We present a deep convolutional neural network which is capable to distinguish between different contact states in robotic manipulation tasks. By integrating spatial and temporal tactile sensor data from a piezo-resistive sensor array through deep learning techniques, the network is not only able to classify the contact state into stable versus slipping, but also to distinguish between rotation...

Presence of the dihydrouridine (D) stem in the mitochondrial cysteine tRNA is unusually variable among lepidosaurian reptiles. Phylogenetic and comparative analyses of cysteine tRNA gene sequences identify eight parallel losses of the D-stem, resulting in D-arm replacement loops. Sampling within the monophyletic Acrodonta provides no evidence for reversal. Slipped-strand mispairing of noncontig...

this paper proposes a gait planning approach to reduce the required friction for a biped robot walking on various surfaces. to this end, a humanoid robot with 18 dof is considered to develop a dynamics model for studying various 3d manoeuvres. then, feasible trajectories are developed to alleviate the fluctuations on the upper body to resemble human-like walking. in order to generate feasible w...

Results from the experimental testing of a navigation system for planetary rovers called Terrain Adaptive Navigation (TANav) are shown here. This system was designed to enable greater access to and more robust operations in terrains with widely varying slippage. The system achieves this goal by using onboard stereo cameras to remotely classify terrain, predict the slippage of that terrain, and ...

In the title compound, C(19)H(13)BrO(3)S, the 4-bromo-phenyl ring makes a dihedral angle of 64.11 (2)° with the mean plane [r.m.s. deviation = 0.01 (2) Å] of the naphtho-furan ring. In the crystal, mol-ecules are linked by weak C-H⋯O and C-H⋯π inter-actions. The crystal structure also exhibits slipped π-π inter-actions between the central naphtho-furan benzene rings of neighbouring mol-ecules [...

Traditional interfacial toughness measurements for thin films on substrate are not appropriate to the structure composed of stiff films and soft substrate. This paper describes a new bending test system to measure the interfacial toughness for the soft interface between stiff films and elastomeric substrate. The experimental setup including the loading stages is easy to operate and scanning ele...

Wheeled vehicles can move not only on a solid supporting surface, but also deformable surfaces (snow, ground, sand, etc.). When pneumatic wheel with high internal air pressure rolls over soil, the nature of wheels’ interaction ground is such that be considered rigid, since its normal deformation small. This greatly simplifies calculations associated analysis wheeled vehicles’ operation, taking ...

In the title compound, C(15)H(10)BrClO(2)S, the 4-bromo-phenyl ring makes a dihedral angle of 86.85 (6)° with the mean plane [mean deviation = 0.009 (2) Å] of the benzofuran fragment. In the crystal, mol-ecules are linked by slipped π-π inter-actions between the benzene and the furan rings of adjacent mol-ecules [centroid-centroid distance = 3.884 (2), inter-planar distance = 3.369 (2) and slip...

This study analysed the impact of turning rate, centre mass height, and road adhesion coefficient on rollover stability heavy-duty automated guided vehicles (AGVs) using a multi-body dynamics simulation model. The lateral deflection angle was used as metric to evaluate behaviour AGVs, results were obtained quantitatively. findings showed that rate had largest AGV stability, followed by while le...