Manipulation Problem Research Articles

Initial-Rectification Neuro-Adaptive Iterative Learning Control for Robot Manipulators With Input Deadzone and Nonzero Initial Errors

An initial-rectification adaptive iterative learning control scheme is proposed to solve the angle tracking problem of robot manipulators with input deadzone under nonzero initial errors. Lyapunov approach is utilized to design the controller. First, the initial-rectification auxiliary reference signal is constructed to overcome the obstacle caused by nonzero initial errors during ILC design. Second, adaptive ILC strategy and robust control strategy are adopted for dealing with deadzone nonlinearity. In addition, adaptive learning neural network is applied to approximate for uncertainties. The stability of closed-loop robotic system is rigorously proven by theoretical analysis. In the end, numerical simulation results are provided to verify the effectiveness of the proposed adaptive iterative learning control scheme.

Проблемы анализа fake news в социальных медиа

This paper has attempted to theorize about the phenomenon of fake news creation and dissemination in the modern media space. The concept of "fake news" is defined as "the intentional presentation of false or misleading information as news reports, manipulating users' biases and heuristics". The problem of misinformation and information manipulation is quite global, and it is also relevant for Kazakhstan. In today's world, there is a decline in trust in key institutions of society, including the media. For instance, content emerges in social media without editorial expertise, so false claims can spread much further, faster and with greater consequences than reliable news. The authors conducted a systematic review of the literature on the phenomenon of fake news based on scientific evidence from reputable sources. Previous research has been based on an empirical methodological approach to the study of fake news and its impact on user behavior, but the systematic review method expands current knowledge: it covers a wide range of disciplines studying fake news, highlighting the growing interest in the topic; reveals unique characteristics underlying fake news that can be applied to identify them; and summarizes questions and suggestions arising from the theoretical framework. The phenomenon of fake news is a new area of research in the field of journalism, business and marketing, in view of which this study makes a large contribution to the theoretical development of the above-mentioned problem

Pseudospectral Convex Programming for Free-Floating Space Manipulator Path Planning

To efficiently plan the point-to-point path for a 7-degrees-of-freedom (7-DOF) free-floating space manipulator system, a path planning method based on Legendre pseudospectral convex programming (LPCP) is proposed. First, the non-convex dynamics are approximated by utilizing the first-order Taylor expansion in the vicinity of the initial guess path, which results in a convex system. Next, the linearized dynamics are discretized at Legendre–Gauss–Lobatto collocation points to transcribe the differential equations to a set of equality constraints. To obtain a reliable initial guess trajectory, the auxiliary path planning problem of the 7-DOF space manipulator with a fixed base is initially resolved. Additionally, the penalty function method is introduced to enhance the convergence performance of the LPCP. Finally, simulation results show that the proposed algorithm in this paper can generate the point-to-point path and has higher computational efficiency than the general sequential convex programming method while ensuring optimality.

Tip-Over Detection and Avoidance Algorithms as Stabilization Strategy for Small-Footprint and Lightweight Mobile Manipulators

The risk of tip-over is a common problem in agile, lightweight mobile manipulators. An easy-to-implement and reliable stabilization strategy plays a key role for the wide operation of these highly dynamic systems in the industrial sector. This study addresses a method in which mobile manipulators independently detect instabilities and trigger countermeasures to prevent them from tilting. A tip-over detection algorithm was implemented based on the Moment Height Stability method, whose main advantage is the examination of all dynamical influences affecting the mobile manipulator to indicate how stable/unstable the system is during its operation. Consequently, the theoretical workspace of the robot manipulator was redefined using a certain critical boundary surface subjected to the analysis of the stability value. This workspace optimization was complemented with an additional algorithm in which the robot manipulator joints adopt an appropriate configuration to compensate in real-time detected instabilities. During repositioning of the robot manipulator’s arm, the initial orientation of its tool center point is maintained to avoid a workpiece mishandle. The simulation and experimental results suggest that the system is stable and safe to operate in changing environments, thus providing a universal approach to avoid the inherent stability problems of agile and lightweight mobile manipulators.

