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A rescue robot can not directly find the target which is in other rooms or invisible places by using visual, ultrasonic or infrared ray sensors, because of the smoke or collapsed walls. According to the diffraction property of audio signal, the sound can bypass obstacles. To find the survivors which are often in far field, an audio-based robot localization system is developed to make it feasible to...
During the course of sound source localization, the localization system often misoperates because of the environment noise, sensors' failure and other reasons. And there are outliers in the measurements because of the clutter environment. To solve this problem, this paper present a new Kalman filter based on outliers for sound source localization. By adaptively adjusting the measurement noise covariance...
Because of the smoke or collapsed walls in the buildings while fire or earthquake occurred, a rescue robot can not directly find the target which is in other rooms or invisible places by using visual, ultrasonic or infrared ray sensors. According to the diffraction property of audio signal, the sound can bypass obstacles. By using microphone array, combined with the speech recognition technology,...
A nonlinear adaptive output feedback control approach based on LOLIMOT is proposed for a class of nonaffine system in the non-strict feedback form with unknown nonlinearities in this paper. In order to overcome the disadvantages of output feedback control, LOLIMOT which can identify the nonlinear system accurately is applied. During the control process, backstepping approach is utilized to design...
In the actual course of target tracking, the measurement noise is changing at any time because of the impact of external environment, the problem of the sensors system and other reasons. Meanwhile, there are outliers in the measurements because of the clutter environment. However, the measurement noise covariance is changeless in standard Kalman filter, and the impact of outliers on the tracking results...
The mammalian used to direct its vision field to a sound source by its auditory system. So an auditory system of robot for sound source localization is proposed in this paper. Through using the four-element microphone array, the time differences of arrival can be achieved and the sound-source target can be localized. The experiment system is introduced. Then the localization algorithm based on the...
Changes in walking speed may eventually result in modifications of the patterning of muscle activity. The surface electromyography (EMG) signals provide easy and noninvasive access to physiological processes that cause the contraction of muscles. The influence of walking speed on muscle and EMG activity of amputee's thigh was analyzed, the speed pattern recognition approach based on the combination...
A navigation system of mobile robots which works in the acoustic environment is studied based on auditory perception mode in this paper. In this kind of application, if the target is outside the scope of the visual sensor, only the auditory sensor can be used for robot to detect the target. The navigation model proposed by this paper has five units which are sensor unit, map establishing unit, information...
The method of auditory system design based on time difference is proposed. According to the special character of sound signal and basic need of collection technology, it had been explored to the microphone choice and the signal pretreatment. The programmable counter array was adopted to capture the time difference. In this paper, sound signal amplifier, waveform shaping, calculation of the sound source...
The surface electromyography signal of stump was applied to recognize the intention of disable people, and control the intelligent above-knee prosthesis. Since the electromyography signal was non-stationary and non-linear signal, Hilbert-Huang transform was applied to extract the frequency feature. The time and frequency features of surface electromyography signal recorded from biceps femoris of the...
For recognizing the movement intent of amputee, surface electromyogram signals which can reflect movement intent and can be measured without invasion were applied to identify movement transition. Wavelet packet transform was applied to analyze the electromyogram signal, extract its frequency feature and recognize movement. The result of this study indicates that if the suitable coefficients were selected,...
The surface electromyography signal extracted from the stump was applied to recognize the movement, and be translated into on-off signal to fulfill the conversion from standing to walking. According to the different situation of stump, the signals extracted from different muscles were applied to control the prosthesis. Factor analysis was applied to find the relationship between different muscle groups,...
Based on the target localization of mobile robot, this paper has studied the localization system based on auditory perception mode. A model of the auditory system is established using bionics method so that the robot have the ability to handle the sound information and enhance its ability adapt to the environment. By designing the efficient denoising method to sound information, the robot can separate...
In order for individuals suffering from transfemoral amputation to walk in a variety of circumstances, the above-knee prosthesis based on posture recognition was presented. The body posture of lower limb was classified into four classes, "stair", "sitting", "standing", and "walking". For measure the amputee's movement intent, surface EMG signals which can reflect...
In order to improve the gait of disable people, a control concept of above-knee prosthesis was presented. The surface electromyography signal extracted from leg muscles was applied to recognize the phase of stride, and translated into on-off signal of self-lock control. A hybrid neural network-genetic algorithm was applied to describe the relation between surface electromyography signals and every...
A path planning structure based on hierarchical idea was adopted in this paper. In this structure, the global path planning is done firstly by the robot and the local online adjusting is done afterward. This kind of structure can debase the calculation complexity of path planning. Then, aiming at the problem of local motion planning, a conflict-resolution strategy based on forecast was presented....
Based on the forage task of large-scale multi- robots in complex environment, the task-level cooperative problems under the distributed architecture were discussed. Based on the market-based viewpoint, the dynamic role assignment was applied to the conscious cooperation of the robot. The cooperative task allocation mechanism of multi-robot system was proposed to decrease the communication traffic...
A reinforcement learning method based on behavior decomposition was proposed for obstacle avoidance of multi mobile robots. It decomposed the complicated behaviors into a series of simple sub-behaviors which were learned independently. The learning structures, parameters and reinforcement functions of every behavior are designed. Then, the fusion for learning results of all behaviors was optimized...
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