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In order to fully consider the topology relationship among the anchor nodes and the topology relationship between the anchor nodes and unknown nodes, an Improvement of DV-Hop Algorithm Based on Collinearity is proposed. The main principle of the proposed scheme is to introduce the concept of normalized colinearity (NC) into the selection phase of beacon nodes. Based on DV-Hop, best available anchor...
In this paper, a newly vision-based localization method for mobile robots is presented. The cost of hardware for this localization system is very low. Based on background subtraction and optical flow tracking, the presented method overcomes the shortcoming of general background subtracting method- being sensitive to noises and interferences of other mobile objects. Besides, the presented method is...
In this paper, a neural network approach named shortest path neural networks (SP-NN) is proposed for real-time on-line path planning. Based on grid-based map and mapping this kind of map to neural networks, this proposed method is capable of generating the globally shortest path from the target position to the start position without collision with any obstacles. The dynamics of each neuron is distinctive...
The authors present an actuator designed for the locomotion of an active capsule endoscope. The actuator is composed of a permanent magnet, a plunger, a solenoid and a cone-shaped polymer. When an alternate current is applied to the solenoid, the magnet will make a reciprocating movement under the electromagnetic force. With the friction difference produced by the polymer, the actuator could propel...
This paper describes the work by using audio as a monitoring means to understand domestic environments as well as improving interaction capabilities between human and robot for monitoring task. The primary goal of this work is to provide an auditory awareness of the monitored site to a remote user; specifically the emphasis is put on sound localization which has been widely studied with the aim of...
To decompose the three-dimension robot rotation into two sub-rotations, the rotation of the robot's main axis and the rotation around this axis, we present a rotation decomposition method by quaternions. By the rotation matrix, we can use the quaternion computation to find the rotation angle of the robot main axis along the axis that is perpendicular to the robot main axis, and the rotation that turns...
In this paper, a wireless sensor network based assistive system (WASN) is developed to help the deaf or the hearing-impaired people, particularly, help them to be aware of their environments. A brief review on the current assistive devices is also addressed first. The system architecture, components and specifications are presented for two typical application scenarios: smart home and smart school...
More and more wireless mobile sensor networks are employed by robotics to perform harsh tasks such as disaster rescue, emission sources localization or hazardous contaminants localization. There are a lot of network optimization problems to be solved in the protocol design of wireless mobile sensor networks (WMSN), such as rate control, flow control, congestion control, medium access control, queue...
A new idea was presented to deal with the nonlinear and time-varying characteristics of the intelligent vehicle (IV). It searched a mapping relationship between the input state space and output state space based on the vehicle running data. Furthermore the IV transverse locomotion pattern space was constructed. The construction method was deduced based on fuzzy c-means (FCM) by the well adaptive abilities...
Mobile wireless telemedicine is the latest area that exploits novel advance in telecommunication technology which provides health care delivery to the inaccessible areas that are hampered by the limitation of the conventional telecommunication technologies. To provide intelligent and high quality monitoring services to patients, best-practice decision support to the professionals and cost-effective...
In this paper, a hybrid genetic algorithm (GA) and backstepping based tracking controller is proposed for a nonholonomic mobile robot. Backstepping is a commonly used technique for nonlinear control systems. By using a backstepping motion controller alone, there exist oscillations at the initial phase in both linear velocity and angular velocity, as well as a big initial linear velocity jump. A genetic...
The adverse biological effects may be caused by wireless biosensor networks in long term monitoring. This is the first paper that specifically derives a bioeffect metric to evaluate the performance of wireless biosensor networks in terms of health effect consideration. This paper investigates the bioeffects caused by radiofrequency transmission of sensor node, including thermal effects and athermal...
Optical flow is the apparent motion of the brightness pattern in an image. It generally corresponds to the motion field of the captured scene in the image so that we can use it distinguish moving objects. The computation of optical flow is conventionally based on the assumption of uniform brightness, which however does not always hold. Numerous algorithms have been proposed to improve the computation...
Design of low-cost, miniature, lightweight, ultra low-power, flexible sensor platform capable of customization and seamless integration into a wireless biomedical sensor network(WBSN) for health monitoring applications presents one of the most challenging tasks. In this paper, we propose a WBSN node platform featuring an ultra low-power microcontroller, an IEEE 802.15.4 compatible transceiver, and...
This paper introduces and analyses a three dimensional real-time kinematic simulation system for four-legged robot. The effective method of constructing interface between 3D geometrical modeling software and simulation system in OpenGL is applied in the geometrical modeling module for the robot. The construction of kinematic model and the demonstration of animation are analyzed emphatically. Further...
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