Searched for: +
(1 - 20 of 25)

Pages

List view
Grid view
document
Wisse, Jantine J. (author), Goos, T.G. (author), Jonkman, A.H. (author), Somhorst, P. (author), Reiss, Irwin K.M. (author), Endeman, Henrik (author), Gommers, Diederik (author)
Background: Prolonged weaning from mechanical ventilation is associated with poor clinical outcome. Therefore, choosing the right moment for weaning and extubation is essential. Electrical Impedance Tomography (EIT) is a promising innovative lung monitoring technique, but its role in supporting weaning decisions is yet uncertain. We aimed to...
journal article 2024
document
Pezzato, C. (author), Hernández, Carlos (author), Bonhof, S.D. (author), Wisse, M. (author)
In this article, we propose a hybrid combination of active inference and behavior trees (BTs) for reactive action planning and execution in dynamic environments, showing how robotic tasks can be formulated as a free-energy minimization problem. The proposed approach allows handling partially observable initial states and improves the...
journal article 2023
document
Spahn, M. (author), Wisse, M. (author), Alonso-Mora, J. (author)
Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a desired motion behavior. We generalize this framework to dynamic scenarios and nonholonomic robots and prove that fundamental properties can be conserved. We show...
journal article 2023
document
Mohammadi Gheidari, A. (author), Kieft, E. R. (author), Guo, X. (author), Wisse, M. (author), Kruit, P. (author)
In the Multi beam source (MBS) of our Multi Beam Scanning Electron Microscope (MBSEM), an aperture lens array (ALA) splits the emission cone of the Schottky field emitter into multiple beamlets. When the apertures in the ALA are close to each other, the ALA can introduce aberrations to these beamlets through the electrostatic interaction of...
journal article 2023
document
Tang, Y. (author), Zhu, H. (author), Potters, Susan (author), Wisse, M. (author), Pan, W. (author)
This letter addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains stiff contact between the robot and the object to avoid consuming repositioning actions. We prove that...
journal article 2023
document
Gnann, M.V. (author), Wisse, A.C. (author)
We consider the thin-film equation ∂th+∂ym(h)∂y3h=0 in {h > 0} with partial-wetting boundary conditions and inhomogeneous mobility of the form m(h) = h 3 + λ 3-n h n , where h ∼ 0 is the film height, λ > 0 is the slip length, y > 0 denotes the lateral variable, and n ϵ (0, 3) is the mobility exponent parameterizing the nonlinear slip...
journal article 2022
document
Anil Meera, A. (author), Wisse, M. (author)
The free energy principle from neuroscience has recently gained traction as one of the most prominent brain theories that can emulate the brain’s perception and action in a bio-inspired manner. This renders the theory with the potential to hold the key for general artificial intelligence. Leveraging this potential, this paper aims to bridge the...
journal article 2021
document
Ryu, J.K. (author), Katan, A.J. (author), van der Sluis, E.O. (author), Wisse, T. (author), de Groot, Ralph (author), Haering, Christian H. (author), Dekker, C. (author)
An amendment to this paper has been published and can be accessed via a link at the top of the paper.
journal article 2020
document
van der Spaa, L.F. (author), Wolfslag, W.J. (author), Wisse, M. (author)
In electrically actuated robots most energy losses are due to the heating of the actuators. This energy loss can be greatly reduced with parallel elastic actuators, by optimizing the elastic element such that it delivers most of the required torques. Previously used optimization methods relied on parameterizing the spring characteristic,...
journal article 2019
document
Hernández, Carlos (author), Bharatheesha, M. (author), van Egmond, J.A. (author), Ju, J. (author), Wisse, M. (author)
This article describes Team Delft's robot winning the Amazon Robotics Challenge 2016. The competition involves automating pick and place operations in semi-structured environments, specifically the shelves in an Amazon warehouse.<br/>Team Delft's entry demonstrated that current robot technology can already address most of the challenges in...
journal article 2018
document
Lei, Q. (author), Chen, G. (author), Meijer, Jonathan (author), Wisse, M. (author)
Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate...
journal article 2018
document
Calli, B. (author), Caarls, W. (author), Wisse, M. (author), Jonker, P.P. (author)
Grasp synthesis for unknown objects is a challenging problem as the algorithms are expected to cope with missing object shape information. This missing information is a function of the vision sensor viewpoint. The majority of the grasp synthesis algorithms in literature synthesize a grasp by using one single image of the target object and...
journal article 2018
document
Calli, B. (author), Caarls, W. (author), Wisse, M. (author), Jonker, P.P. (author)
In this paper, a novel active vision strategy is proposed for optimizing the viewpoint of a robot's vision sensor for a given success criterion. The strategy is based on extremum seeking control (ESC), which introduces two main advantages: 1) Our approach is model free: It does not require an explicit objective function or any other task...
journal article 2018
document
Lei, Q. (author), Chen, G. (author), Wisse, M. (author)
Fast grasping of unknown objects has crucial impact on the efficiency of robot manipulation especially subjected to unfamiliar environments. In order to accelerate grasping speed of unknown objects, principal component analysis is utilized to direct the grasping process. In particular, a single-view partial point cloud is constructed and...
journal article 2017
document
Plooij, M.C. (author), Wolfslag, W.J. (author), Wisse, M. (author)
This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots, and robotic arms have shown the ability to reduce the energy consumption and motor requirements, such as peak torque and peak power. Because of those...
journal article 2017
document
Plooij, M.C. (author), Wisse, M. (author), Vallery, H. (author)
Parallel elastic actuators (PEAs) have shown the ability to reduce the energy consumption of robots. However, regular PEAs do not allow us to freely choose at which instant or configuration to store or release energy. This paper introduces the concept and design of the bidirectional clutched parallel elastic actuator (BIC-PEA), which reduces...
journal article 2016
document
Bregman, D.J.J. (author), Van der Krogt, M.M. (author), De Groot, V. (author), Harlaar, J. (author), Wisse, M. (author), Collins, S.H. (author)
Background In stroke and multiple sclerosis patients, gait is frequently hampered by a reduced ability to push-off with the ankle caused by weakness of the plantar-flexor muscles. To enhance ankle push-off and to decrease the high energy cost of walking, spring-like carbon-composite Ankle Foot Orthoses are frequently prescribed. However, it is...
journal article 2011
document
Meijneke, C. (author), Kragten, G.A. (author), Wisse, M. (author)
The Delft Hand 2 (DH-2) is an underactuated robot hand meant for industrial applications, having six degrees of freedom (DoF), one actuator (DoA) and no sensors. It was designed to provide a cheap and robust hand to grasp a large range of objects without damaging them. The goal of this paper is to assess the design and performance of the DH-2,...
journal article 2011
document
Vermeulen, M. (author), Wisse, M. (author)
We present a design for a manipulator that is intrinsically mechanically safe, i.e. it can not cause pain (let alone damage) to a human being even if the control system has a failure. Based on the pressure pain thresholds for human skin, we derive a pinching safety constraint that limits the actuator torque, and an impact safety constraint that...
journal article 2010
document
Karssen, J.G. (author), Wisse, M. (author)
Large disturbances can cause a biped to fall. If an upcoming fall can be detected, damage can be minimized or the fall can be prevented. We introduce the multi-way principal component analysis (MPCA) method for the detection of upcoming falls. We study the detection capability of the MPCA method in a simulation study with the simplest walking...
journal article 2008
Searched for: +
(1 - 20 of 25)

Pages

List view
Grid view