Controlling grip force by maintaining a constant frictional safety margin to improve robotic grasping

Manipulating soft and fragile objects is a challenging task in robotic grasping. The key challenge for robotic grasping is to exert enough grip force to prevent slipping while being gentle enough to prevent damage to an object. Existing grippers used for processes like automatic harvesting of fruits, either apply excessive grip force leading to...

Learning to estimate the proximity of slip using high-resolution tactile sensing

Tactile sensing provides crucial information about the stability of a grasped object by a robotic gripper. Tactile feedback can be used to predict slip, allowing for timely response to perturbations and to avoid dropping objects. Tactile sensors, included in robotic grippers, measure vibrations, strain or shearing forces which are produced by...

Modelling and analysis of Virtual Coupling with dynamic safety margin considering risk factors in railway operations

To address the ever-growing rail transport demand, the concept of Virtual Coupling train operations is gradually gaining ground within the railway industry. Thanks to a Vehicle-to-Vehicle communication, trains could be separated by less than an absolute braking distance and even form connected platoons to increase capacity at bottlenecks....

Capacity benefits of Virtual Coupling over ETCS L3 Moving Block in a realistic operational environment

As the demand for transport of goods and passengers increases, the capacity of railway networks is becoming more and more saturated. Railway infrastructure managers aim to increase the rail network capacity with the minimum possible investments in infrastructure. Next generation signalling concepts such as Moving Block (MB) and Virtual Coupling ...

Safety Margin Development for a Space-Time Reservation Traffic Control System: A Research considering the Hybrid Traffic Period

With the arrival of Connected and Automated Vehicles (CAVs) concepts for traffic control systems emerge that let CAVs weave over the crossing area of an intersection. However, in the current literature, the safety of these vehicles is generally an assumption rather than a certainty. Moreover, the time period where CAVs and Human-Driven Vehicles ...

What determines drivers’ speed?: A replication of three behavioural adaptation experiments in a single driving simulator study

We conceptually replicated three highly cited experiments on speed adaptation, by measuring drivers’ experienced risk (galvanic skin response; GSR), experienced task difficulty (self-reported task effort; SRTE), and safety margins (time-to-line-crossing; TLC) in a single experiment. The three measures were compared using a nonparametric index...