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In this paper, we examine the relationship between consensus of node dynamics and edge dynamics of a multi-agent system. The communication network topology of the multi-agent system is assumed to be a directed cyclic pursuit graph. We provide two linear forms of the edge dynamics. We show that if the node dynamics can reach a consensus, then the edge dynamics also reaches a consensus asymptotically...
In this paper, we have developed a neural network (NN) control enhanced teleoperation strategy which has been implemented on the Baxter robot. The upper limb motion of the human operator is captured by the inertial measurement unit (IMU) embedded in a pair of MYO armbands which are worn on the operator's forearm and upper arm, respectively. They are used to detect and to reconstruct the physical motion...
In this paper we present a vision-based system for online virtual fixture generation suitable for manipulation tasks using remote controlled robots. This system makes use of a stereo camera system which provides accurate pose estimation of parts within the surrounding environment of the robot using features detection algorithms. The proposed approach is suitable for fast adaptation of the teleoperation...
Solar photovoltaic system maybe underperformanned because of too much dust, dirt and bird droppings, etc. 3D mapping for the cleaning robot still remains challenging in this large scale scenario. This paper presents a robust mapping system with Kinect V2 for automated photovoltaic cleaning system. Firstly, Kinect V2 is well-calibrated for a remedy to the production variety and the approach is fast...
In electronic manufacturing system, the design of the robotic hand is important for the successful accomplishment of the assembly task. Due to the restriction of the architecture of traditional robotic hands, it is difficult to grasp the cylinder shaped assembly parts with correct posture. In this research, a novel 4-DOF jaw like gripper is designed and built for precise positioning and twisting online...
In electronic manufacturing system, the design of the robotic gripper is important for the successful accomplishment of the assembly task. Due to the restriction of the architecture of traditional robotic hands, the status of assembly parts during the assembly process cannot be effectively detected. In this research, an intelligent robotic gripper - i-Hand equipped with multiple small sensors is designed...
A robotic wiring harness assembly system, basing on vision and force/torque sensors, is developed to realize mating of electric connectors. In this system, cameras are firstly used to detect the position and the pose of a grasped connector, and then the corresponding bias is calculated roughly to guarantee the connector can be contacted with the other opposite part. After that, a force/torque sensor...
Recently, a human and robot cooperated new working style is under the growing demand in the manufactory to meet the High-Mix, Low-Volume production need of the society. In this paper, a Human and Robot Cooperation (HRC) approach is proposed. Firstly, a Non-deterministic Finite State Machine (NDFSM) and Petri-net (PN) Dual Layer Architecture (NPDLA) is proposed for human worker and robot respectively...
To detect and recover the errors occurred in the task of mating connectors is vital in robotic wiring harness systems. In our previous work, a set-membership approach for static piecewise affine (PWA) system was proposed. Although using the static force model, errors can be detected effectively during mating connectors, there are still some mistaken detections and unrecognized faults, due to the insufficient...
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