This article introduces a visual–tactile multimodal grasp data set, aiming to further the research on robotic manipulation. The data set was built by the novel designed dexterous robot hand, the Intel’s Eagle Shoal robot hand (Intel Labs China, Beijing, China). The data set contains 2550 sets data, including tactile, joint, time label, image, and RGB and depth video. With the integration of visual and tactile data, researchers could be able to better understand the grasping process and analyze the deeper grasping issues. In this article, the building process of the data set was introduced, as well as the data set composition. In order to evaluate the quality of data set, the tactile data were analyzed by short-time Fourier transform. The tactile data–based slip detection was realized by long short-term memory and contrasted with visual data. The experiments compared the long short-term memory with the traditional classifiers, and generalization ability on different grasp directions and different objects is implemented. The results have proved that the data set’s value in promoting research on robotic manipulation area showed the effective slip detection and generalization ability of long short-term memory. Further work on visual and tactile data will be devoted to in the future.
Here we report the fluorination–dynamic kinetic resolution (DKR) process for the commercial supply of belzutifan (MK-6482). Key process safety and robustness issues in the Selectfluor fluorination reaction were identified and addressed on the basis of increased mechanistic understanding. Aggressive process optimization enabled a single-pot direct isolation process that allowed delivery of the fluorodiol product with low process mass intensity.
In this chapter, we review our recent research in the area of collective robotics, and the problem of controlling multiple robots in the completion of common tasks. Our approach is characterized with a strong inclination for biological inspiration in which examples in nature — social insects in particular — are used as a way of designing strategies for controlling robots. This approach has been successfully applied to the study of three representative tasks, namely, collective box-pushing, collective construction, and collective sorting. Collective box-pushing deals with the purposeful motion of an object too large to be moved by a single robot and we rely on the group prey transport phenomenon found in ants to derive the necessary behaviors for accomplishing this task. Collective construction is concerned with the building of a geometric structure with the combined efforts of many individuals in parallel, without centralized control and we study a species of ant known to possess this capability, to model and control the process of creating a circular nest with multiple robots. Finally, in collective sorting the broad behavior in ants serves as the motivation behind designing robotic behaviors that depend on only local sensing in clustering objects of different types into separate piles. The success of our proposed approach is supported by both simulation and physical experiments using robots.
In response to governance shift in Indonesia, a heavy burden of responsibility is placed on local authorities to act in the best interest of its citizenry. This study examined evidence of local government policy, economic structure, and economic growth in the new autonomous city of Banjar Municipality, West Java Province, Indonesia and assessed determinants of regional transformation. The methodology used location quotient, analysis, shift-share analysis, and ordinary least square regression analysis. The findings revealed in the ten-year period of the study on agriculture, business trade, accommodation, other sectors and public service dominated the structure of the economy. In terms of the authority, the Municipality’s policy of sustainability is aimed at protecting the traditional market and developing local road infrastructure—contributing to its economic growth. Sustainability-oriented policies are designed to stress order, control, and accelerate economic activities which regional authorities sometimes considering them as challenging due to transitional requirements and demands
Asymmetric transfer hydrogenation (ATH) is a commonly used transformation in the pharmaceutical industry for the reduction of ketones to establish key stereocenters. Yet, the potential for hydrogen gas generation during reaction, workup, and waste handling processes could be overlooked, resulting in serious safety issues such as waste container overpressurization or fire. In this study, multiple module calorimeter (MMC) testing along with micro-GC tests of small scale (1−2 mL) representative lab samples were performed to detect and predict the potential safety hazards associated with the scale-up of an ATH process. Due to the safety concern discovered in the early safety screening tests, methanesulfonic acid (MSA) quench was implemented at the end of the ATH reaction to suppress hydrogen generation, avoiding possible overpressurizing the waste drum and the need to use special hydrogenrated equipment at pilot-and production-scale. A safety assessment was performed to ensure that the subsequent vacuum distillation poses no risk of hydrogen combustion caused by using a standard pump/system. The process improvements and rigorous safety assessments enable the ATH reaction to be scaled-up using standard pilot plant equipment without the need for special handling and monitoring requirements for hydrogen gas. This study provides useful guidance and recommendations for safer scaling-up of similar organic synthetic reactions which may also generate flammable gas.
Soft robots, are mobile machines largely constructed from soft materials and have received much attention recently because they are opening new perspectives for robot design and control. This paper reports recent progress in the development of soft robots, more precisely, soft actuators and soft sensors. Soft actuators play an important role in functionalities of soft robots, and dielectric elastomers have shown great promise because of their considerable voltage-induced deformation. We developed soft inflated dielectric elastomer actuators and their networks, with the advantages to be highly deformable and continuously controllable. When it comes to control of soft robots, soft sensors are of great importance. We proposed a methodology to design, analyze, and fabricate a multi-axis soft sensor, made of dielectric elastomer, capable of detecting and decoupling compressive and shear loads with high sensitivity, linearity, and stability.
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