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Nano-photonics, where optical structures can manipulate light at the sub-wavelength scale, is making important advances towards optical communications, imaging and sensing. A novel platform suitable for fundamental investigations of light propagation through micro- and nano-structures will be discussed. This platform is based on a dielectric multilayer that sustains Bloch surface waves (BSWs). We...
A dielectric multilayer platform sustaining Bloch surface waves is investigated for planar integrated optics. We study the optical properties of high refractive index material (TiO2) and obtain propagation lengths in the range of millimeters.
This paper presents a novel control system for redundant mobile manipulators to track simultaneously separate mobile platform and end-effector trajectories. Two Joint-dependent control variables are introduced to the task vector. These two control variables are D and α, where D is the Euclidean distance between the end-effector's, and the mobile platform's frames origins, and α is the angle of the...
A novel platform suitable for fundamental investigations of light propagation through micro- and nano-structures will be discussed. This platform is based on a dielectric multilayer that sustains Bloch surface waves (BSWs). BSWs are electromagnetic surface waves excited at the interface between a truncated periodic dielectric multilayer and a surrounding media. The modification of the top surface...
In this paper, optimized combined control of a 9-DoF prototype wheelchair-mounted robotic arm (WMRA) system, consisting of a 7-DoF manipulator and a 2-DoF power wheelchair, is demonstrated using vision-based dual-trajectory control that generates separate wheelchair and end-effector trajectories. Physical results of this work are provided with a “Go to and Pick Up” task. Image-based visual servoing...
A 9-Dof wheelchair mounted robotic arm system (WMRA) has been developed to assist wheelchair-bound persons with upper limb motion limitations to perform activities of daily living (ADL) tasks. In this paper, we utilize mobile manipulation control to keep the end-effector stationary while moving the base and vice versa. This allows easier execution of a group of pre-set ADL tasks including opening...
Cognitive radios (CR) offer the promise of being a disruptive technology innovation that will enable the future wireless world. CR techniques are being applied in many different communications systems. They promise to improve the utilization of radio frequencies making room for new and additional commercial data, emergency, and military communications services. Today's wireless networks are characterized...
Wheelchair-bound persons with upper limb motion limitations can utilize a wheelchair-mounted robotic arm (WMRA) to perform activities of daily living (ADL) tasks. In this paper, an optimized control of our 9-DoF system, consisting of a 7-DoF robotic arm and a 2-DoF power wheelchair, is achieved. For effective ADL task execution, positioning the end-effector with proper wheelchair orientation was optimized...
A new and light wheelchair-mounted robotic arm (WMRA-II) was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The structure of the new robotic arm utilizes carbon-fiber and polycarbonate tubes to reduce the arm weight. The mechanical design incorporates DC servo drive, with actuator...
In order to perform activities of daily living (ADL), a person with an amputation(s) must use a greater than normal range of movement from other anatomical body joints to compensate for the loss of movement caused by the amputation, this is called compensatory motion. By studying the compensatory motion of prosthetic users the mechanics of how they adapt to the loss of range of motion in a given limb...
The internet and the mobile phone that two technological advancements that have profoundly affected all of us in the last decade now on boom. The products of this association are mobile data services. Using a variety of platforms, services are being created to enable mobile devices to perform many activities of the traditional internet, albeit in a reduced format for mobile devices. One area of activity...
Employee retention has been a buzzword for quiet sometime now. Companies across the globe are facing challenges vis-a-vis retaining their high potential or key employees. Many a practitioners have tried to device ways and means to counter the menace of attrition. With globalization, reaching its zenith coupled with opportunities emanating from otherwise considered the defensive sectors (like health...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy...
In this paper we present a novel concept of shared autonomous and teleoperation control of a remote manipulator with a laser-based assistance in a hard real-time environment for people with disabilities to perform activities of daily living (ADL). The laser pointer enables the user to make high-level decisions, such as target object selection, and it enables the system to generate a trajectories and...
A model of the human upper limb was developed for predicting the motion of the human upper limb while performing activities of daily living. This study focuses on the effect of a joint limit function on the ability of the model to perform human like movements. This measurement was analysed by comparing the modelled joint movements with recorded movements of subjects while drinking from a cup, opening...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-degree-of-freedom system expands upon conventional control methods and combines the 7-DoF robotic arm control with the 2-degree-of-freedom power wheelchair control...
Biological studies have contributed to the control of mobile robots. Studies from the field of neuroscience to the field of psychology have shown roboticists different ways to control mechanical devices. A number of studies pertaining to human reaching and grasping have been done in the past few decades. These studies provide the psychological and neuropsychological evidence regarding human perception...
A new robotic gripper was designed and constructed for activities of daily living (ADL) to be used with the new wheelchair-mounted robotic arm developed at USF. Two aspects of the new gripper made it unique; one is the design of the paddles, and the other is the design of the actuation mechanism that produces parallel motion for effective gripping. The paddles of the gripper were designed to grasp...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy...
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system combines the 7-DoF robotic arm control with the 2-DoF power wheelchair control. The 3-degrees of redundancy can be optimized to effectively perform...
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