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We propose an external actuation technique for wireless micro-robot in pipeline. In this technique, the external magnetic field is used to rotate the micro-robot by applying a force on the magnet which is enclosed in the robot. With the help of the spiral structure on the outer surface of the robot, the rotation of robot can be converted to axial motion through liquid such as water or oil of the pipeline...
The paper proposed a particle filter based and Wireless Sensor Networks (WSN) aided Simultaneous Localization and Mapping (SLAM) strategy. The proposed method aims at solving two troublesome problems in the traditional particle filter based SLAM algorithms. The first problem is high dimension of question space; and the second one is multi-date association. Firstly, the paper analysed the model of...
In wave-variable-based teleoperation systems, the trajectory tracking is not guaranteed due to a bias term introduced by the wave-variable-based communication channel. This paper proposes a new method that can improve the trajectory tracking performance in free space motion. In this approach, the forward wave is augmented by the user perceived force and slave control force. Passivity of the augmented...
Teleoperation system plays an important role in executing tasks under hazardous environments. Unfortunately, most of the traditional teleoperation systems are expensive and bulky thus not suitable to provide real-world services. This paper introduces a novel architecture for the teleoperation of mobile robot based on Personal Digital Assistant(PDA) with mobility, facility and low cost. The architecture...
A critical challenge residing in E-healthcare robotic system is data communication over networks without performance guarantee. This paper proposes a novel way of using auditory feedback as the substitute for visual feedback to ensure that the telerobotic remote health monitoring system still functions in a real-time fashion under the unfavorable communication conditions, such as image losses, visual...
Localization is an important area in autonomous robotics. Recently, many researchers focus on legged robot due to its ability to navigate on undulating terrain. Localization of legged robot is more difficult than that of wheeled robot in the following senses: 1) leg slippages are common during walking motion, which degrade the motion accuracy and 2) due to the oscillated walking motion of robot, sensor...
In this paper, we present a remote control scheme for Internet-based teleoperation. This control scheme relies on the real-time estimation of concurrent roundtrip delays in order to optimally assign tasks between the user and the robot. For this purpose, we employ an adaptive linear (Adaline) neural network for which most conventional learning algorithms are infeasible since the computation is usually...
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