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Continuous passive motion (CPM) is an orthopedic treatment or physiotherapy method after surgery or injury by external continuous force. In CPM for the elbow joint, it is effective to reduce an excessive reaction force from a subject by controlling pro-/supination of forearm. The ulna collateral ligament in the elbow joint is extended due to pro-/supination of forearm, and it appears that extension...
All these days, the active stereo vision system which can detect the certain object and measure the distance from the object through the camera's image have been studied. In the stereo vision system, it is the key point to search the certain object through the image and to track the object by controlling the motor which supports the camera based on the searched object information. Also, as the human...
Most control performances in actual design are usually defined by the time domain response such as overshoot, rising time, settling time, steady state error, etc.. There are few control design methods, which are able to apply directly to the purpose. The pole placement method is the most popular. The Characteristic Ratio Assignment (CRA) is one technique of pole placement based on defined parameter...
LPRE(Liquid Propellant Rocket Engine) is one of the important parts to control the motion of rocket. For operation of rocket in error boundary of the set-up trajectory, it is necessary to control the thrust of LPRE according to the required thrust profile and control the mixture ratio of propellants fed into combustor for the constant mixture ratio. It is not easy to control thrust and mixture ratio...
In this paper we present the mechanical/electrical design of half-sized outdoor patrol robot CALEB I. The robots are designed to be operated by both remote control mode and autonomous mode. To patrol around buildings efficiently and safely, we implemented navigation algorithms based on GPS and odometer, and obstacle avoidance and traversal as well as posture stabilization. The robot offers autonomous...
In the public space, a mobile robot is adopted as a guider. For guiding a person to the goal position, the mobile robot should make the safe path ,avoid the obstacles and navigate the generated path well. In general, laser range finder is used for the detection of the map around the mobile robot. We propose mobile robot navigation method using our developed a modified flexible vector field approach...
Rotary Kiln is the central and the most complex components of cement production process. The first point at the beginning of the process, which is called back-end, is the calcining zone of the kiln and has a significant role on the quality of the clinker. In this paper to control the back-end temperature of a rotary kiln, we propose a fuzzy controller based on the operator's behaviors. We concentrate...
The behavior of a vehicle is strongly influenced by the distribution of driving and braking torques in four wheels. Therefore, traction and stability characteristics of a vehicle can be controlled by the controlling driveline and the braking torques. However, independent and uncoordinated control of the brake and driveline control system can harm the vehicle performance due to the interference between...
In this paper, neural network is used to compensate for uncertainties in an autonomous aerial helicopter system when a force control technique is applied to the environment. Applying the force control technique to a helicopter system is quite difficult since both position and force are regulated. To perform force tracking tasks well, position control should be done first. The speed of the helicopter...
A fuzzy inference logic system is proposed for gas turbine engine fault isolation. The gas path measurements used for fault isolation are exhaust gas temperature, low and high rotor speed, and fuel flow. The fuzzy inference logic uses rules developed from a model of performance influence coefficients to isolate engine faults while accounting for uncertainty in gas path measurements. Inputs to the...
A feature localization method for simple mobile robots like domestic vacuum cleaning robots is proposed. Here, the proposed robot system has two wheels and four ultrasonic transmitter and receiver pairs. The purpose of the sensor system is using as small number of sensors as possible whereas the robot avoids collision and gathers information of the environment. To avoid collision with a small number...
The genetic algorithms (GAs) have been recently used in many design problems including an orbit design and trajectory optimization problems due to their global search capability and the robust characteristics. Furthermore, the GAs do not require convenient analytical representations of the problem any more. For this reason, the GAs can provide good solutions to the orbital dynamics design problem,...
This paper presents unifying strategies of obstacle avoidance and shooting for robot soccer systems. Using a fuzzy-net based avoidance algorithm and limit-cycle based shooting algorithm, we propose two unifying schemes based on both parallel and series combination of them to achieve smooth transition between obstacle avoidance and shooting mode. Two proposed schemes are compared for several scenarios...
A number of algorithms have been proposed for estimating the magnetometer bias without the spacecraft attitude knowledge. The simplest is the scalar checking which minimizes the differences in the squares of the magnitudes of the measured and modeled magnetic fields. This approach is that the cost function is presented as forth order equation with respect to the magnetometer bias and therefore is...
In this paper, under the assumption that a hybrid three-layer (deliberative, sequencing, reflexive) architecture is adopted, the structure of the reflexive layer is discussed. The reflexive layer consists of resources, actions, an action coordinator, and motion controller. To improve the real-time characteristics, a set of simplified actions and an action coordinator are designed using the functions...
A dual one-way ranging system (DOWR) provides very high precision range measurements between two carrier phase transceiver-receiver systems by combining the one-way range measurements from each system. A key requirement for the DOWR system is the synchronization of the two one-way range measurement times, and this requirement makes it necessary to interpolate the raw one-way phase measurements toward...
Control moment gyros (CMGs) are actuators for agile spacecraft attitude control. The use of CMGs necessitates the development of CMG steering law. This article presents the results from experiments of singularity avoidance steering control laws based on the minimum two-norm, pseudoinverse solution for redundant single-gimbal CMGs. Details of the experimental results are presented with discussion of...
The method of gradient-like Morse-Smale controlled (GLMSC) systems is a systematic approach to solve global asymptotic stabilization problems for finite and nonlinear state equations. A GLMSC system is a closed loop system equipped with the structure of a gradient-like Morse-Smale flow. In general, the system has finitely many hyperbolic singular points of the vector field. Its global compact attractor...
In this paper, the prototype of the tele-ultrasound consultation system has been designed and evaluated over digital subscriber lines including ADSL and VDSL. The Active X control, and software-based MPEG-4 and H.320 CODECs (coder and decoder) allowed low-cost, flexible, Web-based, and real-time implementation for interactive teleconsultation through general Web browser. Specifically, the features...
With the advancement in the wireless sensor network technologies, it is possible to use them for health monitoring from remote location. The monitoring of human movement can provide valuable information about individual's daily activities. Wireless sensor node with 3-axes accelerometer were used to monitor daily activities i.e. walking, running, resting and dangerous activities such as falling. Three...
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