Force and Speed in a Soft Stewart Platform

Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing Auxetic (HSA) actuators. By using soft actuators, we are able to use one third as many mechatronic components as a rigid Stewart platform, while retaining a working payload of 2kg and an open-loop bandwidth greater than 16Hz. We show that the platform is capable of both precise tracing and dynamic disturbance rejection when controlling a ball and sliding puck using a Proportional Integral Derivative (PID) controller. We develop a machine-learning-based kinematics model and demonstrate a functional workspace of roughly 10cm in each translation direction and 28 degrees in each orientation. This 6DoF device has many of the characteristics associated with rigid components - power, speed, and total workspace - while capturing the advantages of soft mechanisms.

CARBD-Ko: A Contextually Annotated Review Benchmark Dataset for Aspect-Level Sentiment Classification in Korean

This paper explores the challenges posed by aspect-based sentiment classification (ABSC) within pretrained language models (PLMs), with a particular focus on contextualization and hallucination issues. In order to tackle these challenges, we introduce CARBD-Ko (a Contextually Annotated Review Benchmark Dataset for Aspect-Based Sentiment Classification in Korean), a benchmark dataset that incorporates aspects and dual-tagged polarities to distinguish between aspect-specific and aspect-agnostic sentiment classification. The dataset consists of sentences annotated with specific aspects, aspect polarity, aspect-agnostic polarity, and the intensity of aspects. To address the issue of dual-tagged aspect polarities, we propose a novel approach employing a Siamese Network. Our experimental findings highlight the inherent difficulties in accurately predicting dual-polarities and underscore the significance of contextualized sentiment analysis models. The CARBD-Ko dataset serves as a valuable resource for future research endeavors in aspect-level sentiment classification.