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This paper discusses the tracking algorithms and approach used to control the tracking fluoroscope system. It is a mobile platform equipped with an on-board fluoroscope system to perform real-time imaging of human joints in motion: ankles, knees and hips. In order to record the natural and uninterrupted joint motion, the person has to be able to walk freely while being followed by the robot. It requires...
This paper investigates a perimeter patrol control problem in which multiple agents travel back and forth defending a border. A decentralized control inspired from the adaptive immune system TH1/TH2 differentiation mechanism has been proposed. The resulting patrol control exhibits robustness under adversarial conditions. This is primarily because the motion period can be arbitrary, which makes it...
Large multi-fingered end-effectors have promise to provide the added dexterity needed for manipulation while decreasing the amount of special fixturing required for tooling and object manipulation common to remote handling operations in hazardous and unstructured environments such as those in the nuclear domain. This paper presents the integration of a heavy-duty three-fingered articulated hand with...
This paper described an error analysis of a camera/laser range finder sensor head to characterize the effects of an error of the sensor head components, and a calibration of the sensor head. The sensor head of the telerobotic system, which is being developed for D&D operation of nuclear facilities, improves the work efficiency of a human operator through visual guidance and 3D modeling of the...
Sensors such as cameras and range finders provide flexibility and safety to telerobotic manipulations. However, in order to use their supportive features, sensor-based telerobotic control requires that both the sensors and the robot arm be calibrated so that the manipulator can target and articulate objects in the environment easily and effectively. The scope of this paper is to define the sensor-manipulator...
This paper presents a PID control of a prototype transmission-based robot servo-actuator system (TBA) and its implementation using real time application interface (RTAI) under Linux. The PID control presented can achieve stability and performance requirement in terms of attenuation of disturbance due to gear shift. The control software has a real time multithread design. Verification test shows the...
For the safe and reliable execution of tasks, the tool grasping conditions of the manipulator must be checked to determine whether the tool has been grasped in the desired manner in real time. Especially in the case of telerobotics, grasping errors are critical to the completion of tasks since the human operator cannot access the hazardous and remote work environment. This paper proposes a time-delayed...
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