The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The purpose of this study was to implement a three degrees-of-freedom inclining parallel platform to provide postural perturbations for examining human balance during the standing posture. The inclining parallel platform was capable of generating random rotation disturbances in sixteen different directions. By measuring the projection of the subject's centre of mass with a force plate mounted on top...
This paper deals with design procedures for devices based on compact compliant mechanical structures. Compliant mechanisms represent relatively a broad class of electro-mechanical systems where output motions / displacements are reached by elastic deformation of their flexural parts / segments. They are used especially for building robotic micro-positioning devices, effectors, sensors and actuators...
Decision making can be regarded as an outcome of a cognitive process leading to the selection of a course of action among several alternatives. With the latest advances in decision making systems it is important to study which methods provide better results and in which fields, contexts. By creating a hybrid approach to decision making we can outline the performance and deviations between different...
This paper presents a system with a fixed robot arm and a scanning unit on a table, which is able to detect and grasp given cylindrical objects with cluttered adjacent objects in soft real-time. In the fields of industrial and home robotics, the requirements of complete 3D data, noiselessness, and obstacle-free situations are often not provided. The contribution of this work is a fast and robust method...
The results of successful experiments for investigating the earthquake effects on mechanism operation by using Cassino Parallel Manipulator (CaPaMan) as an earthquake simulator are presented. The experimental tests have been carried on by using a slider-crank and a four bar linkage as representing machine operations. The mechanism behavior has been experienced as strongly influenced when the mechanism...
The mobile robots have received considerable attention in the scientific literature. One of the fundamental problems in mobile robotics is motion planning. Motion planning has several constraints, such as: knowledge of the scene, the existence of obstacles, their dimensions, the types of obstacles (static or dynamic), and the metric under consideration. Many existent solutions are based on cell decomposition...
In the general case the singularity loci of parallel manipulators of Stewart Gough type is a cubic surface in the space of translations. In [G. Nawratil, Stewart Gough platforms with non-cubic singularity surface, Technical Report No. 204, Geometry Preprint Series, Vienna University of Technology (2010)] all manipulators with a non-cubic singularity surface were characterized. Based on this result...
The present investigation is dedicated to the study of the static balance at the tip of a planar RR robot. For this case, a configuration can be interpreted, in the static sense, as isotropic when any force applied to the robot wrist yields a small displacement which is theoretically parallel to the applied force (no matter how the force is directed on the plane). This characteristic offers many advantages...
Snake robots were realized in purpose of imitating of the snakes and worms movement. This purpose was achieved by applicable kinematic structure and segment design. After that the simulation and verification of designed structure was made with focus on the robot movement possibilities and dimensions. Advantage of introduced robot type is its simplicity and reliability of mechanism, which makes snake...
This paper introduces two analytical matrix descriptions of the differential eigenvalue problem concerning each admissible posture of a two-link flexible manipulator. In the hypothesis of the Euler-Bernoulli beam theory, analytical natural frequencies and mode shapes are derived through both formulations, which are obtained according to an axial and transverse dynamic characterization of the manipulator...
This paper deals with the subject of visual control of a hyper-redundant robot. This type of arm changes its configuration by bending a continuous backbone formed of sections connected in a serial configuration. Such tentacle arm has a variable length and theoretically it can achieve any position and orientation in the 3D space. A tentacle arm prototype was designed and the practical realization is...
In the paper trajectory tracking algorithm including collision avoidance behaviour is presented. Dynamic properties of the robots are taken into account. Obstacles are assumed to be convex. Artificial potential functions (APF) are used to avoid collisions between robots and with static obstacles in the environment. Stability proof for the presented algorithm is shown and simulation results are presented...
In unmanned aerial vehicle operations as well as in aviation the airflow direction and speed plays a major role. The wind speed may limit the use of aircraft, and determines the direction of the takeoff and landing. In the case of small size UAVs (0.5 - 4 m wingspan, 0.5 - 10 kg takeoff weight) the strength and the direction of the wind is quite important, because the airspeed of the vehicle is in...
This work is concerned with a mechanical system designed to harvest Crocus Sativus (saffron) flowers. The system is conceived as a shoulder portable device with two main parts: the first one is specifically designed to detach the flower containing three stigmas, which are the costly final product; the second one is aimed to collect the detached flower through a vacuum collector. The system is carried...
The paper presents aspects concerning the modeling and driving scenarios of a class of vehicular power train systems. The modeling includes an analysis of the system components which include the spark-ignition internal combustion engine, the torque converter, the metal V-belt type continuously variable transmission and the wheels. Four driving scenarios are illustrated by digital simulation results:...
The paper discusses the concept of the integrated safety monitoring system for the human-robot interaction domain. These main elements are the advisory, computer aided expert system, the safety mode controller and the human awareness interface. The introduced approach allows to ensure the required level of safety for the collaborative tasks performance in manufacturing setup within or beyond the robotized...
The work presented in this paper is focused on movement recognition as a first step to achieve the automation of a two-arm-surgical-robotic-system in the laparoscopic surgery environment. In order to accomplish coordination between the surgeon and the robotic assistant, a system able to recognize and differentiate between certain standard maneuvers should be developed. The new user interface is based...
In today's hi-tech and hi-precision world, robot finds its application in many areas that carry out operations that are either routine, highly complex and critical, hazardous or of high-precision nature. Robots when networked offer many benefits such as increased maneuverability and efficiency. The goal is to define a model-based development process for large sensor-actuator networks with a focus...
This paper describes an application of a fuzzy logic implementation on an ARM-Cortex microcontroller. The microcontroller with integrated fuzzy logic was tested on motor position and speed control application. Fuzzy logic is a subtype of multi-valued logic and can be used in combination with other controller types (PI, PID, neural networks, genetic algorithms, etc.). The microcontroller is the core,...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.