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1. An Automated Conversion Between Selected Robot Kinematic Representations

Author

Huczala, Daniel, Kot, Tomáš, Mlotek, Jakub, Suder, Jiří, and Pfurner, Martin

Subjects
Computer Science - Robotics
Abstract

This paper presents a methodology that forms an automated tool for robot kinematic representation conversion, called the RobKin Interpreter. It is a set of analytical algorithms that apply basic linear algebra tools that can analyze an input serial robot representation, express the joints globally in matrix form, and map to other representations such as standard Denavit-Hartenberg parameters, Roll-Pitch-Yaw angles with translational displacement, and Product of Exponentials with a possibility to generate a URDF (Universal Robot Description Format) file from any of them. It works for revolute and prismatic joints and can interpret even arbitrary kinematic structures that do not have orthogonally placed joints and often appear in flexible robotic systems. The aim of the proposed methods is to facilitate the necessary switches between representations due to software compatibility, calculation simplification, or cooperation.

Published
2022
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3. The Effect of Deformation on Robot Shape - Changing Link

Author

Mlotek, Jakub, Suder, Jiří, Vocetka, Michal, Bobovský, Zdenko, Krys, Václav, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Petrič, Tadej, editor, Ude, Aleš, editor, and Žlajpah, Leon, editor

Published
2023
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6. Shape-Changing Manipulator Possibilities and the Effect of the Deformable Segment on the Size of the Working Area

Author

Mlotek, Jakub, Bobovský, Zdenko, Suder, Jiří, Oščádal, Petr, Vocetka, Michal, Krys, Václav, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Müller, Andreas, editor, and Brandstötter, Mathias, editor

Published
2022
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8. Nightmare Job

Author

Mlotek, Haley

Subjects
Literature/writing
Abstract

In Molly McGhee's debut, ''Jonathan Abernathy You Are Kind,'' debt-laden citizens are recruited to ''audit'' others' dreams -- all in the name of productivity. JONATHAN ABERNATHY YOU ARE KIND, by [...]

Published
2023

9. Experience of a systematic approach to care and prevention of fragility fractures in New Zealand

Author

Gill, Christine Ellen, Mitchell, Paul James, Clark, Jan, Cornish, Jillian, Fergusson, Peter, Gilchrist, Nigel, Hayman, Lynne, Hornblow, Sue, Kim, David, Mackenzie, Denise, Milsom, Stella, von Tunzelmann, Adrienne, Binns, Elizabeth, Fergusson, Kim, Fleming, Stewart, Hurring, Sarah, Lilley, Rebbecca, Miller, Caroline, Navarre, Pierre, Pettett, Andrea, Sankaran, Shankar, Seow, Min Yee, Sincock, Jenny, Ward, Nicola, Wright, Mark, Close, Jacqueline Clare Therese, Harris, Ian Andrew, Armstrong, Elizabeth, Hallen, Jamie, Hikaka, Joanna, Kerse, Ngaire, Vujnovich, Andrea, Ganda, Kirtan, Seibel, Markus Joachim, Jackson, Thomas, Kennedy, Paul, Malpas, Kirsten, Dann, Leona, Shuker, Carl, Dunne, Colleen, Wood, Philip, Magaziner, Jay, Marsh, David, Tabu, Irewin, Cooper, Cyrus, Halbout, Philippe, Javaid, Muhammad Kassim, Åkesson, Kristina, Mlotek, Anastasia Soulié, Brûlé-Champagne, Eric, and Harris, Roger

Published
2022
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10. Modular Rover Design for Exploration and Analytical Tasks

Author

Pastor, Robert, Huczala, Daniel, Vysocký, Aleš, Oščádal, Petr, Mlotek, Jakub, Heczko, Dominik, Zeman, Zdeněk, Široký, Petr, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Mazal, Jan, editor, Fagiolini, Adriano, editor, and Vasik, Petr, editor

Published
2020
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16. This Science Fiction Novel Scrapes the Work Force of Human Suffering

Author

Mlotek, Haley

Subjects
News, opinion and commentary
Abstract

In Molly McGhee’s debut, “Jonathan Abernathy You Are Kind,” debt-laden citizens are recruited to “audit” others’ dreams — all in the name of productivity. JONATHAN ABERNATHY YOU ARE KIND, by [...]

Published
2023

17. Life in Plastic

Author

Mlotek, Haley

Subjects
Aesthetica (Novel) -- Rowbottom, Allie, Books -- Book reviews, Literature/writing
Abstract

In ''Aesthetica,'' Allie Rowbottom imagines a 35-year-old ex-influencer who's about to undergo an extreme surgery to undo every cosmetic procedure she's endured to date. AESTHETICA, by Allie Rowbottom It is [...]

