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For numerical orientation workspace analysis, a finite partition of the orientation workspace in its parametric domain is necessary. Among various parameterization methods for rigid-body rotations, it has been realized that the Euler angles, the tilting-and-torsion (T&T) angles, and the exponential coordinates are appropriate for finite partition. With these three parameterization methods, the...
This paper presents a one step smooth and efficient path planning algorithm for navigating a large robotic platform in known cluttered environments. The proposed strategy, based on the generation of a novel search space, relies on non-uniform density sampling of the free areas to direct the computational resources to troubled and difficult regions, such as narrow passages, leaving the larger open...
Multiple mobile robot path planning in dynamic unknown environment is challenging. In this paper a novel artificial potential field (APF) based approach is proposed. In this approach, a robot was pulled to the goal position with the influence of the goal and static obstacles. When two or more robots meet at the range of safe distance, those robots was prioritized according to the priority of the task...
Due to the variations of posture appearance, the recognition and tracking of human hand gesture remain a difficult problem. In this paper, an unsupervised learning algorithm, distributed locally linear embedding (DLLE), is proposed to discover the intrinsic structure of the data, such as neighborhood relationships and global distributions. These discovered properties are used to compute their corresponding...
We have defined a new paradigm of robot navigation, by using sensors in the environment instead of onboard robotic platform. In this scenario, determining the output of the most relevant and validated sensor is of crucial importance when heterogeneous sensors are available for measuring a given process. We are using an IEEE 1451 TEDS (transducer electronic data sheets) compliant sensor model proposed...
The requirements and challenges of a haptic surface display are discussed and solutions are proposed and implemented. A prototype array of actuated pins provides resolution of 5mm, travel of 45 mm, with force and position sensing on each cell. The design is extendible to much larger arrays without further technological improvements and is currently interfaced to other displays over the Internet. Specifically...
A newly developed five D.O.F. (degrees of freedom) miniature mobile robot system is presented. It consists of a moving positioning module with macro/micro dual driven modes and a three rotational D.O.F. spherical micromanipulator module. With the macro motion mode, the robot is a typical wheeled mobile robot, which is driven by two small size brushless DC motors. With the micro motion mode, based...
The reliability of computer network is related not only with the topology of the network and the reliabilities of the components, but also with the configurations of the nodes and the traffic flowing into the network. Nodes consist of two failure modes: congestive failure and failure related with inactivation of the software and hardware. The node's reliability related with the failure of hardware...
As multiple robot approaches to localization become more prevalent, existing triangulation methods involving fixed location landmarks are inadequate to accurately determine a robot's pose. We present an error model for a robot's pose based on triangulation from three landmarks. The model represents each landmark position as a Gaussian distribution and, consequently, factors landmark positional uncertainty...
The purpose of this paper is to study and develop the redundant control system for the critical process. The critical process means a high priority process which is very essential to the global system. When a fault condition occurs on such process, it affects to other processes. In this paper, the gas pressure process is used a case study. This system consists of dual redundant supervisory control...
For a set of n contact points on the boundary of a 2D object together with their contact normals, we present an output sensitive heuristic algorithm for computing a large number of combinations of four points from this set that achieve force closure under the frictionless contact assumption. The proposed algorithm runs in 0(n2 lg n + K) where K is the number of different solutions. Our algorithm is...
Due to the nonlinear, time-varying, ripple coupling property existed in the hydraulic servo system, and slow convergence speed and the instability of BP network, a two-stage improved Elman neural network model is developed to realize failure detection. The first-stage Elman network is adopted as a failure observer to realize the failure detection. The trained Elman observer, working concurrently with...
This study focuses on the implementation of a novel maximum-power-extraction algorithm (MPEA) including a maximum-power error driven (MPED) mechanism and a maximum-power differential speed (MPDS) control for a wind generation system with a permanent-magnet synchronous generator (PMSG). In the proposed MPEA scheme, the MPED mechanism operating like a traditional hill-climbing method drives the output...
The levitation control in a linear magnetic-levitation (maglev) rail system is a subject of considerable scientific interest because of highly nonlinear and unstable. This study mainly focuses on the sequential developments of backstepping-based control systems including a backstepping control (BSC), an adaptive backstepping control (ABSC) and an adaptive dynamic surface control (ADSC) for the levitated...
This paper presents some theoretical analysis for the neural oscillator, which is widely applied in the robot and biped control. The methods adopted here include stability theory, describing function, and linear piecewise analysis. Some prime properties of the neural oscillator such as the frequency determining, boundness, and stability are exploited. The insightful results will strengthen the foundation...
This paper describes a tentative results obtained on the way of developing the nano order precision robot that works with the resolution of 10nm or less. For precision positioning of robot manipulator, we adopt the flexure hinge mechanism composed with notches and holes that allows high stiffness and easy applications to construct the parallel manipulator. As a hardware for in plane motion of manipulator...
A new design method based on the utilization of dynamically-coupled driving and joint stops is proposed for high dynamic performance robots, such as the robot performing high-speed dynamic motions. In the method, the desired dynamic performance and the boundary conditions of the dynamic motion are combined to be a design index (DI) first. Then the robot is initially designed by selecting light actuators...
Research focusing on the vehicle stability control system has resulted in many strategies for active yaw control based on the anti-lock brake system and traction control system. The controller prototype is brought forward to control the vehicle under extreme steer maneuvers and with uncertain road. The linear models, including the linear four-wheel vehicle model, and the simplified tire model, the...
This paper deals with the control of heat and mass transfer processes. The mathematical model of these processes is presented by a distributed parameter system with a so called distributed control and described by an inhomogeneous parabolic partial differential equation in one space dimension. The actuators in these processes are located above the channel, through that the medium to be heated flows...
This study proposes a novel approach for crop identification by using wavelet packet transform combined with weighted Bayes distance based on crop texture and leaf features. Automatic processing in agriculture requires accurate identification of crops to target plants for treatment according to their needs. Wavelet analysis, featuring spatial/frequency localization, data compression, denoising, data...
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