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In this paper we present a controller that solves the problem of position coordination of two (or more) robotic systems, under a master-slave scheme, in the case when only position measurements are available. The controller consists of a feedback control law and two nonlinear observers. It is shown that the controller yields semi-global ultimate uniformly boundedness of the closed loop errors and...
The aim of this paper is to explain basic kinematic concepts applied to humanoid robots. The structure of a Bioloid with three degrees of freedom (DoFs) for the arms and six DoFs for the legs is considered. The solution of direct and inverse kinematics (IK) is presented for both arms and legs. Our main contribution is to solve in a detailed manner the legs IK because this is the basis for planning...
A multi-relational graph maintains two or more relations over a vertex set. This article defines an algebra for traversing such graphs that is based on an n-ary relational algebra, a concatenative single-relational path algebra, and a tensor-based multi-relational algebra. The presented algebra provides a monoid, automata, and formal language theoretic foundation for the construction of a multi-relational...
In this work an interface based on inertial sensors with applications for unilateral master - slave robotic teleoperation is developed. In such tasks the interface with which the user interacts plays a key role. In general the interface should be comfortable and to allow free user motion. The interface here proposed is composed of two portable inertial sensor units which are placed on the upper and...
Given a linear antenna array with an excitation distribution affording an optimal sum pattern, subarray weighting allows the same array also to generate a difference pattern, with minimal alteration of the signal feed circuitry. Previous implementations of this approach have considered the whole array for subarraying. Here we report that the required feeding networks can be further simplified by keeping...
Cobots are passive robots that share their work space with a human. They are safe for whom manipulates them and facilitate the task execution which increase productivity. Also they take advantage of the human vision, intelligence and dexterity because their goal is to guide the operator who moves the robot. They can execute transport or precision tasks at low cost, reducing the operator training time...
This paper presents the automatic design, through a multi-objective genetic algorithm, of a fuzzy logic controller (FLC) applied to walking of a biped robot. The design approach of the FLC comprises two aspects: tuning the antecedents and consequents membership functions parameters and obtain the antecedents and consequents fuzzy partition of a rule base with a fixed structure such that allow to perform...
This article presents a novel on-line optimal control for tracking tasks on redundant robot manipulators for which inverse kinematics is not required. The controller is composed by a stabilization Cartesian PID control plus a joint space optimal control, which is in charge of improving tracking performance. The joint space dynamic optimal control is based on the gradient flow approach with the robot...
Image segmentation has attracted the attention of researcher for many decades. Different approaches have been developed in order to find the solution in many different segmentation situations. In this paper we propose a novel edge detection approach aimed to generate useful information to achieve segmentation. The proposed method is based on analysis of the information provided by the time matrix...
Summary form only given. As PJM and MISO implement their electricity markets, a number of issues have arisen regarding the coordination of operations at the seams or boundaries between these systems. One of the major issues is the interaction of the different congestion management methodologies (market based and traditional) used by the parties. This presentation describes the methods included the...
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