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The simulation of space microgravity environment is indispensable during the development of space robot since its performances should be examined and enhanced before sent into space. However, the existing methods, such as air flotation method, hanging wire method and buoyancy method, etc., are very expensive and complex. A low-cost microgravity simulating system is proposed in this paper. In this...
This paper presents a comprehensive navigation system to assist the visually impaired in safely walking in their living areas. The system can provide the visually impaired vibrotactile hints of navigation and free directions during outdoor walking. The cluttered environmental information is acquired by Kinect cameras and ultrasonic sensors in real time. All the direction and obstacle avoidance instructions...
Higher speed and accuracy in object manipulation have recently been required in manufacturing and factory automation (FA) lines. In this paper, we propose a method of using a high-speed robot hand to manipulate connectors and cables, whose coordinates are detected by a high-speed visual-servoing system. This research on robot manipulation will be productive from a practical viewpoint and will lead...
Various designs of piezo-assisted Intracytoplasmic sperm injection (ICSI) has been developed, which achieved higher success rate than conventional ICSI. A common issue is that lateral oscillation of the injection pipette tip is always excited by the intended axial actuation. Researchers hold different opinions on which oscillation, axial or lateral, has more dominate effects on the piercing process...
Drilling is an essential task in unmanned lunar exploration and future explorations of other planets like mars. The traditional way is to adopt a rotary-percussive drill usually mounted on the side of probe or at the end of a robotic arm on planetary rover. Large penetrating force is needed to cooperate with rotary and percussive motion to overcome hard rock. Under the low-gravity environment, it...
This paper describes the design and implementation of a two-dimension motion platform equipment, which can meet the requirements to simulate the vibration of the real vehicle. According to the modeling and simulation of vehicle trajectories, the mechanical structure of the platform has been designed, and a motion controller has been developed based on DSP and ARM, with corresponding motion control,...
This paper presents a robust velocity estimation algorithm applicable to low-cost monocular platform with a tri-axial gyroscope. The algorithm is developed based on PX4FLOW platform which is an open software and open hardware solution for monocular speed estimation. The paper provides three main contributions. The first is the improved robustness achieved by various methods including feature block...
This paper presents the construction and control of a turtle-like underwater vehicle, which uses four single axis oscillation flippers for swimming and attitude control. The maneuvers are realized by the composition of appropriate angular offset, vibration amplitude and vibration frequency of the flippers. After analyzing the actuated flippers' motion and the swimming gait, a CPG-based (central pattern...
To achieve high speed and high acceleration, flexible planar parallel manipulators (PPM) are typically designed with lightweight linkages, but hence suffer from unwanted structural vibration, diminishing positioning accuracy. This paper addresses the dynamic modeling and efficient modal control for vibration suppression of a PPM with three flexible linkages actuated by linear ultrasonic motors (LUSM)...
This paper proposes a general motion planning method for manipulators on the basis of polynomial interpolation. The impact suffered by manipulators during movement can be eliminated by using this method. And this reduces vibration of manipulators largely. In order to overcome the difficulties in realizing the algorithm, a method of quadratic interpolation is proposed. With the method, the computation...
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