Published
2023

24. Influence of Drift on Robot Repeatability and Its Compensation

Author

Michal Vocetka, Zdenko Bobovský, Jan Babjak, Jiří Suder, Stefan Grushko, Jakub Mlotek, Václav Krys, and Martin Hagara

Subjects
robot repeatability, robot precision, robot drift, robot warm-up, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999
Abstract

This paper presents an approach to compensate for the effect of thermal expansion on the structure of an industrial robot and thus to reduce the repeatability difference of the robot in cold and warm conditions. In contrast to previous research in this area that deals with absolute accuracy, this article is focused on determining achievable repeatability. To unify and to increase the robot repeatability, the measurements with highly accurate sensors were performed under different conditions on an industrial robot ABB IRB1200, which was equipped with thermal sensors, mounted on a pre-defined position around joints. The performed measurements allowed to implement a temperature-based prediction model of the end effector positioning error. Subsequent tests have shown that the implemented model used for the error compensation proved to be highly effective. Using the methodology presented in this article, the impact of drift can be reduced by up to 89.9%. A robot upgraded with a compensation principle described in this article does not have to be warmed up as it works with the same low repeatability error in the entire range of the achievable temperatures.

Published
2021
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26. Unhinged

Author

Mlotek, Haley

Subjects
Out There: Stories (Short story collection) -- Folk, Kate, Books -- Book reviews, Literature/writing
Abstract

OUT THERE Stories By Kate Folk Science fiction, like love, often suffers for its best quality: The longer we look, the less we trust what we see. Under close enough [...]

Published
2022

28. Structural Optimization Method of a FinRay Finger for the Best Wrapping of Object

Author

Jiří Suder, Zdenko Bobovský, Jakub Mlotek, Michal Vocetka, Petr Oščádal, and Zdeněk Zeman

Subjects
FinRay finger, soft robotics, soft gripper, wrapping of object, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999
Abstract

Soft gripping, in which the gripper adapts to differently shaped objects, is in great demand for use in unknown or dynamically changing environments and is one of the main research subjects in soft robotics. Several systems have already been created, one of which is a passive shape-adaptable finger based on the FinRay effect. The geometric shape of this finger ensures that the finger wraps around the object it grips. FinRay fingers have been studied in several studies, which have changed the internal structure and examined how gripping force’s dependence on finger deformation changes. So far, however, no specific way has been determined to evaluate the proposed finger regarding its ability to wrap around the object. This work comes up with a new and simple method to evaluate the finger’s wrapping around the object mathematically. Based on this evaluation method, several different patterns of the internal structure of FinRay fingers were tested. The fingers were first tested in a simulation program, which simulated a steel roller indentation with a diameter of 20 mm in the middle of the finger’s contact surface. Based on the simulation results, selected types of structure were made by the Fused Filament Fabrication method from a flexible filament and tested on a real test rig to verify the results of the simulation and compare it with the real behaviour. According to the methodology used, the results show that the most suitable structure of the selected tested fingers from the point of view of wrapping the finger around the object is a structure without internal filling. Designers can simply use the new evaluation method to compare their designed finger variants and select the most suitable one according to the ability to wrap around the gripped object. They can also use graphs from this work’s results and determine the finger’s dimensions without internal filling according to the required forces and deflection.

Published
2021
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30. Stiffness Estimation and Equivalence of Boundary Conditions in FEM Models

Author

Róbert Huňady, Pavol Lengvarský, Peter Pavelka, Adam Kaľavský, and Jakub Mlotek

Subjects
stiffness coefficients, equivalent boundary condition, FE model updating, modal analysis, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999
Abstract

The paper deals with methods of equivalence of boundary conditions in finite element models that are based on finite element model updating technique. The proposed methods are based on the determination of the stiffness parameters in the section plate or region, where the boundary condition or the removed part of the model is replaced by the bushing connector. Two methods for determining its elastic properties are described. In the first case, the stiffness coefficients are determined by a series of static finite element analyses that are used to obtain the response of the removed part to the six basic types of loads. The second method is a combination of experimental and numerical approaches. The natural frequencies obtained by the measurement are used in finite element (FE) optimization, in which the response of the model is tuned by changing the stiffness coefficients of the bushing. Both methods provide a good estimate of the stiffness at the region where the model is replaced by an equivalent boundary condition. This increases the accuracy of the numerical model and also saves computational time and capacity due to element reduction.

