Gary M.

Since robotic arms operating close to people are becoming increasingly common, there is a need to better understand how they can be made safe when unintended contact occurs, while still providing the required performance. Several actuators and methods for improving robot safety are studied and compared in this paper. A robotic arm moving its end effector horizontally and colliding with a person's head is simulated. The use of a conventional electric actuator (CEA), series elastic actuator (SEA), pneumatic actuator (PA) and hybrid pneumatic electric actuator (HPEA) with model-based controllers are studied. The addition of a compliant covering to the arm and the use of collision detection and reaction strategies are also studied. The simulations include sensor noise and modeling error to improve their realism. A systematic method for tuning the controllers fairly is proposed. The motion control performance and safety of the robot are quantified using root mean square error (RMSE) between the desired and actual joint angle trajectories and maximum impact force (MIF), respectively. The results show that the RMSE values are similar when the CEA, SEA, and HPEA drive the robot's first joint. Regarding safety, using the PA or HPEA with a compliant covering can reduce the MIF below the safety limit established by the International Organization for Standardization (ISO). To satisfy this ISO safety limit with the CEA and SEA, a collision detection and reaction strategy must be used in addition to the compliant covering. The influences of the compliant covering's stiffness and the detection delay are also studied.

Abstract Human Papillomavirus (HPV) type variants have been classified into lineages and sublineages based upon their whole genome sequence.

Abstract Substantial global attention is focused on how to reduce the risk of future pandemics. Reducing this risk requires investment in prevention, preparedness, and response.

Neonatal Congenital Heart Laboratory, Department of Pediatrics, David Geffen School of Medicine, University of California, Los Angeles, CA 90095, USA

State Key Laboratory of Translational Oncology, Department of Anatomical and Cellular Pathology, Prince of Wales Hospital, The Chinese University of Hong Kong, Hong Kong SAR, China

Department of Pharmaceutical Outcomes and Policy, College of Pharmacy, University of Florida, Gainesville, FL 32610, USA

As featured on OLBG compiled a list of some of the greatest summer sports moments since 1955, listed by year. (0) comments

Bacteria reprogram tick metabolism impacting vector fitness and susceptibility to bacterial infection.

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Abstract Recent advances in Artificial Intelligence (AI), such as the development of large language models like ChatGPT, have blurred the boundaries between human and AI-generated text.