Mobile Manipulation Hackathon: Moving into Real World Applications

Roa, Máximo A.; Dogar, Mehmet R.; Pagès, Jordi; Vivas, Carlos; Morales, Antonio; Correll, Nikolaus; Görner, Michael; Rosell, Jan; Foix, Salvador Cardona; Memmesheimer, Raphael; Ferro, Francesco

doi:10.1109/mra.2021.3061951

Cited by 9 publications

(4 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To fix the pattern of the wire, a structure made of resin was used to fix the mold in which the wire was patterned, and then carbon black PDMS was additionally poured and cured. For the measurement of the temperature of the water that is heated by the tube-shaped heater, blue dye was added to the water because accurately measuring the temperature of a transparent medium using an IR camera presents difficulties due to light refraction [ 52 ]. It was verified that a temperature stability of ±2 °C was consistently maintained for over 2 h at the designated target temperature of 65 °C.…”

Section: Methodsmentioning

confidence: 99%

Customizable Nichrome Wire Heaters for Molecular Diagnostic Applications

Lim,

Han,

Thang

et al. 2024

Biosensors

View full text Add to dashboard Cite

Accurate sample heating is vital for nucleic acid extraction and amplification, requiring a sophisticated thermal cycling process in nucleic acid detection. Traditional molecular detection systems with heating capability are bulky, expensive, and primarily designed for lab settings. Consequently, their use is limited where lab systems are unavailable. This study introduces a technique for performing the heating process required in molecular diagnostics applicable for point-of-care testing (POCT), by presenting a method for crafting customized heaters using freely patterned nichrome (NiCr) wire. This technique, fabricating heaters by arranging protrusions on a carbon black-polydimethylsiloxane (PDMS) cast and patterning NiCr wire, utilizes cost-effective materials and is not constrained by shape, thereby enabling customized fabrication in both two-dimensional (2D) and three-dimensional (3D). To illustrate its versatility and practicality, a 2D heater with three temperature zones was developed for a portable device capable of automatic thermocycling for polymerase chain reaction (PCR) to detect Escherichia coli (E. coli) O157:H7 pathogen DNA. Furthermore, the detection of the same pathogen was demonstrated using a customized 3D heater surrounding a microtube for loop-mediated isothermal amplification (LAMP). Successful DNA amplification using the proposed heater suggests that the heating technique introduced in this study can be effectively applied to POCT.

show abstract

Section: Methodsmentioning

confidence: 99%

Customizable Nichrome Wire Heaters for Molecular Diagnostic Applications

Lim,

Han,

Thang

et al. 2024

Biosensors

View full text Add to dashboard Cite

show abstract

“…The nominal chapter on MM [1] analyzes the ongoing challenges that hinder MM systems from operating autonomously due to the uncertainty in the world (e.g., unstructured, dynamic environments), the high dimensionality of MM tasks (large workspace/configuration space, high-dimensional sensor inputs), the need for discrete and continuous decisions (e.g., which embodiment to use), and generalization of MM skills across similar tasks. Those challenges are still persistent, as they were identified recently by the analysis of the 2018 MM Hackathon [18]. While classical approaches have tried to leverage knowledge about the system to compute the reachability of MM robots [14], [19]- [21], those do not consider the success of the task at hand and can only handle well-structured and known scenes.…”

Section: Related Workmentioning

confidence: 99%

Robot Learning of Mobile Manipulation with Reachability Behavior Priors

Jauhri,

Peters,

Chalvatzaki

2022

Preprint

View full text Add to dashboard Cite

“…In recent years, the integration of Mobile Manipulators (MM) has emerged as a pivotal paradigm in robotics, representing a transformative leap in the capabilities of autonomous systems. Combining the mobility of mobile platforms with the dexterity of manipulator arms, MMs possess a unique versatility that enables unprecedented possibilities in various domains, ranging from manufacturing and logistics to healthcare and disaster response [1], [2]. However, due to the high redundancy caused by the combination of these two components, the complexity of MMs' trajectory planning and motion control noticeably increases [3].…”

Section: Introductionmentioning

confidence: 99%

A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks With Mobile Manipulators

Jianzhuang

Giammarino

Lamon

et al. 2022

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

This letter proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human demonstrations and Gaussian Mixture Model (GMM)/Gaussian Mixture Regression (GMR) to encode and generate the learned task requirements in terms of position, velocity, and force profiles. Next, using the desired trajectories and force profiles generated by GMM/GMR, the impedance parameters of a Cartesian impedance controller are optimized online through a Quadratic Program augmented with an energy tank to ensure the passivity of the controlled system. Two experiments are conducted to validate the framework, comparing our method with two approaches with constant stiffness (high and low). The results showed that the proposed method outperforms the other two cases in terms of trajectory tracking and generated interaction forces, even in the presence of disturbances such as unexpected end-effector collisions.

show abstract

Mobile Manipulation Hackathon: Moving into Real World Applications

Cited by 9 publications

References 41 publications

Customizable Nichrome Wire Heaters for Molecular Diagnostic Applications

Customizable Nichrome Wire Heaters for Molecular Diagnostic Applications

Robot Learning of Mobile Manipulation with Reachability Behavior Priors

A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks With Mobile Manipulators

Contact Info

Product

Resources

About