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Robot-assisted systems have been developed for minimally invasive surgical procedures, which bring tremendous benefits for patients, such as less trauma, less bleeding, and shorter recovery time. Among the contemporary surgical robotic manipulators, flexible serpentine manipulator shows great advantages on operating with complicated nonlinear anatomical constraints, and it can reach deep occluded...
In this paper, we present a cycled merging registration method based on Iterative Closest Point (ICP). We capture the point clouds by a static Kinect with the object rotating on a turntable. Different views of scan are combined by ICP and then a globally consistent human model is obtained. Our method simplifies the process of successively registration, which is usually used to solve multi-views registration...
Nowadays large enterprises maintain a huge amount of data in multiple backend systems including traditional database systems and recently popular big data systems. In an example of telecom providers, the key business data (e.g., billing information) is maintained in database systems whereas the huge amount of log data is on HDFS with Hive. How to provide insightful analytics on such data becomes a...
Nowadays large enterprises maintain a huge amount of data in multiple backend systems including traditional database systems and recently popular big data systems. In an example of telecom providers, the key business data (e.g., billing information) is maintained in database systems whereas the huge signaling log data is on HDFS with Hive. How to integrate such data and provide a consolidate query...
Flexible serpentine manipulators are widely used in surgical robots as it can be operated inside the patient's body cavity by backbone bending. However, during the bending the manipulator sweeps over a region, where sensitive organs may locate. This raises the safety concern. In this paper, a motion planning algorithm focusing on minimize the sweeping area for flexible serpentine manipulators is presented...
A time-varying controller is proposed to simultaneously solve the stabilization and the tracking problem of wheeled mobile robots via their equivalent chained form. The control is designed based on Lyapunov's direct method and the backstepping technique. The outstanding feature of the proposed controller is computationally simple due to its full use of the existing results on stabilization and tracking...
This paper proposes a novel trajectory planner for de-icing robot on high voltage transmission line. The planner is based on fuzzy technique to achieve obstacle avoidance. Unlike the structured environment, high voltage transmission line has many electrical equipments, which have different characteristics and various installation way. Thus, de-icing robot has diversity of obstacle crossing problems...
In this paper, the motion control of nonholonomic mobile manipulators in presence of uncertainties and external disturbances is considered. An adaptive robust controller is proposed to overcome model uncertainties and bounded disturbances. The control design is developed without imposing any restriction on the system dynamics, and ensures the entire state of the system to asymptotically converge to...
In this paper, a novel path planning strategy based on fuzzy logic for a robot arm with a fixed pedestal is proposed, and the simulation environment conditions in which the robot arm works are specific and unpredictable. First, considering a simple working platform set in front of the robot arm system, it will become an obstacle when robot is working. Second, an obstacle avoidance path planning strategy...
3D bin packing problem has attracted the wide concern from OR community due to their generalization in many realistic applications. In this paper, a hybrid genetic algorithm is proposed for 3DBPP. Within the framework of the proposed algorithm, a special diploid representation scheme of individual is designed and the heuristic packing methods, which are derived from a deepest bottom left with fill...
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