   Robots operating in human environments must be capable of interacting with a wide variety of articulated objects such as cabinets, refrigerators, and drawers. Existing approaches require human demonstration or minutes of interaction to fit kinematic models to each novel object from scratch. We present a framework for estimating the kinematic model and configuration of previously unseen articulated objects, conditioned upon object type, from as little as a single observation. We train our system in simulation with a novel dataset of synthetic articulated objects; at runtime, our model can predict the shape and kinematic model of an object from depth sensor data. We demonstrate that our approach enables a MOVO robot to view an object with its RGB-D sensor, estimate its motion model, and use that estimate to interact with the object. 

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5. Impact of a rigid sphere onto an elastic membrane

   https://doi.org/10.1098/rspa.2022.0340  

   Agüero, Elvis A. ; Alventosa, Luke ; Harris, Daniel M. ; Galeano-Rios, Carlos A. ( October 2022 , Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences)

   We study the axisymmetric impact of a rigid sphere onto an elastic membrane theoretically and experimentally. We derive governing equations from first principles and impose natural kinematic and geometric constraints for the coupled motion of the sphere and the membrane during contact. The free-boundary problem of finding the contact surface, over which forces caused by the collision act, is solved by an iterative method. This results in a model that produces detailed predictions of the trajectory of the sphere, the deflection of the membrane, and the pressure distribution during contact. Our model predictions are validated against our direct experimental measurements. Moreover, we identify new phenomena regarding the behaviour of the coefficient of restitution for low impact velocities, the possibility of multiple contacts during a single rebound, and energy recovery on subsequent bounces. Insight obtained from this model problem in contact mechanics can inform ongoing efforts towards the development of predictive models for contact problems that arise naturally in multiple engineering applications. 

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