This paper presents a simple methodology for cost estimation of a near optimal heat exchanger network, which comprises mixed materials of construction. Intraditional pinch technology and mathematical programming it is usually assumed that all heat exchangers in a network obey a single cost model. This implies that all heat exchangers  in a network are of the same type and use the same mate...

To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model the object are required; sizes these directly affect rate successful grasps. reduce time cost acquisition labeling increase grasps, we developed self-supervised learning mechanism to control tasks performed by manipulators. First, manipulator automatically col...

This study compares the time required to activate a grasp or function of a hand prosthesis when using an electromyogram (EMG) based control scheme and when using a control scheme combining EMG and control signals from an inductive tongue control system (ITCS). Using a cross-over study design, 10 able-bodied subjects used a computer model of a hand and completed simulated grasping exercises. The...

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents two main challenges. First, we need to evaluate a huge number of candidate grasps. In order to make detection fast, as well as robust, we present a two-step ca...

In this paper, we propose an approach for computing suboptimal grasps of polyhedral objects. Assuming n hard-finger contact with Coulomb friction model and based on central axes of the grasp wrench, we develop a new necessary and sufficient condition for n-finger grasps to achieve force-closure property. Accordingly, we reformulate the proposed force-closure test as a new linear programming pro...