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Biorobotic autonomous undersea vehicle SPC-III, developed by Robotics institute, BeiHang University, is a mission-scale autonomous submersible vehicle. The submersible vehicle possesses a torpedo-shape rigid hull. The aft section is a two joints caudal fin thruster driven by two servo motors, which may be substituted by a screw propeller maintaining the same body shape. The accurate motion of the...
This paper describes the design of a biomimetic inspired fish swimming like UUV based on 2-D ocillating foil mechanism which plays guiding role in biomimetic propulsion research field, the relation between vorticity control and motion control parameters for 2-D ocillating foil has been built, a fuzzy logic vorticity controller is designed to achieve straight line maneuverable swimming and thrust efficiency...
We propose a BEST (Background subtraction and Enhanced camShift Tracking) method for a scout robot tracking a moving object in real time. A modified back subtraction method based on time axis is used to segment the moving object in a complicated environment. The centroid and area are chosen as the feature to judge target. We proposed a novel method that combines Camshift, AWS (Adaptive Window Selecting...
Entry position of the graft is very important in anterior cruciate ligament (ACL) reconstruction. However the determination of entry position is very difficult to the surgeon. In this paper, a navigation and evaluation system assisted by the 6-DOFS robot is implemented for the simulation evaluation and planning insertion points based on quadrant method for the femur and Sta??ublis method for the tibia...
In the paper, a new complete design and implementation of a system on chip solution for CNC system is presented, using FPGA technology. It integrates a general-purpose processor, a motion-control core, an axis-control core, a PLC core, a Wishbone compliant bus and a standard external communication interface on a single FPGA. The proposed CNC system based on SOC has the advantages of high speed and...
This paper describes a behavior control method for intelligent wheelchair in uncertain environments. The intelligent wheelchair is introduced, and the model and principle of partially observable decision process (POMDP) are given. A hierarchical POMDP model is proposed, which decomposes the decision making process into a set of small ones that can be done more efficiently. The model can account for...
Regarding to global problem of ageing, the need for robots to take care of elderly people at private homes is essential, requiring a very natural and human oriented way of interaction between the old people and robot. In this paper a multimodal face detection system is presented, which is composed of face detection based on AdaBoost learning algorithm and environmental perception method. In the experiments,...
A camera can assist a robot to detect and track objects when it is used in a scout robot system, and hence, help the robot to navigate. This paper discusses problems of tracking a human face where an active camera is installed on a 2 DOF pan and tilt. Kinematics model between object in motion and image of camera is built. The face detection and tracking algorithm is introduced which uses complexion...
Human-robot interaction (HRI) is an important area of robotics research. The speech interaction is a key issue of natural communication between user and robots. This paper proposes a speech interaction system based on finite state machine (FSM) and each step of the interaction is defined to be a state of the FSM. The control flow of the conversation is described by the dynamic behavioral model of...
In this paper, the block diagram of the principles and the structure of the PMSM ac servo vector controlling system are described. The distinct features of the system are to replace electric current hysteresis controller with SVPWM. Besides, the paper introduces the principle of space voltage vector PWM (SVPWM) and the algorithm of SVPWM and also introduces the function of every module. Moreover,...
High-voltage inverter designed in accordance with the principle of voltage serial stacking is adopted and controlling for the high-voltage electric motor with high-power is realized by the method of low-voltage series connection. Besides, distributed control system overcomes the shortcomings of traditional controlling system, such as bad reliability and difficulty in maintenance. Using ARM processor...
Focusing on the polar extreme environment, this paper proposed a small unmanned aerial vehicle for polar scientific research. To get precise attitude information, an adaptive Kalman filter algorithm is proposed to fuse GPS, gyro, accelerator sensor information. Moreover, an optimal fuzzy logic control algorithm is trained to adjust the heading angle in real time to improve system adaptability for...
This paper presents the hardware design of three-axis NC system based on embedded system, designs the ARM (advanced RISC machine) + FPGA (field programmable gate array) hardware architecture, builds the software development environment, and accomplishes the communication program between ARM and FPGA. All of these provide excellent development platform for the application program developers. According...
Modular reconfigurable robot (MRR) with many modules has the ability to form a large variety of robot configuration. For MRR, it is very difficult to design effective controller due to diverse configurations. In this paper, we propose an architecture of reconfigurable controller of MRR based on advanced RISC machine (ARM) processor and field programmable gate array (FPGA). The ARM processor is used...
The input current and voltage, at the control interface of permanent magnet synchronous motor (PMSM), are restricted by output ability from inverter. Focusing on PMSM vector control method, the paper analyzes the motor running status restricted by limit current and limit voltage from inverter under the dq coordinates. Combining with the control method of maximum torque per ampere (MTPA) and the flux-weakening...
As most mobile robots are powered by batteries, their energy and operation times are limited. Therefore, how to extend the lifespan of the batteries becomes an important problem. In this paper, by applying PID feedback control based on the power model of batteries of mobile robot systems, we propose a power-aware real-time task scheduling technique with feedback control to optimize the lifespan of...
This paper describes the flight control and navigation system of a fixed-wing unmanned aerial vehicle with low cost sensors. Furthermore, an adaptive Kalman filter algorithm with radial basic function neural network is proposed to improve attitude information performance. Based on the unmanned aerial vehicle situation information and error information, system adjusts the weights of the sensor information...
In resource-constrained real-time control systems, optimization of computing resources allocation, via feedback of the plant states, is very important. Based on the optimal feedback scheduling, this article utilizes a simplified mapping function to map the plant states to the dynamic weights of the computing resources allocation. Simulation results illustrate that the overhead of dynamic feedback...
Deadband-triggered control system adopts a vertical sampling method, control algorithm will not be executed unless the status of the plants exceed certain thresholds i.e. deadbands. As such, the consumption of the computing resources will be greatly reduced. This paper introduces optimal theory into the deadband-triggered control system in the circumstance of multiple control loops to share one CPU...
As most mobile robots are powered by batteries, their energy and operation times are limited. Therefore, how to minimize energy consumption and keep mobile robots to stay alive becomes an important problem. In this paper, by applying a dynamic energy-evaluation scheme, in which we consider if a robot has enough energy to go to next location, finish the task and return to the docking station in the...
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