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- Robotics Related
- Computational Biology Related
Robotics Related
Analysis of Soft Finger Pulp Design on Grasping and Manipulation
[1]
- © Robotics
The goal of this thesis is to mitigate some of the issues the
current air-mass control strategy of the soft-pneumatic-actuators
introduces. So far the controller is derived in a data-driven way and
does not rely on accurate sensor-based air-mass estimates. Therefore,
when running the controller for a longer time duration, the internal
air-mass estimates computed by the model are subject to drift. This
results in not being able to control the actuators precisely anymore.
In the recent past new air-flow-sensors have been developed that might
be feasible for our requirements.
more to: Analysis of Soft
Finger Pulp Design on Grasping and Manipulation [2]
Air-Mass Control of Soft Pneumatic Actuators with
Air-Flow-Sensors [3]
- © Robotics
The goal of this thesis is to mitigate some of the issues the
current air-mass control strategy of the soft-pneumatic-actuators
introduces. So far the controller is derived in a data-driven way and
does not rely on accurate sensor-based air-mass estimates. Therefore,
when running the controller for a longer time duration, the internal
air-mass estimates computed by the model are subject to drift. This
results in not being able to control the actuators precisely anymore.
In the recent past new air-flow-sensors have been developed that might
be feasible for our requirements.
more to: Air-Mass Control of
Soft Pneumatic Actuators with Air-Flow-Sensors [4]
Computational Biology
Related
Distograms in protein motion [5]
- © Robotics
The thesis builds on the work from Ines Putz, applying the break
through of distogram prediction from the contact prediction field to
protein motion. Elastic Network Models are useful in determining the
coarse-grained motion of proteins. During structural transitions,
certain residue pairs that were spatially close become separated, so
called breaking contacts. Incorporating this information improves the
prediction of protein motion. In this thesis, we want to apply state
of the art machine learning methods to breaking contact prediction and
further evaluate distance prediction instead of binary contacts. Here,
distograms can provide a way to vary the stiffness of the springs in
the elastic network model to allow for more flexibility.
more to: Distograms in protein
motion [6]
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Links: ------
[1]
https://www.robotics.tu-berlin.de/menue/theses/ongo
ing_theses/robotics_related_ongoing/analysis_of_soft_fi
nger_pulp_design_on_grasping_and_manipulation/parameter
/en/font0/minhilfe/
[2]
https://www.robotics.tu-berlin.de/menue/theses/ongo
ing_theses/robotics_related_ongoing/analysis_of_soft_fi
nger_pulp_design_on_grasping_and_manipulation/parameter
/en/font0/minhilfe/
[3]
https://www.robotics.tu-berlin.de/menue/theses/ongo
ing_theses/robotics_related_ongoing/air_mass_control_of
_soft_pneumatic_actuators_with_air_flow_sensors/paramet
er/en/font0/minhilfe/
[4]
https://www.robotics.tu-berlin.de/menue/theses/ongo
ing_theses/robotics_related_ongoing/air_mass_control_of
_soft_pneumatic_actuators_with_air_flow_sensors/paramet
er/en/font0/minhilfe/
[5]
https://www.robotics.tu-berlin.de/menue/theses/ongo
ing_theses/computational_biology_related_ongoing/distog
rams_in_protein_motion/parameter/en/font0/minhilfe/
[6]
https://www.robotics.tu-berlin.de/menue/theses/ongo
ing_theses/computational_biology_related_ongoing/distog
rams_in_protein_motion/parameter/en/font0/minhilfe/
