Browsing by Keyword "Coordination"
Now showing 1 - 3 of 3
Results Per Page
Sort Options
Item Coordination of Two Robots for Manipulating Heavy and Large Payloads Collaboratively: SOFOCLES Project Case Use(Springer Science and Business Media Deutschland GmbH, 2022-05-26) Bengoa, Pablo; González-Ojeda, Itzel de Jesus; Ibarguren, Aitor; Goenaga, Borja; Martínez-De-Lahidalga, Sandra; Gkournelos, Christos; Lotsaris, Konstantinos; Angelakis, Panagiotis; Makris, Sotiris; Antolín-Urbaneja, Juan Carlos; Garcia, Marcelo V.; Fernández-Peña, Félix; Gordón-Gallegos, Carlos; ROBOTICA_AUTOMA; Tecnalia Research & InnovationDuring the last two decades a great impulse in the development of applications to improve the collaboration between human and robots has been achieved in several sectors. This paper presents a new research carried out for coordinating two robots with the aim to manipulate heavy and large payloads up to 250 kg. This process is performed with the collaboration of the final user who clamps each robot to one point of the part by means of a flexible and reconfigurable tool. The architecture of the system and the followed methodology is envisaged. Also, information about the generation of the trajectory is explained. The work is focused on the coordination problem of two collaboratives robots used in a pick and place application, synchronized with a second process (e.g., sealing, painting, welding). The test has been performed using an 80 kg payload, handling the part synchronously using both collaborative robots, showing good articular coordinates tracking. This research has been done within SOFOCLES project, funded by the European Institute of Innovation and Technology (EIT), a body of the European Union.Item Minimizing endpoint variability through reinforcement learning during reaching movements involving shoulder, elbow and wrist(2017-07-18) Mehler, David Marc Anton; Reichenbach, Alexandra; Klein, Julius; Diedrichsen, Jörn; Tecnalia Research & InnovationReaching movements are comprised of the coordinated action across multiple joints. The human skeleton is redundant for this task because different joint configurations can lead to the same endpoint in space. How do people learn to use combinations of joints that maximize success in goal-directed motor tasks? To answer this question, we used a 3-degreeof-freedom manipulandum to measure shoulder, elbow and wrist joint movements during reaching in a plane. We tested whether a shift in the relative contribution of the wrist and elbow joints to a reaching movement could be learned by an implicit reinforcement regime. Unknown to the participants, we decreased the task success for certain joint configurations (wrist flexion or extension, respectively) by adding random variability to the endpoint feedback. In return, the opposite wrist postures were rewarded in the two experimental groups (flexion and extension group). We found that the joint configuration slowly shifted towards movements that provided more control over the endpoint and hence higher task success. While the overall learning was significant, only the group that was guided to extend the wrist joint more during the movement showed substantial learning. Importantly, all changes in movement pattern occurred independent of conscious awareness of the experimental manipulation. These findings suggest that the motor system is generally sensitive to its output variability and can optimize joint-space solutions that minimize task-relevant output variability. We discuss biomechanical biases (e.g. joint's range of movement) that could impose hurdles to the learning process.Item Optimised TSO-DSO Coordination to Integrate Renewables in Flexibility Markets(IEEE, 2019-09) Madina, Carlos; Kuusela, Pirkko; Rossi, Marco; Aghaie, Hamid; Gomez-Arriola, Ines; Riaño, Sandra; POWER SYSTEMS; SISTEMAS FOTOVOLTAICOSThe necessary energy transition to decarbonize power systems is leading to increasingly important challenges for the operation of power systems. On the one hand, the intermittent nature of renewable generation requires system operators to procure ancillary services in larger volumes than in the past. On the other, the growing penetration of medium- and small-scale, flexible demand and storage systems in distribution networks could potentially offer network services, if they are aggregated effectively and there is an appropriate coordination between transmission system operators (TSOs), distribution system operators (DSOs) and aggregators. Therefore, an important topic to be analysed is whether distributed energy resources (DER) can replace traditional generation in the provision of ancillary services (AS), how this replacement will affect the system operators’ roles and how to improve the coordination between TSOs and DSOs. This paper shows the results of the cost-benefit analysis (CBA) performed within the project SmartNet to assess the advantages or disadvantages of different TSO-DSO coordination schemes, as well as the follow-up activities to be carried out in the project CoordiNet.