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Recently, flapping robots are noticed by many researchers, and many challenges are being made toward the realization of flight motions like insects, birds and so on. The purpose of this work is to develop flapping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating fibers and sensing fibers can be embedded into a wing as part...
In this paper, we present a texture-based multitarget tracking algorithm. Moving objects are described by local binary patterns (LBP), which is a kind of discriminative texture descriptor. The Kalman filter is introduced into the algorithm to predict the blob's new position and size. Blobs are searched in the neighborhood of the Kalman predictions. If more than one are found, the LBP distance, which...
Intelligent vehicle is the vehicle which has ability to drive itself autonomously and purposefully. The vehicle is expected to facilitate the people who cannot drive. Some modules of the vehicle; steering control, for instances, can assist the driver to make the driver drive more comfortable and safely. This paper proposes an autonomous navigation and control algorithm which is capable to travel around...
Application of semantic Web services (SWS) relies on ontologies which model existing explicit knowledge in problem domain. Adaptation of SWS to manufacturing industries rises a number of important questions among which is the separation of responsibilities between different vendors starting from system component manufacturers and ending with the system user. This paper gives a possible solution to...
Recent advancement in sensor networks provides a platform for applications that requires in-network data fusion and parallel algorithms. However, processing data in parallel while propagating at low latency is very challenging. Also, implementation of these algorithms is limited by various constraints including energy, computation costs and complex network topology. In this paper, a statistical graphical...
A movement of the omni-directional mobile robot is deflected by a slippage of its wheels, measurement such as acceleration, angular velocity and computer vision should be applied to compensate error from slippage of each wheel. Each sensor has advantages and drawbacks. For example, computer vision(CV) can measure the absolute position and the angle of the robot but it requires much time to process...
Wavelet or wavelet packet transform and fractal theory are consistent in nature and in process to understand things, so it is feasible to blend both of them felicitously to create a new technology wavelet-fractal. In this paper, wavelet-fractal is used to analyze and study malfunction of generating unit rotor synthetically. Given three time domain vibration signals of one 28 MW generating unit at...
Two robots collaboratively search a street area. At an abstract level, this is the well-known two-guard street walk problem. Variations of the problem, i.e., general walk, straight walk, counter walk, straight counter walk, have been studied. In this work, deepening our previous work on simple characterizations of walkable streets, we consider the generation of optimal walk schedules by two robots.
The last few years have witnessed an increasing interest in modular reconfigurable robotics for education, inspired robotic research, and space applications. This paper presents the latest results of the cube-M modular project. Firstly, an overview of the research achievements in modular robot is given. Then the new modular robot cube-M with one degree of freedom, an improved version of the Y1 modular...
Compared with an optical encoder, structure of magnetic rotary encoder is very simple and not affected in dust and mist condition, can be used in badly condition. But its resolution and accuracy are low and difficult to be improved by conventional methods. In order to improve the resolution of magnetic encoder, a novel encoder structure and signal processing method base on calibration are present...
The measuring of the real-time discharge of concrete pump is an issue which must be solved urgently. The mathematic model of the concrete pump discharge is established based on the working principle of concrete pump. The measuring method based on pressure is put forward. By measuring and analyzing the pressure in the material cylinder, calculating the real-time pumping efficiency, the real-time discharge...
In this paper, a kind of underwater acoustic communication system based on CDMA (code division multiple access) for multiple underwater robots is proposed. This system enables multiple underwater robots to communicate with the console on the surface of water simultaneously successfully. The whole communication process is composed of channel encoding and decoding, spread spectrum modulation and demodulation,...
This paper presents a multi-agent planning approach integrated with learning mechanism. This method involves in task allocation, path planning, avoiding conflicts, cooperation, parameter learning, pattern learning, etc. In addition, with this method a multi-agent Sokoban platform is defined. With some simulations on this platform, the advantages of multi-agent planning approach with learning mechanism...
In this paper, eyeblink artifacts of a multi-channel electroencephalogram (EEG) are extracted and removed by employing a spatial filter designed using the proposed efficient method via the robust minimum variance beamforming (RMVB). Unlike the conventional method where the spatial filter is designed using the correlation and prior knowledge of eyeblink from all channels of EEG, the spatial filter...
Fuzzy neural network controller for underwater vehicles has many parameters difficult to tune manually. To reduce the numerous work and subjective uncertainty in manual adjustments, a novel immune particle swarm optimization (IPSO) algorithm based on immune theory and nonlinear decreasing inertia weight (NDIW) strategy was proposed. Owing to the restraint factor and NDIW strategy, IPSO algorithm can...
Hinfin loop shaping is a feasible method for designing a robust controller; however, the controller designed by this method is complicated and has high order. It is not easy to implement this controller in practice. To overcome this problem, we propose an algorithm, GA based fixed-structure Hinfin loop shaping control, to design a robust controller. In the proposed technique, genetic algorithm is...
Plasma-RX is a team of robots for search and rescue mission in an urban environment. The robot configuration contains differential drive tracks with front/rear flippers and serial-link arms equipped with cameras. They contain many sensors: thermopile array, CO2 sensor, microphone, tilt sensor, digital compass and laser range finder. For low level control of robots, a processor Arm7 and a special-purpose...
We consider the problem of wheeled mobile robot navigation towards an unknown stationary or maneuvering target with real time obstacle avoidance using range-only measurements. We study a method for navigation and guidance termed equiangular navigation guidance (ENG) law and give mathematically rigorous proof of convergence and stability of the proposed navigation law. Using the sensory information,...
We consider the problem of navigation of wheeled mobile robot (WMR) towards an unknown target in a cluttered environment. The biologically inspired navigation algorithm is the equiangular navigation guidance (ENG) combined with a local obstacle avoidance technique. The collision avoidance technique uses a system of active sensors which provides the necessary information about the obstacles in the...
This article presents robust control of the mobile inverted pendulum system(MIPS) whose structure is a combination of a wheeled mobile robot and an inverted pendulum with two arms. The MIPS navigates on the horizontal plane while balancing the pendulum. Control of the MIPS is difficult since the system is non-holonomic and nonlinear so that simple linear controllers may have poor performances for...
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