Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
This paper presents a new approach to robot assisted rehabilitation for stroke patients. The control architecture is represented in terms of hybrid system model combining a high-level and a low-level controller. The main focus of this paper is to present an intelligent controller, which is the high-level controller in the control architecture. The high-level controller is designed to monitor the progress...
Growing new robotic applications in agriculture, food-processing, assisted surgery and haptics, which requires handling of highly deformable objects, present a number of design challenges; among these are methods to analyze deformable contacts. Recently, meshless methods (MLM), which inherit many advantages of finite element method (FEM) and yet need no explicit mesh structure to discretize geometry,...
This paper describes the design, construction and testing of an automated system for the assembly and packaging of triangular sandwiches. This process is currently highly labour intensive with little automated machinery available. This paper analyses the current manual production techniques and develops a number of modular workstations which can be incorporated into an existing line in place of human...
The dynamics of a rigid body sliding on a frictional contact can have multiple solutions as well as sudden contact-mode transitions. This paper is concerned with dynamic jamming, an event where a sliding rigid body suddenly jamms and experiences an impact-like transition into free flying mode. Using a simple experiment that mimics a sliding rigid-body situation, dynamic jamming is recorded for the...
A new and fast technique for generating collision-free paths for a mobile sphere, whose size (radius) dynamically changes, is introduced in this paper. A collision between the mobile-sphere motion and an obstacle is predicted by computing its minimum translational distance. This distance parameterizes an intermediate configuration for the sphere, which is in contact with the obstacle or separated...
The exploration problem is a central issue in mobile robotics. A complete coverage is not practical if the environment is large with a few small hotspots, and the sampling cost is high. So, it is desirable to build robot teams that can coordinate to maximize sampling at these hotspots while minimizing resource costs, and consequently learn more accurately about properties of such environmental phenomena...
In this paper, we introduce the problem of view planning with combined view and traveling cost, denoted by traveling VPP. It refers to planning a sequence of sensing actions with minimum total cost by a robot-sensor system to completely inspect the surfaces of objects in a known workspace. The cost to minimize is a combination of the view cost, proportional to the number of viewpoints planned, and...
A coverage algorithm is an algorithm that deploys a strategy as to how to cover all points in terms of a given area using some set of sensors. In the past decades a lot of research has gone into development of coverage algorithms. Initially, the focus was coverage of structured and semi-structured indoor areas, but with time and development of better sensors and introduction of GPS, the focus has...
Designing algorithms for multi-robot systems can be a complex and difficult process: the cost of such systems can be very high, collecting experimental data can be time-consuming, and individual robots may malfunction, invalidating experiments. These constraints make it very tempting to work using high-level abstractions of the robots and their environment. While these high-level models can be useful...
This paper discusses the problem of generating patrol paths for a team of mobile robots inside a designated target area. Patrolling requires an area to be visited repeatedly by the robot(s) in order to monitor its current state. First, we present frequency optimization criteria used for evaluation of patrol algorithms. We then present a patrol algorithm that guarantees maximal uniform frequency, i...
Quasistatic multi-legged locomotion consists of a sequence of equilibrium postures where the mechanism supports itself against gravity while moving free limbs to new positions. A posture maintains equilibrium if the contacts can passively support the mechanism against gravity. This paper is concerned with computation and graphical characterization of equilibrium postures for mechanisms supported by...
Many applications in mobile and underwater robotics employ 3D vision techniques for navigation and mapping. These techniques usually involve the extraction and 3D reconstruction of scene interest points. Nevertheless, in large environments the huge volume of acquired information could pose serious problems to real-time data processing. Moreover, In order to minimize the drift, these techniques use...
This paper presents a new definition of stable walking - that is not necessarily periodic - for a class of biped robots. The inspiration for the definition is the commonly-held notion of stable walking: the biped does not fall. To make the definition useful, an algorithm is given to verify if a given controller induces stable walking. Also given is a framework to synthesize controllers that induce...
The inherent uncertainty associated with unstructured grasping tasks makes establishing a successful grasp difficult. Traditional approaches to this problem involve hands that are complex, fragile, require elaborate sensor suites, and are difficult to control. In this paper, we demonstrate a novel autonomous grasping system that is both simple and robust. The four-fingered hand is driven by a single...
Legged robots are by nature strongly non-linear, high-dimensional systems whose full complexity permits neither tractable mathematical analysis nor comprehensive numerical study. In consequence, a growing body of literature interrogates simplified "template" (Full and Koditschek, 1999; Ghigliazza et al., 2005) models - to date almost exclusively confined to sagittal- or horizontal-plane...
We describe a binocular vision system that emulates disparity computation in the neuronal circuit of the primary visual cortex (V1). The system consists of two sets of silicon retinas and simple cell chips that correspond to the binocular vision and field programmable gate array (FPGA) circuit. This arrangement mimics the hierarchical architecture of the visual system of the brain. The silicon retina...
This paper reports a study that estimated visitor positions, visiting patterns, and inter-human relationships at a science museum using information from RFID readers. In the science museum, we exhibited humanoid robots. Visitors were invited to wear RFID tags to interact with the robots. Visitor behavior was simultaneously observed using 20 RFID readers, distributed throughout the entire floor, that...
Human gait is a kind of dynamic biometrical feature which is complex and difficult to imitate, it is unique and more secure than static features such as password, fingerprint and facial feature. Analyzing people walking patterns, their "step-prints", can lead to the recognition of personal identity. In this paper, we propose to design, build, calibrate, analyze, and use wearable intelligent...
An approach to odor source localization with an aerial vehicle using the fusion of odor sensors, visual sensors, and airspeed sensors is presented. The motion of the tracking vehicle is decomposed into two components - a component normal to the wind direction and a component tangential to the wind direction. The tangential component is controlled with a strategy that moves upwind when odor is detected...
In this paper we introduce an analysis of dependability of an elementary yet critical component of robotic systems designed to operate in environments shared with humans, i.e., the joint-level actuation system. We consider robot joints that implement the variable impedance actuation (VIA) paradigm. The VIA has been demonstrated to be an effective mean to achieve high performance while constantly keeping...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.