Psychological Features of the Relationship between Manipulative Inclinations and Interpersonal Relations of Students

Introduction. The article analyzes the problem of manipulation and the influence of students’ manipulative inclinations on interpersonal relationships. A theoretical study of this problem shows the existence of opposite points of view on the phenomenon of manipulation, where, on the one hand, it is considered as a destructive process that destroys interpersonal relationships, and on the other hand, when used for humane purposes, leading to positive results in relations between people. Materials and Methods. The results of an empirical study of the manipulative qualities and interpersonal relations of students of various areas of training using a set of methods are presented: methods of manipulative attitude (according to the Bant scale); methods of diagnosing interpersonal relations T. Leary; test for Machiavellianism (Mac-V); statistical data processing methods: Mann – Whitney U-test, Pearson correlation analysis. Results. Statistically significant differences between manipulative inclinations and Machiavellianism of students of various areas of training were revealed. With the help of correlation analysis, statistically significant relationships were established between students’ manipulative inclinations and a low level of friendliness and a high level of dominance in interpersonal relationships. Discussion and Conclusion. The results obtained confirm the assumption that the manipulative tendencies of students of various areas of training negatively affect the nature of interpersonal relationships, since they are largely based on an unfriendly attitude towards others and the desire to dominate other people.

МОДЕЛИРОВАНИЕ МЕХАНИЗМОВ МАНИПУЛЯЦИИ МАССОВЫМ СОЗНАНИЕМ В АУДИОВИЗУАЛЬНОМ ИСКУССТВЕ НА МАТЕРИАЛЕ АНАЛИЗА ФИЛЬМА Д. ГАНЗЕЛЯ «ЭКСПЕРИМЕНТ 2: ВОЛНА»

In a number of cases, external sources of invasive penetration into the surrounding world of a person found in the world. The problem of manipulation of human consciousness through the media, imposed ideas by opinion leaders is growing every year. A person and society are completely unaware of the extent of the invasion of their privacy. Historically, the methods of manipulation are changing from more direct and explicit to unobtrusive and hidden. This is the difficulty of recognizing methods of influencing a person. The article examines how the problem of manipulation of people's mass consciousness by means of audiovisual arts is investigated in art cinema, in particular, how the mechanisms of manipulation of people's mass consciousness are modeled in the 2008 feature film by German director D. Hansel "Experiment 2: Wave". The present study presents an analysis of possible tools and methods of influencing the personality demonstrated in film production, problems arising during the implementation of such practices and possible consequences for society and the individual. The analysis of the film uses an ideological approach in cinema, the author of which was Andre Bazin. This approach is used to study films within the framework of ideology and the attitude of interest to it. With the help of this analytical method, the most representative topics about mass manipulation are identified in D. Hansel's film production. These include description, analysis, synthesis, analogy, interpretation. As a result of the research, several main levels of influence presented by the director are highlighted: family, culture, sports, education, the criminal world. At the final stage of the research, has been carried out analysis of the methods presented by D. Hansel in his film production and the generally recognized means of manipulation studied and presented in the works of sociologists and philosophers (E. Fromm, G. Marcuse, P. Kara-Murza, etc.).

Prioritized Hindsight with Dual Buffer for Meta-Reinforcement Learning

Sharing prior knowledge across multiple robotic manipulation tasks is a challenging research topic. Although the state-of-the-art deep reinforcement learning (DRL) algorithms have shown immense success in single robotic tasks, it is still challenging to extend these algorithms to be applied directly to resolve multi-task manipulation problems. This is mostly due to the problems associated with efficient exploration in high-dimensional state and continuous action spaces. Furthermore, in multi-task scenarios, the problem of sparse reward and sample inefficiency of DRL algorithms is exacerbated. Therefore, we propose a method to increase the sample efficiency of the soft actor-critic (SAC) algorithm and extend it to a multi-task setting. The agent learns a prior policy from two structurally similar tasks and adapts the policy to a target task. We propose a prioritized hindsight with dual experience replay to improve the data storage and sampling technique, which, in turn, assists the agent in performing structured exploration that leads to sample efficiency. The proposed method separates the experience replay buffer into two buffers to contain real trajectories and hindsight trajectories to reduce the bias introduced by the hindsight trajectories in the buffer. Moreover, we utilize high-reward transitions from previous tasks to assist the network in easily adapting to the new task. We demonstrate the proposed method based on several manipulation tasks using a 7-DoF robotic arm in RLBench. The experimental results show that the proposed method outperforms vanilla SAC in both a single-task setting and multi-task setting.

