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This paper reviews several key issues on the trends and open research problems of parallel manipulators. The research of a parallel manipulator structure is an essential question. It includes two research issues: design of a novel parallel robot mechanism and performance indexes. This paper reviews the methods on the two aspects and presents the research directions. The paper discusses the functions...
This paper presents a novel catheter intervention manipulation system of minimally invasive robotic surgery which includes a catheter intervention manipulation device and a catheter intervention device. The structure and feature of the system are described, and the ways of realizing force feedback and disinfection are proposed. Moreover, the clamping force of rotating finger giving to the catheter...
The use of RFID tags may cause privacy violation of users carrying an RFID tag. Due to the unique identification number of the RFID tag, the possible privacy threats are information leakage of a tag, traceability of the consumer, denial of service attack, replay attack and impersonation of a tag. There are some challenges in providing privacy and security in the RFID tag due to the extremely limited...
Read Range is one of the important performance metric of passive RFID system. It depends on the parameters of both the reader and a tag. It also depends on the application environment. Passive RFID system is often used where a tag is tagged to a metallic objects or are used where there are metallic surfaces in the proximity. This paper gives how the metallic surface affects the read range of UHF Passive...
Although more than a decade of research has been done but pure general-purpose MANET is still not available rather than few prototypes within laboratory due to both technical and socio-economic point of view. Lacking in appropriate guidelines for realistic user traces, mobility models, routing protocols and considering real-life challenges, it is difficult to reproduce any typical scenario in reality...
In this paper a novel orthogonal 6-DOF (Degree Of Freedom) parallel robot with redundant actuation is studied as an earthquake motion simulator. Taking the practical simulation of earthquake waves into consideration, we firstly analyze the general characteristics of natural earthquakes. Complexity and variety of seismic waves, 3-dimension and multi-DOF movement and strong devastating force are regarded...
This paper considers the performance enhancement of orthogonal space time block coded (OSTBC) multiple-input multiple-output system based on an optimal training strategy. Pairwise error probability (PEP) based performance analysis provides us the training design tools as well as a generic expression for the performance improvement due to optimal training compared to the conventional case for OSTBC...
In this paper, a propagation model is presented for the land mobile radio cellular systems with 3-D Gaussian distributed scatterers around Mobile Station (MS). The Base Station (BS) equipped with a directional antenna is located outside of the scattering region. The effect of directional antenna is thoroughly observed on spatial and temporal characteristics of the proposed model. General expressions...
This paper proposes a new fuzzy control algorithm for the pendulum-driven cart system. The pendulum-driven cart is a novel mechanism that gives a new driving concept of ground mobile robot which employs only internal thrust and static friction. The system has two degrees of freedom, i.e. the pendulum angle and the cart position, but one control actuator mounted on the pivot of the pendulum. It aims...
In this paper, a model predictive controller for time delay capsubot system is presented. Linearized dynamics is used to predictive future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. It is noted that model predictive control has advantages over state feedback law because of consideration of constraints on...
A propulsion system that does not require any interaction with the external environment in the form of grasping or sticking is proposed. This internal propulsion system for a robot body operates by the use of the frictional force between the body and the environment, and the reaction force from the controlled acceleration of a mass. The dynamics and control issues of a rotating lever attached to a...
This paper presents a new method of applying laser sensor to obtain road boundary points in order to solve the road detection problems of outdoor cleaning mobile robot. This method makes full use of the advantages of laser sensor and realizes the recognition of road detection in real-time. The road boundary recognition algorithm including the feature extraction and coordinate calculation is proposed...
Capsule robots have attracted great attention from researchers due to their potential applications in medicine. In this paper, the capsule robot system is studied from the control point of view, i.e. an underactuated system which has two degrees of freedom but only one control actuator. An exponentially stable robust nonlinear control scheme based on Lyapunov stability theory is studied on the capsule...
In this paper, a decentralized proportional-derivative (PD) controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Hamiltonian systems. A relationship between the parameters of the system and...
In this paper, we use an example - a pendulum-driven cart-pole system studied in Li et al. (2005) to investigate the tracking control of underactuated dynamic systems. In this paper, we propose a six-step motion strategy of the pendulum driven cart-pole system. We design a desired profile of the pendulum joint velocity based on the proposed six-step motion strategy. Based on the desired joint velocity...
This paper investigates the simulation of distributed wireless networked control systems (WNCS) over mobile ad-hoc network (MANET). The simulation model includes multiple plants with a single controller and random node mobility. The widely used network simulation software optimised network engineering tool (OPNET) has been utilised to implement a realistic wireless signal propagation model using path...
This paper investigates the motion generation for a pendulum-driven cart-pole system. The dynamic model of this system is developed by using the Newton's law. A six-step motion strategy is simulated by using MATLAB/SIMULINK. The pendulum is driven by an open-loop controller to track the desired pendulum angular velocity profile. The optimal configuration which based on the profile is addressed under...
This paper presents ceiling light landmarks based localization and motion control for a mobile robot. The novel mechanism design for the mobile robot is introduced, and the method of localization using ceiling light is proposed. Navigation map, network matrix and the method to find shortest path are described. From the path planning, the control scheme of autonomous navigation for the mobile robot...
This paper proposes an integrated algorithm for the replenishment of goods for the inventory management of a gift company sharing common resources of multiple products. The integrated algorithm is based on a modified economic order quantity (EOQ) model and includes special processes to deal with resource sharing issues. The different performances of the algorithm using Witness simulation software...
A micro robot that can be swallowed with sensors to inspect the intestine without the need to cut open a patient must have a propulsion mechanism to direct it to the areas of interest. The use of a propulsion mechanism external to the pill could endanger the patient, what is proposed here is a method of propelling a micro (capsule) robot with an internal mechanism based on the inertia of a swinging...
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