In this work we present a visual servoing approach that enables a humanoid robot to robustly execute dual arm grasping and manipulation tasks. Therefore the target object(s) and both hands are tracked alternately and a combined open-/ closed-loop controller is used for positioning the hands with respect to the target(s). We address the perception system and how the observable workspace can be increased by using an active vision system on a humanoid head. Furthermore a control framework for reactive positioning of both hands using position based visual servoing is presented, where the sensor data streams coming from the vision system, the joint encoders and the force/torque sensors are fused and joint velocity values are generated. This framework can be used for bimanual grasping as well as for two handed manipulations which is demonstrated with the humanoid robot Armar-Hl that executes grasping and manipulation tasks in a kitchen environment.978-1-4244-4588-2/09/$25.00 ©20091EEE

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Nanoparticles are known to cause adverse health effects. But the generation of nanoparticles cannot be avoided during laser machining, especially ultrashort-pulsed laser ablation which releases a high share of nanoparticles.The nanoparticulate size fractions emitted during picosecond (ps) laser ablation are compared with those released during femtosecond (fs) laser ablation using steel, zirconia and brass. At the same pulse energy, fs pulses release similar share of nanoparticles (>80%) in the aerosol fraction, with fs compared to ps generating a far higher share of ultrasmall (7 nm) sized particles during machining of metals and ceramics. The frequency maximum corresponds to the particle size of 50 nm independently of the ablated material and applied pulse duration. During ps laser ablation the absolute nanoparticle emission rate is higher than during fs laser ablation, whereas the emission rate per pulse is two magnitudes lower. Finally, the nanoparticle emission rates and its nanoparticle surface equivalent for ps and fs laser micromachining of metal and ceramic are compared with inflammatory thresholds derived from toxicology studies. It would take more than 6.500 working days to exceed this theoretical threshold of inflammation during laser operation at 0.5-2W and at least 260 working days using high-power lasers.

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