Identification of compounds present in two different Caatinga medicinal plants obtained in free markets in Senhor do Bonfim – BA

Medicinal plants of Brazilian native flora are consumed with little or no proof of its pharmacological properties, based only on users’ or traders’ reports. Although they are natural and, therefore, popularly considered free of side effects, medicinal plants’ toxicity is a serious public health concern, either because of the plant’s own compounds, either by adulterations or interaction with other medicines. Since these medicinal plants are usually sold in markets and free fairs by people without formal education, there may be labeling or manipulation problems, resulting in the absence of the desired effects or presence of adverse effects. In this work, compounds present in different medicinal plants samples found in Senhor do Bonfim free market (BA) were identified: six samples of Sene (Senna occidentalis; Fabaceae) and six samples of Umburana (Amburana cearensis; Fabaceae). For the compounds extraction of S. occidentalis, hydrodestilation was used, and for A. cearensis the compounds were extracted using maceration with hexane. All extracts were analyzed by GC-MS. Compounds in both plants had a high variation among samples, which can mean either that some of the medicinal plants sold in free markets belong to a species different from the announced one or, at least, that compounds found in the sample had degraded between harvest and sale.

Asymptotic State Transformations of Continuous Variable Resources

We study asymptotic state transformations in continuous variable quantum resource theories. In particular, we prove that monotones displaying lower semicontinuity and strong superadditivity can be used to bound asymptotic transformation rates in these settings. This removes the need for asymptotic continuity, which cannot be defined in the traditional sense for infinite-dimensional systems. We consider three applications, to the resource theories of (I) optical nonclassicality, (II) entanglement, and (III) quantum thermodynamics. In cases (II) and (III), the employed monotones are the (infinite-dimensional) squashed entanglement and the free energy, respectively. For case (I), we consider the measured relative entropy of nonclassicality and prove it to be lower semicontinuous and strongly superadditive. One of our main technical contributions, and a key tool to establish these results, is a handy variational expression for the measured relative entropy of nonclassicality. Our technique then yields computable upper bounds on asymptotic transformation rates, including those achievable under linear optical elements. We also prove a number of results which guarantee that the measured relative entropy of nonclassicality is bounded on any physically meaningful state and easily computable for some classes of states of interest, e.g., Fock diagonal states. We conclude by applying our findings to the problem of cat state manipulation and noisy Fock state purification.

Retraction Note: Visual sensor intelligent module based image transmission in industrial manufacturing for monitoring and manipulation problems

Retraction Note: Visual sensor intelligent module based image transmission in industrial manufacturing for monitoring and manipulation problems

Neural network-based adaptive second-order sliding mode control for uncertain manipulator systems with input saturation

In order to solve the trajectory tracking problem for robotic manipulators with dynamic uncertainty, external disturbance and input saturation, a novel second-order sliding mode control scheme based on neural network is proposed in this paper. First of all, a model-based second-order non-singular fast terminal sliding mode controller (SONFTSMC) is designed to overcome the chattering problem under the consideration of uncertain parameters. Then attention is focused on the scenario that all those nonlinear uncertainties are unknown, and a new fuzzy wavelet neural network (FWNN) is designed to estimate those unknown uncertainties via lumping them into one compounded uncertainty. In addition, all parameters in FWNN are adjusted autonomously by using an adaptive method. The proposed second-order non-singular fast terminal sliding mode (SONFTSM) control method not only improves the convergence speed and tracking accuracy of the robotic manipulator, but also enhances its robustness. Finally, the advantages of SONFTSM control strategy over existing sliding mode control methods are verified with comparative simulations.

Tinjauan Hukum terhadap Manipulasi Informasi Elektronik oleh Pengemudi Ojek Online (Putusan Nomor 295/Pid.Sus/2020/Pn Mlg)

Online-based transportation was created with the aim of making it easier for someone who wants to travel or wants to order an order without having to go to a location that is very easy to order, efficient and effective. In carrying out its activities there are problems that are detrimental to the online transportation company, namely electronic data manipulation. The research entitled Legal review of electronic information manipulation by online motorcycle taxi drivers with the first objective of analyzing and knowing the decision of the District Court Number 295/Pid.Sus/2020/PN Mlg from the perspective of the criminal act of manipulating electronic information and minimizing losses caused by information manipulation problems. electronic. Second, to find out the form of legal protection for online service companies in criminal acts of electronic information manipulation by providing appropriate sanctions for perpetrators of electronic data manipulation in order to provide a deterrent effect and follow compliance with legal norms and rules in accordance with the provisions of the applicable laws in Indonesia. The research method used in writing this thesis is to use normative research methods carried out by library research. This research was conducted using secondary data obtained from the analysis of laws and regulations relating to the title of the thesis and other legal materials such as books, journals and literature. Based on the results of the study, it can be concluded first that the perpetrator was proven guilty of committing a criminal act of manipulating electronic information. The two forms of legal protection that must be given to online transportation companies have the right to get legal protection, the forms of legal protection that must be given to online transportation companies are: compensation, termination of work and punishment.

