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Due to the low weight of monocular camera, monocular Simultaneous Localization and Mapping (SLAM) is an area of popular research and promotes countless applications of micro Unmanned Aerial Vehicles (UAVs), especially in some GPS-denied indoor environments. Nevertheless, the motion of UAVs is often faster and more complex than that of ground-based robots. It would also lead to error accumulation if...
Unmanned Automatic Guided Vehicle (AGV) is a critical part of advanced manufacturing system. The navigation and localization technology are the key components of AGV design. In this paper, we propose a navigation method based on Kalman Filter and a magnetic nail localization. By the method, the state equation can be obtained by carrying out the kinematics analysis. Heading angle and position can be...
A batch of huge hydropower plants with multiple vibration zones have been developed in China. These vibration zones varying with net head, i.e., head-sensitive, seriously challenge the hydro unit commitment (HUC). This paper presents a MILP model for HUC with a head-sensitive reservoir and multiple vibration zones. The focus of the study is mainly on two net head related constraints, namely the unit...
This paper propose a practical and effective method for identifying the complete inertia parameters of a space robotic system. The key is the following steps: equivalent single-body identification, and equivalent two-body identification. For the former, all joints are locked into a normal configuration, and the thrusters are used for orbital maneuvering. The object function is defined from the view...
Nuclear safety is an important strategic demand in China. Steam generator is one of the key equipment in nuclear station, therefore its daily detection is very important. Robot is the most effective mean of detecting steam generator, and the location in the steam generator will greatly improves the detection efficiency of the robot in the detection process. This paper establishes a coordinate system...
In this paper, it presents a control strategy to trajectory tracking of multiple quadrotors while maintaining the desired formation. From the mathematical model of quadrotor, we can get that the controls of quadrotor in height and yaw direction are independent. Therefore, we can adopt different control strategies for the horizontal and height direction. We present a synchronization approach to trajectory...
This paper presents a method based on extreme learning machine to learn motions from human demonstrations. We model a motion as an autonomous dynamical system and define sufficient conditions to ensure the global stability at the target. A detailed theoretic analysis is proposed on the constraints regarding to input and output weights which yields a globally stable reproduction of demonstrations....
In this paper, we present an automatic method to remove shadows in light field images. Taking into account the internal structure of the light field data, depth map of the captured scene is extracted to calculate the surface normal. Using nonlocal matching by combining chromaticity, normal and spatial location information in an anisotropic window, the shadow confidence of each pixel is established...
In this paper, we propose a method based on the SVM algorithm to recognize dynamic hand gestures. The information of motion trajectory is captured by a leap motion in three-dimension space. A new methodology of feature extracting is proposed to guarantee the length of samples being the same. The elements of feature vectors are ranged according to two different criteria: one is the amplitude of the...
The operational difficulty of Transcranial Doppler (TCD) limits its use in normal clinical settings. We therefore present a robotic arm consists of five degrees of freedom which are achieved by four motors and one extra flexible spring, to assure appropriate pressure on temporal window. With proper control strategies, the robotic arm can move the TCD probe to automatically search temporal window positions...
This paper proposed a novel Tri-star wheeled robot called “Tribot”, which targets on high obstacle performance in unstructured environments, especially at the performance for climbing vertical obstacles. Tribot equips with six Tri-star wheels and each wheel can be driven independently. The chassis of the Tribot is divided into two parts which are connected by an articulated mechanism, making the Tribot...
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