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—This paper addresses the issue of learning and representing object grasp affordances, i.e. object-gripper relative configurations that lead to successful grasps. The purpose of grasp affordances is to organize and store the whole knowledge that an agent has about the grasping of an object, in order to facilitate reasoning on grasping solutions and their(More)
This paper presents a design, simulation, and fabrication pipeline for making transforming inflatables with various materials. We introduce a bending mechanism that creates multiple, programmable shape-changing behaviors with inextensible materials, including paper, plastics and fabrics. We developed a software tool that generates these bending mechanism(More)
The new DESY H(-) source with a completely insulated plasma has been thoroughly investigated with emittance and beam profile measurements. The beam profile was measured with a multi-Faraday cup, and for the emittance measurements a slit and grid device was used. More than 200 beam profile and emittance measurements for x as well as y were done. Their(More)
Future requirements on higher beam intensity and brightness will need an upgrade of the present CERN accelerator chain. Linac4 will be an essential part of the upgrade of the proton accelerator facility. The source for this H(-) linac will be based on a copy of the DESY rf driven H(-) source. New possible radio frequency quadrupole alternatives (with(More)
  • J Peters
  • 2008
A functional description of multicusp H(-) sources is given, focusing on the fundamental elements of this source type: the discharge chamber, the extraction plasma region, and electron dumping. Design choices for these elements will be presented and compared. The options of rf and filament heating of the discharge chamber will be presented. Also, the(More)
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