Structural optimization method of 6-DOF manipulator based on genetic algorithm

Most of the manipulator is designed under the constraint of motion reversibility, and the optimization of the manipulator structure is often carried out through the study of kinematics. In order to solve the structural optimization problem of a 6-Dof manipulator, this paper proposes a structural optimization method based on a 6-Dof manipulator with comprehensive indexes combining kinematics performance and dynamics performance. On the premise of satisfying the original workspace and taking dynamic performance as evaluation function, genetic algorithm was used to optimize the structural parameters of the manipulator, so that the optimized manipulator not only has the characteristics of the original workspace, but also consumes the least energy. The kinematic equation of the manipulator was derived, the dynamics model was established by Lagrange method, and then the fitness function and the structural optimization algorithm of the manipulator based on genetic algorithm were given.

Implementasi Face Recognition Pada Absensi Karyawan Menggunakan Local Binary Pattern Histogram dan SHA 256 bit

Attendance is an activity that states the presence or absence of an employee. One of the technology models used to express the presence of an employee is a fingerprint machine. PT Global Andalas Cargotama has implemented an employee attendance system using a fingerprint. However, in the process of implementation, the fingerprint machine has weaknesses that are vulnerable to manipulation, fingerprint identification which is often hampered due to the need for routine machine maintenance and attendance recapitulation which is still done manually and not in real time. The face recognition system is an application to recognize faces in real time and accurately and can be applied to overcome the weaknesses of the fingerprint machine. This study uses the LBPH (Local Binary Pattern Histogram) method in recognizing employees' faces when doing attendance, this is based on several studies that have been done previously, this method has a high level of accuracy in recognizing faces. Meanwhile, SHA256 bit cryptography is used to solve the problem of attendance manipulation. The results of facial recognition both when attendance comes in and attendance goes home will be stored on the server computer locally to state employee attendance. The test results from this study showed that the attendance application was able to recognize the employee's face accurately with an average accuracy rate of 0.9511 by paying attention to the room lighting parameters, accessories on the face and the distance from the camera to the face. Through this research, it is expected to be able to overcome the problem of the weakness of the fingerprint machine and the attendance process at PT Global Andalas Cargotama to be more effective.

General inverse kinematics method for 7-DOF offset manipulators based on arm angle parameterization

This paper proposes a general numerical methodology of inverse kinematics computation for 7-degree-of-freedom offset manipulators based on arm angle parameterization. First, analytical inverse kinematics solutions for two types of Spherical-Revolute-Spherical manipulators are derived based on arm angle parameterization. Then, the inverse kinematics of the offset manipulator is solved using a simplified manipulator. In each iteration of the algorithm, the inverse solution of the simplified manipulator is used to calculate the position and arm angle error between the actual manipulator and desired value. The error is utilized to compensate the position and arm angle of the simplified manipulator so that the inverse solution of the simplified manipulator gradually approaches the desired solution of the actual manipulator. Moreover, the problems of workspace reduction due to structure simplification and the placement of the iteration point outside of the workspace of the simplified manipulator are optimized. Additionally, the algorithm singularity problem of the offset manipulator is solved via the dual arm angle parameterization method. Finally, the method is validated by numerical simulation and physical experiments.

Comparison as a means of persuasion and a technique of manipulation: features of application in media space

Manipulative techniques of verbal communication have rather recently moved into the focus of research attention (classical rhetoric was focused on honest argumentation and touched upon the problem of manipulation only in terms of criticism of “unsuitable persuasion techniques” used by sophists). In numerous modern studies, virtually the entire tropic is considered to be manipulative techniques, and it remains unclear what transforms the method of enhancing figurativeness and expressiveness into a destructive method of latent influence. Of course, this ambiguity is generated by the essence of the object: to explain manipulativeness, it is necessary to dive into the spheres of the intentional, which is difficult to verify. However, it is extremely important to distinguish between the tropics in its original role, on the one hand, and tropics used for manipulative purposes, on the other. Based on discursive analysis, which makes it possible to identify manipulation, using the inductive-deductive method and the method of linguopragmatic analysis, the authors study the conditions under which the use of linguistic means in general and the comparison trope in particular becomes manipulative. On the example of the trope comparison the authors attempt to clarify the conditions of its incorrect, it means manipulative, use. Manipulation is destructive, even if it bases on the tropics, and therefore for the cultivation of public space it is necessary to detect this technique.

