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This paper proposes a visual-servoing method dedicated to grasping of daily-life objects. In order to obtain an affordable solution, we use a low-accurate robotic arm. Our method corrects errors by using an RGB-D sensor. It is based on SURF invariant features which allows us to perform object recognition at a high frame rate. We define regions of interest based on depth segmentation, and we use them...
Feature extraction and segmentation obviously play an utmost important role in autonomous mobile robot localization and navigation. In this paper we discuss some line segmentation and feature extraction algorithms and proposed an adaptive feature extraction algorithm for 2D laser range data. Features in indoor environments that are considered in this paper can be described as two geometric primitives:...
In electric and hybrid-electric vehicles, the inverter output voltage is limited by available DC-link voltage, which restricts the vehicle speed and acceleration. Therefore the fundamental component of the motor voltage should be increased by operating inverter in the six-step mode at high speeds. Although hysteresis based direct torque control (DTC) is a straightforward approach and has several advantages,...
It is expected that the number of electric drive vehicles (EDVs) would grow rapidly in the coming years. Considering cars are parked over 92% of the time, the excess batteries capacity of EVs could be used to support power grid, while they are plugged into the grid. Although this technology, which is called vehicle to grid (V2G), has several benefit, vehicle to building (V2B) systems have a higher...
This paper presents a dead-lock free motion planning algorithm for mobile robot navigation in an unknown environment. The proposed algorithm uses the Gaussian function based artificial potential field (APF). Here, we present an improved APF based motion planning algorithm for omnidirectional mobile robot which searches the goal point in an unknown 2D environment. APF algorithm is modified to eliminate...
The sea transportation by ships covers most of trade volume, and the technologies for fuel efficiency and reductions of carbon-dioxide emissions should be developed. One of the technical issues to improve fuel efficiency of ships is how to prevent the marine biofouling to the ship hulls and remove organisms from ships. In general, the cleaning of ship hull is carried out on the ship inspection in...
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