The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Material recognition for real-world outdoor surfaces has become increasingly important for computer vision to support its operation in the wild. Computational surface modeling that underlies material recognition has transitioned from reflectance modeling using in-lab controlled radiometric measurements to image-based representations based on internet-mined images of materials captured in the scene...
Epiduroscopy is one of the widely implemented procedures in effective diagnosing and curing lumbago patients. Such endoscopic surgery requires much skill to control the surgical instruments well. Therefore, this paper proposes an epiduroscopy training simulator using a haptic master device. The proposed training simulator calculates forces using virtual fixture implemented in a catheter insertion...
For heavy duty tasks which are needed in field or rough terrain, we developed a hydrostatically actuated anthropomorphic hand. The hand is specifically designed for the humanoid robot HYDRA, whose 40 joints are driven by back-drivable electro-hydrostatic actuators (EHA). Each designed hand has four fingers with a total of five DOF. Each finger has three joints underactuated by one tendon. Opposition/reposition...
This paper studies the configuration of a planar cable-driven parallel robot to reduce the vibration of an end-effector. Since cables are more flexible than rigid links, external disturbances may cause a significant vibration during operation. The characteristics of the vibration are closely related to the natural frequency of the end-effector. And, we consider that the shapes of the frame and the...
This paper presents dynamics control of underwater vehicle based on motor velocity servo. For control of robot's location, pose, velocity in complicated underwater environment, this study estimates hydrodynamic coefficients by using backstepping technique. Estimated hydrodynamic coefficients are to be used for controlling of robot's exact location, pose, and velocity, within the framework of adaptive...
Analytical model by considering the kinematics, dynamics, and energetics of the trenching machine is adopted and proposed to design an underwater chain trenching machine at UCRC-KIOST. In this paper, parameter study and sensitivity analysis is conducted to show how the variations of operational and geometric parameters, as well as cutting tools and material condition affect the forces, moment, weight,...
Configuration of software services plays an important role in the design of robots. However, due to the complexity and diversity of the environments for developing robots, it is difficult to share and reuse robot code created by different providers. In this study, we present an ontology-based approach that exploits the standard web interface to develop reusable robotic services. Our approach integrates...
A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of UUV motion be controlled by...
A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of UUV motion be controlled by...
Recently, flexible needles with bevel tips for percutaneous intervention have attracted significant interest. However, there are remaining problems related to controlling by duty-cycle algorithm which prevents widespread adoption of this technology. This motivates development of a new steerable flexible needle model that can change its curvature without axial rotation. In this paper, we propose a...
This paper presents a novel application based on the bio-inspired motion of the Amoeba. This research is focused on development a soft micro robot based on the Amoeba locomotion which can be named Whole Skin Locomotion. The robot is created using the fluid filled toroid method that acts as a body shaping feature with ferrofluid material placed within that is delivered to create the driving force....
Motion-copying system (MCS) enables to preserve and reproduce the human motion faithfully, and various studies about MCS have been accomplished. Thereby, the concept of the motion database is created, and it is considered that preservation and reproduction of the motion data will spread in the various field including the industry, art and medical care. Then, The demand for processing the saved motion...
Various robotic systems have been proposed to provide assistance in activities related to daily living and in physical therapy. Our consortium developed a prototype assistive robotic module, called the "smart mobile walker," which is a motorized walker. This robotic device was developed to assist with the mobility of senior citizens and persons with disabilities such as stroke survivors...
Due to the progress in robotics, exoskeleton has been applied in rehabilitation for those enduring damage in central nervous system, spinal cord, and others. In this kind if application, the main concern is the safety of the user, as he/she is closely connected to the exoskeleton. That means the developed exoskeleton needs be carefully evaluated in each aspect of the design. For this purpose, we develop...
This paper describes improvement of a human-portable underwater robot for use in soil core sampling. We developed the soil sampling robot in our previous work. However, the efficiency of translational motion of that robot was low because of high drag force attributable to its shape. In addition, an operator had to control all motions of the robot manually using a controller. To overcome such shortcomings...
For the actuation of a swimming microrobot, various types of electromagnetic actuation (EMA) systems were proposed. Compared with a conventional actuation system using an electric motor or shape memory alloy (SMA), EMA system has many advantages for a wireless actuation of a microrobot. This paper introduces a biomimetic swimming tadpole microrobot. The developed microrobot could be driven by an external...
Recently, human-robot interaction, or human-robot communication, has been extended to practical application in real environments. One of the important factors in human-robot interaction is sound source localization. Moreover, communication is more complex in sound-corrupted environments than in controlled environments. In the present study, the a priori SNR Wiener Scalart algorithm for noise reduction...
Reaching is one of crucial tasks in order to assist activities of daily living and to support therapeutic rehabilitation. We investigated the dynamics of upper-extremity motions for the reaching tasks at different levels by stroke and able-bodied participants. The two different levels were at the head and chest. The results indicated that the joint moments with respect to levels differed slightly...
A new wearable robot for upper-extremity was designed for handling heavy weights. The human-robot integrated structure constitutes a closed-chain mechanism which allows a proper load distribution between the robot and the human. The kinematic and dynamic models for this human-robot integrated exoskeleton system were presented. Through the load distribution algorithm between the human and the robot,...
This paper compares filtering methods used for localization of an underwater robot: Kalman filter and particle filter. Kalman filter and particle filter are major filters for estimation of robot pose on the ground. They are adapted for underwater robot localization. While Kalman filter can be used for linear or linearized processes and measurement system, the particle filter can be used for nonlinear...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.