Published
2021
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39. Sexuality and Romance

Author

Mlotek, Haley

Subjects
Ace: What Asexuality Reveals About Desire, Society, and the Meaning of Sex (Nonfiction work) -- Chen, Angela, Matrimony, Inc.: From Personal Ads to Swiping Right, a Story of America Looking for Love (Nonfiction work) -- Beauman, Francesca, The Tragedy of Heterosexuality (Nonfiction work) -- Ward, Jane, Literature/writing
Abstract

MATRIMONY, INC.From Personal Ads to Swiping Right, a Story of America Looking for LoveBy Francesca Beauman196 pp. Pegasus. $27.95. In our present time of distance, the search for what we [...]

Published
2020

40. Catalogue Raisonne

Author

Mlotek, Haley

Subjects
The Exhibition of Persephone Q (Novel) -- Stevens, Jessi Jezewska -- Book reviews, Literature/writing
Abstract

THE EXHIBITION OF PERSEPHONE Q By Jessi Jezewska Stevens To the artist in love, a woman's face is only a suggestion of what her portrait could be. ''For centuries painters [...]

Published
2020

41. Open Doors

Author

Mlotek, Avram

Subjects
Rabbis, Ethnic, cultural, racial issues/studies
Abstract

His door was unlocked. Two weeks prior, a man took advantage of this basic act of radical kindness when Grafton Thomas burst through Rabbi Chaim Rottenberg's home in Monsey, N.Y., [...]

Published
2020

43. Influence of Drift on Robot Repeatability and Its Compensation

Author

Stefan Grushko, Michal Vocetka, Ján Babjak, Jakub Mlotek, Václav Krys, Jiří Suder, Martin Hagara, and Zdenko Bobovský

Subjects
Technology, QH301-705.5, Computer science, QC1-999, Compensation (engineering), law.invention, Industrial robot, Compensation principle, law, Position (vector), robot drift, Range (statistics), robot precision, General Materials Science, Biology (General), robot repeatability, QD1-999, Instrumentation, Simulation, Fluid Flow and Transfer Processes, Physics, Process Chemistry and Technology, General Engineering, Repeatability, robot warm-up, Engineering (General). Civil engineering (General), Robot end effector, Computer Science Applications, Chemistry, Robot, TA1-2040
Abstract

This paper presents an approach to compensate for the effect of thermal expansion on the structure of an industrial robot and thus to reduce the repeatability difference of the robot in cold and warm conditions. In contrast to previous research in this area that deals with absolute accuracy, this article is focused on determining achievable repeatability. To unify and to increase the robot repeatability, the measurements with highly accurate sensors were performed under different conditions on an industrial robot ABB IRB1200, which was equipped with thermal sensors, mounted on a pre-defined position around joints. The performed measurements allowed to implement a temperature-based prediction model of the end effector positioning error. Subsequent tests have shown that the implemented model used for the error compensation proved to be highly effective. Using the methodology presented in this article, the impact of drift can be reduced by up to 89.9%. A robot upgraded with a compensation principle described in this article does not have to be warmed up as it works with the same low repeatability error in the entire range of the achievable temperatures. Web of Science 11 22 art. no. 10813

Published
2021
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47. Causes-of-death analysis of patients with cardiac resynchronization therapy: an analysis of the CeRtiTuDe cohort study

