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Many academic researchers have been engaged in the visual servoing based regulation of quadrotors over the past decade, and proposed a lot of controllers for this challenging problem. The regulation controller presented in this paper adopts the Position Based Visual Servoing (PBVS) methodology. Most of the PBVS controllers, if not all, are assuming the position of the quadrotor w.r.t. the marker is...
The visual servoing based pickup of stationary objects (or regulation, etc.) has attracted many academic researchers and industrial engineers over the past two decades, and numerous control strategies are proposed for this challenging problem. The controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are designed assuming...
The visually servoed pickup (or grasping, tracking, etc.) of moving objects has attracted many academic researchers and industrial engineers over the past two decades, and numerous control strategies are proposed for this challenging problem. The controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are designed assuming...
The quadrotor is a useful platform to illustrate to the engineering students how the nonlinear controllers can be designed and implemented. Cameras can provide rich geometric and semantic information to assist the quadrotor in performing the tasks like hovering, trajectory/moving object tracking, and etc. In this paper, we introduce a stereo camera-equipped quadrotor platform, which is suitable for...
The visual servoing based pickup (or grasping, tracking, etc.) of moving objects has attracted many academic researchers and industrial engineers over the past two decades, and numerous control strategies are proposed for this challenging problem. The controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are designed...
This paper focuses on user's interactive control experience and information architecture design. From the elements of the user experience and interactive interface design principles, and strive to design a simple, easy to use, stable performance, multi - oriented interactive interface. Based on AD theory, establish the elements of user experience and information architecture, system security, interactive...
The visually servoed pickup of stationary objects (or regulation, etc.) has attracted many academic researchers and industrial engineers over the past two decades, and numerous control strategies are proposed for this challenging problem. The controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are designed assuming...
This paper introduces a method of design and implementation of a two-wheeled inverted pendulum (TWIP) robot with friction compensation. Friction in the drive mechanism is a critical factor of robot self-balancing and affects its performance. The friction parameters are identified based on the dynamic model of the drive mechanism. The dynamics of the whole robot system are obtained by the Lagrangian...
A multi-DOF two-wheeled robot is considered, the research is aimed to develop the dynamic model and balance control scheme of the robot. A balance weight is involved to compose a new DOF, the dynamic model of the robot is established with Lagrange equations. To facilitate the modelling and design control scheme, the dynamic model is simplified and the displacement of balance weight is chosen as control...
Two wheeled inverted pendulum (TWIP) robot is widely used in various applications for its zero turning radius, small footprint and other advantages. However, the traditional TWIP robot can not keep upright when climbs or descends on a slope, which makes the operator sitting on the robot feel unsafe and uncomfortable. This paper introduces a Multi-DOF TWIP robot, which adding a movable weight to the...
Two wheeled inverted pendulum (TWIP) robots are used widely for personal transporters and robotics mobile platforms. However, the robot body cannot remain vertical when TWIP robot climbs up and down a slope. It makes the passenger sitting on the robot uncomfortably and unsafely. Similarly, when TWIP robot turns sharply, there is a great risk of overturning. A multi-DOF TWIP robot is proposed in this...
Two-wheeled mobile robot is known for advantages on performing better manuever in a confined space. It is a typical mobile robot with some features such as complexity, highly nonlinear, instability, multi-variable and strongly coupling. This research is aimed to design and develop the dynamic model and balance control strategy of the robot. A Gibbs-Appell equation is applied to build the dynamic model...
This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. The robot can work like a four-tracked robot for moving on many terrains. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated,...
A two-wheeled robot with a movable seat is proposed in this paper, which can turn with zero-radius and whose seat can move up and down, front and back. Firstly, the overall structure and the control system of the robot is introduced; secondly, a new filtering method called RC and Kalman filtering method is designed to get the posture of the robot; then, the robot's dynamics model is established by...
A low cost coaxial self-balancing robot is proposed in this paper, the two wheels of which are placed coaxially for turning with zero-radius. Low cost MEMS accelerometer and gyro are selected to measure the posture information of the robot with a novel data fusion method. This data fusion method can overcome the shortcomings of accelerometer and gyro so that the precise posture information is obtained...
Geckos have an excellent locomotion ability on vertical wall surface. In this paper, a climbing robot with four magnetic tracks based on gecko-inspired method is presented. This robot can be used for inspecting and maintaining high conical towers in wind power stations. The configuration technical approach of the robot mechanical structure is given in bionics, and the stability when the robot stays...
This paper addresses a Coaxial Couple Wheeled Robot platform with a dual-mode for practical applications both as a personal transporter and a robot patrolman. This CCWR has two modes: the patrol mode as CCWR-P and the transporter mode as CCWR-T. In order to achieve fast switching between the two modes, modular design approach is adopted, and mechanism as well as the designed controller are developed...
For Coaxial two-wheeled self-stabilizing robots, severe vibrations and fatal injury may occur when changing the center of gravity (CG) position, a feasible way for smoothly controlling the dynamic equilibrium in this condition is proposed in this paper; both the movement tendency and the height of system CG are concerned. A hybrid controller based on adaptive and full state feedback control is designed...
DTN (delay-tolerant network) is a network model which is abstracted from many examples of networks in recent years. In this network model, a long period of network division happens frequently, so in a given time a period of end-to-end path does not exist. As DTNpsilas this unique topology nature, the traditional network architecture and routing mechanism is no longer applicable. If the information...
There are the selfish and malicious nodes that two types of threats exist in ad hoc network. This paper gives the detailed analysis of the two types of threats, introduces some existing solutions and point out their inadequacy at the same time. On this basis, a solution based on trust evaluation was proposed.
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