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The synchronized trajectory tracking control problem of multiple mobile robots under actuator faults is studied in this paper. We take the communication delays into consideration in system design and do not require that the network topology is symmetric. A distributed control design approach is proposed by incorporating the synchronized formation control method and a sufficient condition is obtained...
This paper presents a multirobot pairwised transportation (MRPWT) approach for factory automated material and product deliveries. We consider MRPWT from the viewpoint of robotics and incorporate practical factory application constraints in the transportation method design. The proposed MRPWT approach is a two-level hybrid planning method, consisting of an incidental delivery based single robot level...
Driver assistance is one of the major tasks on smart wheelchair development. However, human following is also necessary in real application. In this paper, a control system of driver assistance and human following for smart wheelchair is presented. Driver assistance can keep the wheelchair from stairs falling and obstacle collision when the user is driving the wheelchair in complex environments with...
A new cable-driven soft endoscopic system is designed for cardiac ablation in a minimally invasive manner in this paper. The system is totally made of soft materials and has no rigid structures inside. In order to perform operation in the limited pericardium, a modified behavior-based control method inspired from animals is applied in this system. Experiments are performed to demonstrate the concept...
This paper proposes a time and jerk optimal trajectory planning method to find an efficient and sufficiently smooth trajectory. The objective function of the proposed method consists of two parts: the execution time and the smoothness of the trajectory in the joint space. The latter part enables one to get a smoother trajectory and reduce the tracking error. Moreover, the kinematic constraints of...
In this paper, a control model is developed to automate the process of navigation in rat-robot-a new type of bio-robot based on BCI(Brain-Computer Interface) technique. Because of the particular difficulties in rat-robot control, we design a novel control model to ‘learn’ and ‘imitate’ the control behavior of human guidance. General Regression Neural Network (GRNN) model is used to analyze the control...
To keep up with the wide-ranging, fast-moving robotics field, education must be adaptive and multidisciplinary. In this paper, integration of PSoC technology with educational robotics is presented. Both of the advantage: flexibility in hardware for PSoC and modularized robot components are fused. This integration balances research and implementation fundamentals by reinforcing course work with intensive...
Liquid handling plays an important role in research activities of life sciences, which is tedious and time-consuming when performed by hands. There is a strong desire to automate liquid handling by using advanced tools, sensors, and workstations such as robot-integrated systems. In this paper, we survey the current state-of-the-art in automatic liquid handling with focus particularly on high-throughput...
Multi-robot system can improve the efficiency of mapping and exploration. One of the key problems is when and how to merge the partial maps acquired by robots independently to share environmental information between robots. This paper studies the problem of fusing two partial maps without common reference frames and relative position information of robots. On the basis of the similarity metric, the...
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