Author

Marijon, Eloi, Leclercq, Christophe, Narayanan, Kumar, Boveda, Serge, Klug, Didier, Lacaze-Gadonneix, Jonathan, Defaye, Pascal, Jacob, Sophie, Piot, Olivier, Deharo, Jean-Claude, Perier, Marie-Cecile, Mulak, Genevieve, Hermida, Jean-Sylvain, Milliez, Paul, Gras, Daniel, Cesari, Olivier, Hidden-Lucet, Françoise, Anselme, Frederic, Chevalier, Philippe, Maury, Philippe, Sadoul, Nicolas, Bordachar, Pierre, Cazeau, Serge, Chauvin, Michel, Empana, Jean-Philippe, Jouven, Xavier, Daubert, Jean-Claude, Le Heuzey, Jean-Yves, Le Heuzey, Jean-Yves, Cauchemez, Bruno, Khemache, Alain, Thomas, Olivier, Hermida, Jean-Sylvain, Kubala, Mathieu, Mathiron, Armelle, Traullé, Sarah, Dupuis, Jean-Marc, Foucault, Anthony, Tassin, Aude, Algalarrondo, Vincent, Dinanian, Sylvie, Juin, Christophe, Sebag, Claude, Briand, Florent, Guignier, Alexandre, Janin, Sébastien, Champ-Rigot, Laure, Gomes, Sophie, Milliez, Paul, Pellissier, Arnaud, Scanu, Patrice, Barthez, Olivier, Bertaux-Cattarossi, Géraldine, Duvernay-Debin, Régine, Farnier, Fabien, Laurent, Gabriel, Martel-Bourcier, Alexandra, Defaye, Pascal, Jacon, Peggy, Durand, Cyril, Durand-Dubief, Alexis, Monsarrat, Nicolas, Poty, Hervé, Boulé, Stéphane, Brigadeau, François, Fossati, Frédéric, Guédon-Moreau, Laurence, Jarwe, Mustapha, Kacet, Salem, Klug, Didier, Kouakam, Claude, Lacroix, Dominique, Marquie, Christelle, Blanc, Patrick, Echahidi, Najmeddine, Espaliat, Eric, Guy-Moyat, Benoit, Lesage, Jérôme, Deharo, Jean-Claude, Franceschi, Frédéric, Prévot, Sébastien, Aliot, Etienne, Andronache, Marius, Brembillat Perrot, Béatrice, de Chillou, Christian, Sadoul, Nicolas, Badenco, Nicolas, Chastre, Thomas, Duthoit, Guillaume, Frank, Robert, Gandjbakhch, Estelle, Gartenlaub, Olivier, Hidden-Lucet, Françoise, Himbert, Caroline, Waintraub, Xavier, Zerah, Thierry, Bauley, Karine, Chabert, Jean-Pierre, Deschildre, Alain, Lesaffre, François, Martin, Angéline, Rio, Colette, Daubert, Jean-Claude, Leclercq, Christophe, Mabo, Philippe, Pavin, Dominique, Anselme, Fréderic, Godin, Bénédicte, Savouré, Arnaud, Bisch, Laurence, Da Costa, Antoine, Romeyer, Cécile, Bakou Boula, Babe, Bronner, François, Chauvin, Michel, Douchet, Marie-Pierre, Jesel, Laurence, Marzak, Halim, Schatz, Alexandre, Cardin, Christelle, Chilon, Talia, Delay, Marc, Duparc, Alexandre, Garderes-Rollin, Anne, Maury, Philippe, Mondoly, Pierre, Somody, Elisabeth, Thomson, Emile, Chevalier, Philippe, Dulac, Arnaud, Mlotek, Marcin, Nonin-Babary, Emilie, Jouven, Xavier, Lavergne, Thomas, Le Heuzey, Jean-Yves, Marijon, Eloi, Otmani, Akli, Burban, Marc, Cebron, Jean-Pierre, Gras, Daniel, Barraud, Pascal, Langlade, Stéphane, Lipiecki, Janusz, Philippot, François, Richard, Alain, Robin, Isabelle, Schandrin, Christian, Vacher, Dominique, Cardin, Christelle, Reza Rezaei, Mohammed, Rumeau, Philippe, Fouché, Renaud, Fromentin, Stéphane, Khattar, Pierre, Le Potier, Jacques, Mouhid, Jamal, Palud, Laurent, Andres, Henri, Boureux, Christian, Chopat, Patrick, Nadji, Georges, Sultan, Pierre, Targosz, Frédéric, Doazan, Jean-Philippe, El Hajjaji, Nourédine, Hannachi, Sofiene, Noblemaire, Romain, Somody, Elisabeth, Copie, Xavier, Lascault, Gilles, Paziaud, Olivier, Piot, Olivier, Billon, Olivier, Gully, Claude, Haddad, Georges, Lipp, Damien, Mouhoub, Driss, Bru, Paul, Duplantier-Duchêne, Cécile, Milhem, Antoine, Bertrand, Julien, Boursier, Michel, Khalife, Khalifé, Zannad, Noura, Zanutto, Aude, Cuvelier, Estelle, Donfafk, Cécile, Graux, Pierre, Guiot, Aurélie, Guyomar, Yves, Heuls, Sébastien, Kallumannil, John, Semichon, Marc, Gal, Benjamin, Lopez, Michel, Pineau, Julien, Dreyfus, Xavier, Hammer, Laure, Petit, Luc, Harle, Xavier, Laborderie, Julien, Albenque, Jean-Paul, Boveda, Serge, Combes, Nicolas, Combes, Stéphane, Goutner, Christophe, Césari, Olivier, Chenevez, Patrick, Loose, Christophe, Peycher, Patrick, Durand, Cyril, Durand-Dubief, Alexis, Poty, Hervé, Alonso, Christine, Cazeau, Serge, Grimard, Caroline, Jauvert, Gael, and Lazarus, Arnaud

Published
2015
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50. It's All in the Angles.

Author

MLOTEK, HALEY

Subjects
*PRIMARIES, *LITERARY form, *WOMEN'S writings, *MEMOIRS
Published
2021

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