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Chirp-spread-spectrum (CSS) defined in IEEE 802.15.4a is available for ranging based on the time-of-flight of electromagnetic signal and it can be applied to localization systems. One of problems of the CSS-based localization system is the collision of signals transmitted from multiple CSS nodes. In this paper, a probabilistic arbitration algorithm is proposed to prevent the signal collision for ranging...
In order to reveal dynamic coupling effect in a space robot's operation, the paper raises a method of using recursive formulation to establish the system dynamic model and designing operational procedure in a parameterized way. In the paper, a topological representation of a space robot operating system is established containing dynamic constraints. The weighted factors method is used to get a simplified...
The paper presents a nonlinear predictive controller with a disturbance observer, which is based on the dynamically extended attitude system, to cope with the problem of the attitude control of an unmanned helicopter on the test bench. The implied integral action of the disturbance observer can eliminate the system steady state error effectively. The effect of the zero points of the closed-loop transfer...
A cost effective image based approach is proposed for monitoring New Zealand native bees, they are difficult to study, and require expert taxonomic identification due to minimal morphological differences between species. They have seasonal life-cycles which require long-term studies. Rather than identifying individual bees directly, as is done in most traditional ecological methods, the ground nests...
Quadruped robot has great potential in traversing irregular terrains. Normally its performance relies greatly on the accuracy of local terrain data that the onboard sensor system acquired. In order to reduce its reliance on terrain information for locomotion control to the minimum, in this paper we intend to provide a method to intensify its walking adaptability by endowing the robot with blind walking...
This paper describes an initiative which uses low-cost mobile robots to create robotics courses and learning environment to support the teaching of computing and many other related disciplines. The pursued principle is that lower cost alternatives that can meet the educational needs, since it is accompanied by an environment with friendly software interface. In this sense, the hardware interface was...
Reliable indoor navigation of mobile robots has been a popular research topic in recent years. GPS systems used for outdoor mobile robot navigation cannot be used indoor (warehouse, hospital or other buildings) because GPS require an unobstructed view of the sky. Therefore a specially designed indoor localisation system for mobile robot is needed. This paper aims to develop a reliable position and...
Adaptive control design is studied for a class of robotic turntable servo systems with friction dynamics. A newly developed continuously differentiable friction model is utilized, where the explicit model parameters are incorporated into the neural network weights adaptation. To further enhance the adaptation convergence and to reduce the tracking error, a velocity predictor is proposed to develop...
This paper presents a kinematically redundant four actuated-joint degrees of freedom planar parallel manipulator. The workspace of the proposed manipulator is larger than of the non-redundant counterpart and vast majority of its singularities can be avoided by using kinematic redundancy. First, the forward and inverse displacement problems of the manipulator are solved and its workspace is obtained...
One of the grand goals of robotics is to have assistive robots living side-by-side with humans, autonomously assisting humans in everyday activities. To be able to interact with humans and assist them, robots must be able to understand and interpret human activities. There is a growing interest in the problem of human activity recognition. Despite much progress, most computer vision researchers have...
An algorithm to generate collision-free paths and trajectories multiple-vehicle systems is presented. The algorithm is utilized to solve a problem of planning collision-free paths and trajectories of all the vehicles from their start points to goal points. Three-degree Bezier curves are utilized as the basic forms of the paths. Trajectories are generated subject to linear velocity, tangential velocity,...
A Cable-driven Snake-like Robot (CSR) with a flexible backbone possesses a number of promising advantages over the conventional rigid-link manipulators, such as lightweight mechanical structure, large reachable workspace, high dexterity, and high maneuverability. In general, a CSR is a hyper-redundant manipulator that consists of a large number of identical or similar segments. A modular design approach...
A new mechanism to balance an autonomous unicycle is explored which makes use of a simple pendulum. Mounted laterally on the unicycle chassis, the pendulum provides a means of controlling the unicycle balance in the lateral (left-right) direction. Longitudinal (forward-backward) balance is achieved by controlling the unicycle wheel, a mechanism exactly the same as that of wheeled inverted pendulum...
Wheeled inverted pendulum has been a standard benchmark in control research. It normally has two wheels to limit the unstable mode in the longitudinal direction. In this paper, wheeled inverted pendulum with only one wheel is investigated. The dynamics model is derived based on Lagrange-Euler formulation. Linear controller is then designed for balancing task and straight-line tracking task. Simulation...
Industrial robots have been widely used in manufacturing plants to handle various jobs such as palletizing, machine tending, and arc welding. Before real commissioning, the entire robot application system needs to be simulated in a virtual system to ensure safety and to improve development efficiency. Due to the requirements on robots to complete various jobs, multiple robot application simulation...
Using Visual C++ and OpenGL, a simulation system for a specific type of robot is provided in this paper. It is a modular simulation system, which contains offline programming, robot assembly and teaching and playback modules. Part model of robot that constructed by other software is imported and assembled in the simulation system for simulation analysis. It can realize kinematics calculation, 3-dimensional...
This paper demonstrates the embedded application of a novel manipulator design for field robotics applications, specifically for underwater robotics applications. The In-Vitro Optically Aided Robotic Manipulation (IVOARM) constitutes a blind grasping concept using two anthropomorphic fingers with the aid of the directional force sensors and infra-red sensors mounted on it. This design is potentially...
It is essential to devise a safe compliant control scheme for grasping robots when active multifingered robot hands are interacting with a human or a fragile object. Hence, in this study, a novel active and robust compliant control technique is proposed by employing Integral Sliding Mode Control (ISMC). The ISMC allows us to use a model reference approach for which a virtual mass-spring damper can...
This paper is aimed at Mechanical-Hydraulic Confined Piston Engine flat valve system working process modeling analysis, on the basis of the theory of classical pump valve, with integrated consideration of liquid's compressibility, influence of pump-valve's kinematics Westphals Phenomena on liquid consistency in cylinder and also consideration of distributing valve system's dynamic characters, the...
In the actual war, battle damage assessment and prediction problem is an important research topic. Grasping the enemy's information is one of the basis on our forces' war resource allocation. The main problem of this paper is battle damage level prediction, and the model of target damage level prediction based on Fuzzy theory and Bayesian method is established. First, Fuzzy theory and Bayesian method...
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