Kinematic Graph for Motion Planning of Robotic Manipulators

We introduce a kinematic graph in this article. A kinematic graph results from structuring the data obtained from the sampling method for sampling-based motion planning algorithms in robotics with the motivation to adapt the method to the positioning problem of robotic manipulators. The term kinematic graph emphasises the fact that any path computed by sampling-based motion planning algorithms using a kinematic graph is guaranteed to correspond to a feasible motion for the positioning of the robotic manipulator. We propose methods to combine the information from the configuration and task spaces of the robotic manipulators to cluster the samples. The kinematic graph is the result of this systematic clustering and a tremendous reduction in the size of the problem. Hence, using a kinematic graph, it is possible to effectively employ sampling-based motion planning algorithms for robotic manipulators, where the problem is defined in higher dimensions than those for which these algorithms were developed. Other barriers that hindered adequate utilisation of such algorithms for robotic manipulators with articulated arms, such as the non-injective surjection of the forward kinematic function, are also addressed in the structure of the kinematic graph.

Learning-Based Approach to Inverse Kinematics of Wheeled Mobile Continuum Manipulators

Continuum manipulators have been the subject of intensive research due to their inherent flexibility, allowing them to have a dexterous positioning, even in restricted environments. However, while research abounds on static continuum manipulators, a few are interested in wheeled mobile continuum manipulators (WMCMs), where the workspace is extended, and additional degrees of freedom can be used to perform more complex tasks. This article proposes a learning framework for solving the inverse kinematics (IK) of the WMCM while maintaining multiple IK solutions. The configuration space of the WMCM is discretized to reduce the infinite number of IK solutions to a finite number. Besides, the WMCM’s IK problem is transformed into a single-section IK problem of the continuum manipulator by parameterizing the mobile platform’s variables and the actuating variables of the first <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$(N-1)$</tex-math></inline-formula> sections, with <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$N$</tex-math></inline-formula> being the number of sections. The parameterization is carried out by clustering the WMCM workspace using the growing neural gas algorithm. The proposed approach is validated by performing simulations and experiments on a WMCM named Robotino XT.

Continuum Manipulator With Rigid-Flexible Coupling Structure

Pneumatic-driven soft manipulator has great flexibility and adaptability, which makes it can do some complex tasks that traditional robots can't do such as minimally invasive surgery, detection, search and rescue, et al. However, due to the low stiffness of pneumatic-drive soft manipulator, it faces some problems such as poor load ability and vibration, and the structural flexibility of the soft manipulators make the kinematics modeling complicated. To solve these problems, in this letter, we proposed a novel structure of continuum manipulator that couples with rigid and flexible structure, i.e., rigid-flexible coupling manipulator (RFCM). The RFCM consists of three modules, each containing a rotating unit and a bending unit, so that the RFCM can move flexibly in the workspace. Compared with the purely soft manipulators, RFCM has higher stiffness, and the unique driving structure enables it to have simpler control logic. In addition, we proposed an inverse kinematic solver based on numerical optimization to deal with the redundant problem of continuum manipulators. Preliminary experiments in both computer simulation and physical demonstration of RFCM are conducted, and the proposed kinematics algorithm can effectively establish the mapping from workspace to joints space for RFCM.

Cooperative Object Manipulation Under Signal Temporal Logic Tasks and Uncertain Dynamics

We address the problem of cooperative manipulation of an object whose tasks are specified by a Signal Temporal Logic (STL) formula. We employ the Prescribed Performance Control (PPC) methodology to guarantee predefined transient and steady-state performance on the object trajectory in order to satisfy the STL formula. More specifically, we first provide a way that translates the problem of satisfaction of an STL task to the problem of state evolution within a user-defined time-varying funnel. We then design a control strategy for the robotic agents that guarantees compliance with this funnel. The control strategy is decentralized, in the sense that each agent calculates its own control signal, and does not use any information on the agents' and object's dynamic terms, which are assumed to be unknown. We experimentally verify the results on two manipulator arms, cooperatively working to manipulate an object based on a STL formula.