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Accurate kinematic models and measurements are needed in many robotic applications. However uncertainties related to joint angle measurements and manipulator geometry are unavoidable, especially when grasping and using different tools or when we do not have access to an accurate robot model, e.g. when we construct a robotic system by hand. The generalized inverse kinematics methods are not applicable...
Constraint based programming provides a versatile framework for combining several different constraints into a single robot control scheme. We take advantage of the redundancy of a robot manipulator to improve the execution of a reactive tracking task, in terms of a task-dependent measure which is a weighted sum of velocity transmissions along the current directions of motion. With inspiration from...
Effectiveness evaluation has been widely used in the military. The effectiveness evaluation of military armored equipment is the quantitative or qualitative statements of effectiveness by means of a scientific evaluation in single effectiveness, system effectiveness, as well as operational effectiveness. The evaluation model in hierarchy-grey theory is an effective, comprehensive evaluation method...
Teleoperation of a mobile robot manipulating and exploring an object shares many similarities with the manipulation of virtual objects in a 3D design software such as AutoCAD. The user interfaces are however quite different, mainly for historical reasons. In this paper we aim to change that, and draw inspiration from the 3D design community to propose a teleoperation interface control mode that is...
In the future mobile dual-arm robots are expected to perform many tasks. Kinematically, the configuration of two manipulators that branch from the same common mobile base results in a serial-to-parallel kinematic structure, which makes inverse kinematic computations non-trivial. The motion of the base has to be decided in a trade-off, taking the needs of both arms into account. We propose to use a...
The use of redundant sensors brings a rich diversity of information, nevertheless fusing different sensors that run at vastly different frequencies into a proper estimate is still a challenging sensor fusion problem. Instead of using the size-varying measurements and thereby the size-varying filters during each sampling period, we propose to find a substitute of the unavailable low frequency measurements...
Based on the construction unit of equipments in the usage phase quality, the study divides evaluation index of the construction units in use stage quality level, and selects units equipment in use stage quality assessment. As the main research contents, the study proposes the TOPSIS units and equipment use stage quality based on gray correlation degree Longitudinal assessment model. Taking the construction...
Here we address the problem of moving a camera from an initial pose to a final pose. The trajectory between the two poses is subject to constraints on the camera motion and the visibility, where we have bounds on the allowed velocities and accelerations of the camera and require that a set of point features are visible for the camera. We assume that the pose is possible to retrieve from the observations...
As a fusion of lean efficiency engineering and six sigma quality control, Lean Six Sigma can be applied to quality management of equipment maintenance, to improve the deficiencies and inefficiency in equipment maintenance process. Regarding the state of the equipment maintenance process, the paper researches the Lean Six Sigma implementation in quality management of equipment maintenance, which can...
Quality information work is one of the basic work for total quality management of equipment. Quality information is important to the equipment operation phase and its management is an important foundation for realizing the state of equipment quality and improving the equipment quality. Starting with the analysis of the function and character of quality information in equipment operation phase, this...
Satisfactory equipment quality is related to the each phase of equipment life cycle, and then the equipment quality problem of operational phase should be our focus. This paper describes equipment quality and quality management contents of the operational phase. And then the influence factors on equipment quality of the operational phase are analyzed. Finally, we put forward related significant issues...
In order to overcome the limitation of traditional maintenance support and adapt to the development of the maintenance support for armored equipment, this paper puts forward the idea of constructing a maintenance support system for armored equipment based on PHM technology, emphatically analyses the key technology of the system, such as data acquisition and sensor technology, data mining and information...
This paper introduces the design process of a new type of portable virtual oscilloscope and signal generator, including both the hardware and software design. The data collecting board centers around the new generation of highly integrated C8051F020 and the VB program developed. The USB communication mode has been applied between the data collecting board and computer. This virtual instrument integrates...
New driver support systems require knowledge of the vehicle position with great accuracy and reliability. Satellite navigation (GNSS) is generally insufficiently accurate for positioning and as an alternative to using a ground station, combinations with high quality motion sensors are used in so-called Inertial Navigation Systems. However the system specifications and related cost are not suitable...
A managerial approach of features for mobile robot Simultaneous Localization and Mapping with visual sensor is proposed in this paper. The regular pattern of features matching in image sequence which is obtained in the moving process of robot was researched. Based on the regular pattern, the features of good quality which could be matched continuously were reserved, and the bad features which could...
Ethernet is widely used in social life. It has become an important infrastructure in the information society. Ethernet over synchronous digital hierarchy (SDH) is regarded as an economical and efficient scheme in the long-distance Ethernet interconnection. This paper considered the design of the Ethernet to E1 protocol converter, based on the frame granularity scheme which takes into account of miniaturization,...
The design scheme of variable structure control for discrete-time systems is considered. Due to the shortcoming of discrete exponential reaching law which can not push the system state approach to zero but induce oscillation, a new discrete reaching law is presented to improve the reaching process of discrete exponential reaching law via using saturation function to replace sign function. The discrete-time...
The Scale Invariant Feature Transform, SIFT, is invariant to image translation, scaling, rotation, and is partially invariant to illumination changes. But, the time of features extraction and matching is huge, and the number of features is much larger then that is needed. To reduce the number of features generated by SIFT as well as their extraction and matching time, a modified approach based sampling...
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