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Looking for the improvement of the students' learning, the engineering school of EAFIT University is currently developing an evaluation and training system. In this system, each student has the option of doing "dynamic" exercises in a specific field of a subject. Whenever a student uses the system, an exercise is generated with different parameters and values. The mentioned system (Evaluation...
This paper describes a technique to provide tactile sense to a desk by a simple mechanism. The tactile sense is provided to the whole body of the desk by fixing a force sensor on each leg. One of the advantages of this technique is that the contact point can be estimated without any sensor device on the surface of the desk. The desk can be used as a kind of a tactile interface by utilizing the advantage...
This paper proposes a new surface recognition method by a robot. Nowadays, demands for “Real World Haptics” are increasing. Tactile sensation which is acquired by rubbing motion is important for haptics. Therefore, surface recognition based on haptic information is focused in this paper. First, the surface sensing is needed to collect feature values. There are some researches which focus on sensing...
Functional effective muscle (FEM) theory can derive characteristics of limbs theoretically from detailed muscular strength. However, it is difficult to measure each muscular strength directly from outside the body. This paper proposes a new method for the estimation of muscular strength from maximum output force distribution at the end-effector of a limb. The proposed estimation method based on FEM...
The paper presents a support device for nursing. Several prototypes of assistive devices for feeding gastrostomy have been proposed to provide appropriate pressure for the pressurized bag. A control method for force detection has been also presented. Effectiveness of the proposed device have verified by nurses at hospitals.
This paper are presented novel method of texture segmentation using active contour model incorporated with edge flow. The edge flow magnitude was used as a main force (external force) of active contour model. The texture segmentation from both active contour model with edge flow and traditional active contour model were compared. The results reveal that the active contour models with edge flow shown...
In this paper, a force/vision control strategy is proposed in order to separate soft deformable materials using cooperative robots. The separation is performed by repeating a series of cuts, called passages, along a curved trajectory. The vision control is used to locally update the robot trajectory in response to both on-line deformations and off-line modeling errors. The force controller is used...
The complete modeling and simulation of an unmanned vehicle with combined aerial and underwater capabilities, called Hybrid Unmanned Aerial Underwater Vehicle (HUAUV), is presented in this paper. The best architecture for this kind of vehicle was evaluated based on the adaptation of typical platforms for aerial and underwater vehicles, to allow the navigation in both environments. The model selected...
We present an approach to mixed initiative control for unmanned aerial vehicles (UAVs) where sliding autonomy is supported by mixed-initiative planning and haptic feedback. In the proposed framework, we assume that an autonomous system can plan and execute robotic tasks while a human operator can provide interventions when necessary receiving a force feedback. The haptic feedback is associated with...
An approach to construct an elastic transmission mechanism for a compliant underactuated robotic hand from the interconnection of smaller compliant mechanisms is proposed, and a mathematical model for the interaction between multiple actuators and multiple digits is developed. It is proven that any interconnection of compliant objects results in an elastic transmission element that has a positive...
This paper proposes a motion planning approach for non-holonomic mobile robots. Firstly, motion planning using i-PID controller is presented. Then we improve the old potential field function to produce smooth repulsive force. Finally a new repulsive function of robot orientation and angular velocity is proposed to improve the performance of obstacle avoidance. The effectiveness and the robustness...
In this paper, it is proposed to use spatial differentials instead of independently actuated cables to drive cable robots. Spatial cable differentials are constituted of several cables attaching the moving platform to the base but all of these cables are pulled by the same actuator through a differential system. To this aim, cable differentials with both planar and spatial architectures are first...
Model-based approaches to the planning or control of robot locomotion or manipulation requires the solution of complementarity problems that model intermittent contact. Fixed-point iteration is a method of computing fixed points of functions and there are several fixed-point theorems to guarantee the existence of fixed points. With the help of proximal point functions, the complementarity problems...
Both the static and the dynamic end effects of the linear induction motor (LIM) cause an increase of the difficulty in controlling with good performance the main electro-mechanical characteristics of the machine, in particular the thrust and the linear speed. These effects are related to asymmetries in the inductor structure with respect to the rotating counterpart, in both the longitudinal and in...
This paper presents the design of a mechatronic system integrating piezoelectric multi-actuators, which is used to generate low-frequency vibrations to assist the forging process. With the aim of controlling the complete system, modelling using Energetic Macroscopic Representation is performed. A prototype with an electrical system is developed in a short term to validate the design. Finally, the...
A novel combined sliding mode adaptive observer for flux and speed estimation of direct thrust controlled surface mounted Linear Permanent Magnet Synchronous Motor (LPMSM) without using position sensors is proposed. The observer comprises a linear state observer combined with a novel nonlinear sliding mode component. The sliding mode component is improved by using two boundary layers which reduce...
This paper proposed a novel forward dynamics computation method which complexity is O(n) where n is the number of bodies. In this method, contact constraints based on the macroscopic method are relaxed by regularization technique, thereby the numerical stability is improved. The relaxation causes larger penetrations at contact points, which are compensated the penetrations at the momentum-level by...
A planning and control methodology for manipulating passive objects using orbital servicers in zero gravity has been developed by the authors. In this work, a parametric sensitivity analysis of the proposed model-based control for the motion of the passive object, in terms of parametric uncertainties, is presented. A linearization methodology is used to provide a scheme with which the controller robust...
This paper deals with the kinetostatic performance evaluation regarding translational and rotational motions of general robots with mixed operational degrees of freedom (dofs). Also, robots with different types of actuators can be analyzed based on the same approach without any problem. Besides, the generality of the approach embraces serial, parallel, actuatedly or kinematically redundant robots...
Snake robots are biomimetic robots highly suited for traversing challenging terrain where traditional robots have difficulty moving. A key aspect is obstacle-aided locomotion, where the snake pushes against the environment to achieve the desired propulsion. The main focus of this work is to optimally determine how to use the motor torque inputs that result in obstacle forces suitable to achieve some...
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