Grasping in an uncertain environment is a topic of great interest in robotics. In this paper we focus on the challenge of object handover capable of coping with a wide range of different and unspecified objects. Handover is the action of object passing an object from one agent to another. In this work handover is performed from human to robot. We present a robust method that relies only on the force information from the wrist and does not use any vision and tactile information from the fingers. By analyzing readings from a wrist force sensor, models of tactile response for receiving and releasing an object were identified and tested during validation experiments.

Clinical and subclinical disorders and diseases cause reproductive failures and decline in milk production. Etiology of disorders is mainly because of pathological effect of microorganisms, lapses in nutrition and lodging, as well as in management. After partrition, body is under stress and milk yield is highest, which favors appearance of metabolic and infective diseases. Status of puerperium, number of lactation, body condition score and season of parturition, have highest effect to cyclic ovarian activity. Regular development of dominant follicles, ovulation, formation of corpus luteum and luteolysis is necessary for establishment of regular cyclic ovarian activity, which leads to better fertility. Experiment had included 50 cows during first 52 days of lactation. Cows were separated in two main groups, those with normal puerperium NP (n=32) and abnormal puerperium AP (n=18). Examinations have been performed during period of 6 to 52 days postpartum. Ovarian dominant follicles have been observed using diagnostic ultrasound linear scanner. The highest number of dominant follicles are present during first two examinations, then their number declines and later in last two examinations rise again. Decrease in number of dominant follicles in both groups is most expressed in period of 14-30 days. During first examination, left ovaries have more dominant follicles, compared with right ovaries, while during later examinations, it is changed in favor of right ovaries. Increased number of vital dominant follicles from period 38-45 days postpartum and absence of abnormal uterine content in lumen in same period postpartum is sign of upcoming fertile estrus. Benjamin Čengić et al. 182