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A life-sized humanoid kicking robot was built as a research tool to investigate the mechanics, kinematics and dynamics of place kicking a rugby ball. The kicking leg is pneumatically-controlled. Thermodynamic analysis estimates the upper limit of the foot speed to be about 38 m/s. The measured foot speed is about 21 m/s with the principal energy loss from back pressure on the discharge side of the...
This paper aims to develop the motion loading system taking into account the variable control impedance and human reactions. In the motion saving phase, a four channel bilateral controller with a micro-vibration is utilized for the purpose of obtaining not only position and force responses to human motion but also the human impedance. In the motion loading phase, the hybrid angle and the human impedance...
Indoor positioning systems (IPS) have gained a lot of traction within the research community in recent years. Received Signal Strength Indicator (RSSI) of wireless networks are the most commonly used metric for indoor localization. The objective of this paper is to see how Wi-Fi interferers of different data rates affect the packet RSSI values of TX-RX links in a ZigBee based indoor localization system...
With the increasing concentrations of the air pollution and reduction of fossil fuels the electric buses with carbon-reduction and energy-conservation technology have been extensively encouraged. The battery technology as the significant determinant will directly affect the practical utilization of the buses. The Lithium Titanium Oxide (LTO) battery is becoming increasingly popular as the battery...
In order to solve the problem of energy supply for wearable and portable electronic equipment and exoskeleton, a direct energy recovery mechanism based on hydraulic transmission principle was designed. Firstly, according to the particularity of human body structure and function, establish a theoretical model can reflect the state of human body by Lagrange modeling method. Based on the established...
Considering the high precision and small load of the 3D printer motion control system, this paper proposed a method of multi-dimensional stepper motor coordinated control. The overall design of the control system is given; based on Bresenham algorithm, the Bresenham algorithm is extended from two-dimensional to multidimensional, realizing cooperative movement of the multidimensional stepper motor;...
Handling of deformable objects with industrial robots holds many unresolved challenges. Especially, describing and predicting the deformed state is computationally expensive and therefore difficult under the requirements of manufacturing environments. A concept for a simulation-based approach towards bin picking of deformable objects, is presented in this paper. The emphasis of the approach lies on...
An Improved A∗ algorithm based on time window is proposed to solve conflict-free path planning problem for the Automated Guided Vehicles (AGV) in flexible manufacturing systems. Based on the planned AGV paths, conflict-free routing was received by utilizing the improved A∗ algorithm in the next AGV routing. The algorithm of improving evaluation function to introduce the turning factors not only avoids...
This paper aims to realize sensorless motion transmission for haptic teleoperation between remote places. Sensorless systems are endurable against operations under harsh environments. This is a great advantage suitable for teleoperation systems. To achieve this purpose, two types of voltage compensation are proposed for torque transmission and velocity synchronization. These two targets are known...
In this paper, a new adaptive fuzzy controller is proposed for the dynamic positioning system of vessels with unknown time-varying dynamic model parameters and environmental disturbances. This controller comprises of an adaptive fuzzy logic and the dynamic surface control (DSC) technique. The adaptive fuzzy system is used to estimate the uncertainties induced by unknown dynamic model parameters and...
Learning in robotics has become a requirement in some advanced industrial applications since robots are expected to perform complex, and in some cases multiple, tasks while simultaneously handling the unpredicted conditions of the environment. The research discussed in this paper focuses on the development of an algorithm that will allow a mobile robot to determine its own physical dimensions. This...
Stixel-based segmentation is specifically designed towards obstacle detection which combines road surface estimation in traffic scenes, stixel calculations, and stixel clustering. Stixels are defined by observed height above road surface. Road surfaces (ground manifolds) are represented by using an occupancy grid map. Stixel-based segmentation may improve the accuracy of real-time obstacle detection,...
The inertial navigation system (INS) has been widely used in many areas, however, the readings of the inertia measurement unit (IMU) in the system usually contain noises. In this paper, an artificial multiple-layer neural network is adopted for filtering noises in the acceleration signals from an IMU. The target dataset for the artificial neural network (ANN) is built from the encoder readings of...
Investigating the interaction of teeth and food materials is beneficial for both oral health and the food industry. This paper presents the concept of in-vitro study of the interaction between the teeth and the food bolus through simulation of chewing process by means of a four-degree-of-freedom redundantly actuated parallel robot (RAPR). The required steps to address this research aim are presented,...
Scanning of main beam of radiation digitally at fixed millimeter wave frequency in a Substrate Integrated Waveguide (SIW) Leaky Wave Antenna (LWA) has not been investigated so far in literature. In this work a Half-Mode Substrate Integrated Waveguide (HMSIW) LWA is presented which steers its main beam digitally at fixed millimeter wave frequency of 26 GHz. Digital beam steering is made feasible by...
Consumer-grade RGB-D cameras capture RGB images along with per-pixel depth information, and because of their limited cost and ability to measure distances at a high frame rate, have been used in robotics and computer vision application. However, drawbacks include the repeatability and accuracy of RGB-D cameras for object detection and localization. This paper investigates and compares RGB-D cameras'...
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