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Osteonecrosis of the femoral head is caused by inadequate blood supply to the affected bone. The bone decay process due to lacking blood supply would be likely to be accompanied by the formation of gas-filled pores. We have introduced diode laser absorption spectroscopy to successfully detect water vapor signals from pores in the femoral heads retrieved from hip replacement operations in 19 patients...
In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human by considering impedance learning and human motion intention estimation. The least square method is used in human impedance identification, and the robot can adjust its impedance parameters according to human impedance model for guaranteeing compliant collaboration. Neural networks (NNs) are employed...
In the modern industry, human-robot collaboration is becoming more and more important. With the quick development of the small production, the demand of flexibility is growing heavily. Gesture recognition is important for the collaborative work of humans and robots. In industrial applications, the performance of such systems affects the safety of human workers and their manufacturing efficiency. In...
Recently, the fire-rescue ladder is towards to the direction of faster operation, lighter, extended length and larger outreach. The lightweight of the fire-rescue ladder and the limited stiffness of the ladder structure directly lead to different bending vibration problems in different modes. In this paper, the fire-rescue ladder is modeled as segmented Euler-Bemoulli beam with gravity and tip mass...
To improve the structure and output characteristics of current 3-DOF PM motors, a type of hybrid drive type permanent magnet 3-DOF motor is researched, which can realize the 3-DOF motion. The spin rotation torque characteristics are further optimized by improving the magnetic field distribution. Based on the introduction of the structure and operation principle of the motor, the magnetic field are...
Recently, sparse representation based classifiers (SRC) and collaborative representation based classifiers (CRC) have been shown to give very good performance under controlled scenarios. However, in practical applications, face recognition often encounters variations in illumination, expression, noise and occlusion, which cause severe performance degradation (due to the outliers in testing). In this...
This paper studies the distributed coordinated tracking problem for multiple Euler-Lagrange systems (MELSs) with full-state constraints. Firstly, a distributed finite-time sliding-mode estimator (DFSE) is introduced to access precise estimations of the leader's position and velocity. Then, to guarantee the full-state constraints of MELSs, we use the barrier Lyapunov function (BLF) technique and a...
In this paper, a sensorless admittance control scheme is developed for robot manipulators in the presence of input saturation by employing neural networks. To deal with system uncertainties, the radial basis function neural network (RBFNN) is integrated into control design. In order to deal with input saturation, a compensator is applied to handle this problem. To interact with the environment, admittance...
The Combined-Cycle Gas Turbine (CCGT) power plants are increasingly required to provide the service for balancing the load demand and power supply with the increase of the intermittent power generation from renewable energy sources. To ensure CCGT power plants to operate flexibly and efficiently, it is necessary to find the suitable strategy. This paper presents the feasibility of a CCGT power plant...
The AIS broadcasts the ship's navigation data automatically and autonomously through VHF band. It plays an important role in collision avoidance and maritime situational awareness. However, in inland waterways, it is common that the AIS data-link was obstructed by the river bank and mountains, or sometimes the AIS was encountered with the electromagnetic interference. Consequently, the AIS dynamic...
Relaying on wind driven, sailing vessel is a kind of self-navigator which carries out different types of missions in the complex ocean environment. Survey, investigation, freight and other various tasks are capable of being completed by AUSV(Autonomous Unmanned Sailing Vessel). Differing from general USV (Unmanned Surface Vessel) which must carry lots of battery and fuel, AUSV can use wind power merely...
AIS data are of great significance to ensure the safety of ship navigation and strengthen maritime management. The present study focuses on the situations of AIS data loss in practical applications to research coverage of AIS base station. The original AIS data is pre-processed in accordance with structure characteristics, including data packet, data filtering and so on. Data reconstruction has been...
In this paper, linear quadratic control is considered for linear time invariant (LTI) systems with dynamic output feedback. Firstly, a new matrix inequality is presented for LTI systems with quadratic criterion and Lyapunov function. Secondly, nonlinear matrix inequality is transformed into linear matrix inequalities (LMIs) with the ideas of elimination. Consequently, the synthesis of linear quadratic...
In this paper, an adaptive fuzzy neural network control scheme is developed for a class of multiple-input and multiple-output (MIMO) nonlinear systems with uncertainties and state constraints. Fuzzy neural networks are used to approximate uncertainties in MIMO systems. Integral Lyapunov functions are introduced to address state constraints. By choosing an appropriate integral Lyapunov function, the...
This research paper presents a novel interface of programming by demonstration (PbD) for Human-Robot Interaction (HRI). The designed mixed reality (MR) based interface is providing users a more immersive user experience (UX) while teleoperating the robot. The operator's hand gestures are captured and be used to control the robot. Users are able to see their own hands in the virtual environment. Experimental...
This paper presents the development of the advanced robotic interface integrated by electromyography (EMG) device, AR-10 Robotic hand, and Baxter robot. Being very effective to detect muscle activities and import EMG signal, the EMG device can be conveniently programmed to convey the hand gestures of operator and pair with the AR-10 Robotic hand gestures. For instance, the operator can remotely impart...
In order to overcome the limitations of a single view of action recognition by using multi-view information, this paper proposes a novel method of multi-view human action recognition. The main steps involved in the process of recognition of action features are represented by fuzzy vector quantization; the membership vector is obtained after the action feature fuzzy. A fast and efficient Extreme Learning...
This paper presents a novel approach for designing a composite controller that finite time simultaneously stabilizes two single input nonlinear Port-Controlled Hamiltonian (PCH) systems under disturbances. Firstly, using a single output feedback, two PCH systems are combined to generate an augmented PCH system based on the Hamiltonian structure properties. Then, a finite time disturbance observer...
In this paper, a fuzzy neural network controller is proposed for a class of robotic manipulators with unknown dynamics and input constraints. First, to cope with the unknown dynamics, fuzzy logic systems are designed to approximate it. Second, considering the case where an aggressive control input may lead to the poor performance, even resulting in instability in practice, the controller is designed...
In this paper, we present the vibration control design for a string with the boundary time-varying output constraints. To prevent the constraint violations, a novel barrier Lyapunov function is proposed for the control design and stability analysis. The dynamics of the string is a distributed parameter system described by a partial differential equations (PDE) and two ordinary differential equations...
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