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.
This paper describes an extensible framework for real-time self-calibration of cameras in the simultaneous mapping and localization (SLAM) setting. The system is demonstrated to calibrate both pinhole and fish-eye camera models from unknown initial parameters while seamlessly solving the maximum likelihood online SLAM problem in real-time. Self-calibration is performed by tracking image features,...
This paper presents a motion planning framework to generate continuous walking gait on a biped robot using kinesthetic teaching. While imitating human leg movement, the generated gait could also track a given swing foot trajectory and a given ZMP trajectory simultaneously, so as to form a stable stride with an expected foot displacement. An algorithm based on local linearization and nonlinear optimization...
A sub-optimal guidance and nonlinear control scheme based on Optic Flow (OF) cues ensuring soft lunar landing using two minimalistic bio-inspired visual motion sensors is presented here. Unlike most previous approaches, which rely on state estimation techniques and multiple sensor fusion methods, the guidance and control strategy presented here is based on the sole knowledge of a minimum sensor suite...
This paper presents a path planning and collision avoidance method based on artificial bee colony (ABC) optimization algorithm for multi-robot systems. Standard ABC algorithm can find a proper way for the robots quickly, but it still has shortcomings. An improved artificial bee colony optimization algorithm (IABC) is proposed to plan a reasonable collision-free path for each robot of a multi-robot...
The maneuverable tether-net space robot (MTNSR) is a promising space robot in the capture of non-cooperative space debris. For its shape keeping problem, a novel dynamic model and a corresponding shape keeping controller are proposed in this paper. The net is modeled by four triangle shells and the tether is modeled using interval functions, firstly. Secondly, the dynamic model is presented based...
This paper presents a non-iterative pose-graph optimization algorithm for fast 2D simultaneous localization and mapping (SLAM). The graph-SLAM approach addresses the SLAM problem using a factor graph structure. For a pose-only SLAM problem, landmarks are not explicitly modeled and are not a part of the SLAM problem. Conventional pose-graph optimization methods minimize the error by an iterative local...
Many works have been done for controlling nonlinear systems using bio-inspired methods. In this paper, we propose an optimal intelligent controller for an Unmanned Aerial Vehicle (UAV). The controller consists on a type-2 fuzzy system with defuzzifier step was determined through Ant Colony Optimization algorithm (ACO). It is known that, ACO and Particle Swarm Optimization (PSO) algorithm are the most...
Gain tuning is very important in order to obtain good performances for implementing a controller. In this paper, three popular evolutionary algorithms are utilized to optimize the control gains of a position domain PID controller for the improvement of contour tracking for robotic manipulators. Differential Evolution (DE), Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) are used to optimize...
In this paper we introduced a new method to optimally select the time window for a single-trial classification problem in BCI system. As a hybrid-BCI, we combine EEG and NIRS signals to improve the performance of BCI system. Since there's a coupled relationship between EEG and NIRS, we try to define the activation state of subject's brain according to the changes of hemoglobin. We therefore defined...
Dexterous distal arm functions are crucial for execution of activities of daily living (ADLs). However, it remains difficult for patients with neurological deficits, such as stroke, to recover the lost manipulation capabilities. In this paper, a modular approach has been proposed to design a wrist-hand manipulator to be employed in the rehabilitation training of the upper limb dexterous function....
The paper presents a hybrid approach for kick optimization in bipedal robots. It designs kicks using two different interpolation techniques, namely Hermite Spline and Bezier curves, and then optimizes their parameters using Particle Swarm Optimization while using inverse kinematics for execution. RoboCup Soccer Simulation 3D has been used as the test bed for the evaluation of the presented approach...
The dimension of the density matrix of a quantum system increases with the qubits of the quantum system, which makes the quantum state estimation time consuming and requires huge computation. In order to reduce the computational time in quantum state estimation, the problem of quantum state estimation based on compressive sensing is changed to the optimization problem with error constraint. In this...
This article proposes a practical methodology to exactly solve the multiobjective redundancy allocation problem for series-parallel systems. A Pareto-optimal set is initially obtained by using a multiple objective evolutionary algorithm. The few studies that devoted to prune the size of the set utilized various approaches to classify the set. The clusters are compact, but they are not balanced. This...
In this paper, a Genetic Algorithm is used to solve for the optimization problem of a quadruped rover, which is developed based on a two-dimensional model of a domestic cat. The rover's gait, pose and control parameters are optimized for two separate objectives. First, the energy consumption through applied joint torque is minimized for fixed thrust speeds. Secondly, the rover's thrust speed is maximized...
Localization is one of the key research topics in robotics. Although computer vision based methodologies such as Augmented Markers provides a realtime localization approach, the sensing range and localization accuracy are the main limitations for applications. In this paper, we proposed the use of a problem solving tool, TRIZ to overcome these limitations. Among the tools provided by TRIZ, we illustrated...
Magnetic guidance is a reliable navigation method for intelligence vehicles and AGVs. To get the right and accurate location of vehicle for control, an accurate magnet map is needed. This paper proposed a new approach to build a magnet map by graph-based SLAM. Vehicle's poses in the driving trajectory can be estimated by SLAM, for the magnetic sensor installed on the vehicle is detecting the relative...
This paper describes an incremental and adaptive front-end fusion system capable of providing accurate 3D models of the world using a single RGB camera. This is ideal for robotic platforms operating in indoor environments, where there is a need for high fidelity in the reconstruction of the world but at a low memory usage and computational cost. Our algorithm expands on previous volumetric variational...
This paper focuses on the design of a gripper that can grasp objects with shape, size and pose uncertainty. Rather than a dexterous hand with multiple actuators and sensors, a passively adaptive gripper made of soft material can conform to various objects by using compliance. In this paper, we present a novel design methodology for a passively adaptive gripper by employing a level-set-based topology...
In order to interact with human flexibly, the robots need lightweight structure to adjust their configuration conveniently and further save operation energy. It is a challenge in design when the robots are proceeding tasks with a huge and heavy body. This paper presents an improved framework of the humanoid robot optimized by the evolutionary structural optimization (ESO) method for lightweight design...
A networking mechanism was designed based on scalable trailing edge to satisfy the requirements of morphing wings. By this way, we can increase the lift coefficient and the aerodynamic efficiency of the aircraft in the process of taking off and landing. We use Lagrange equations to set up the system dynamics model. Simulation results by Simulink and Fluent show that the whole system can realize the...
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.