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Underwater sensing using electric field has been traditionally modeled by the computationally heavy finite element method (FEM) or boundary element method. In this paper, techniques in light scattering problems were for the first time expanded to underwater active electrosense. Numerical solutions of the volume integral equation were formulated, including a method of moment and discrete dipole approximation...
Weakly electric fish use self-established electric field to sense the underwater environment that may be cluttered and turbid. Previous works on building artificial counterparts are limited to simplest cases, as no analytical solutions exist under complex boundary conditions. Universal numerical approaches like Finite Element Method (FEM) and Boundary Element Method (BEM) suffer from lengthy meshing...
Artificial sensory system is promising to navigate in cluttered and turbid underwater environment by achieving similar functions of biological electrosense of weakly electric fish. In this paper we designed an electrosensory membrane that can operate in a full 3-dimensional mode. Algorithms on the object localization were also designed and tested based on numerical methods of electric field forward...
This paper presents a compact linear-motion robotic device for upper-extremity reaching rehabilitation. Starting from conceptual design, the paper describes electronic circuit design and program development. The work develops a prototype that provides active and passive rehabilitation training. In active training, subjects actively move their arm with assistive or resistive force from the device to...
We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with the logical structuring of tasks driven by a Behavior Tree architecture. The advantage of the implementation...
This research paper investigates a new 3D handling process in food industry: bin picking. Machines only function effectively when the input of product is physically well organised, well structured, and consistent. At many stages in a typical production line, foodstuffs are physically arranged as they move through a machine or equipment, however, this order is then lost again as products are ejected...
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