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Hydraulic excavators play a crucial role on worldwide construction sites. Efficient operation of these machines therefore contributes to a quick completion of the construction task. In particular, optimized control strategies can lead to improvements with regard to machine performance, fuel consumption, and pollutant emissions. In this work, a nonlinear model of a hydraulic excavator is considered...
Despite their intrinsic structural compliance, a safe interaction of continuum robots with their environment requires a control strategy that is able to manage the compliant motion properly. This paper presents a peculiar strategy of application of the impedance control based on kinematic and dynamic models of the manipulator's sections. The control approach is able to deal with unpredicted contacts...
With the advancement in technology, BGA based integrated circuits for robotics and other devices are being prepared in small sizes with more pin count. This increase in number requires more number of pins to be escaped from the inner side of the IC towards the escape boundary. Ordered escape routing is very important due to its great impact on area and length routing at later stage. Basic design rules...
The capture of space floating target tends to excite the oscillation of the manipulator's base. In this paper, a multi-dof manipulator with controllable damper in all the joints is proposed to realize the stability control for the base. Firstly, the general dynamical equations including the controllable damping matrix are established by using Kane method. Then, the Particle Swarm Optimization (PSO)...
Energy consumption is a vital component in day-today life. Visualising energy consumption, recommending energy conserving strategies and, controlling the appliances are some of the widely considered means to motivate and/or to help end-users at household to conserve energy. However, the conventional energy visualisation applications have certain drawbacks, such as lack of energy consumption location,...
The paper asserts the urgent need to semanticalize robotic intelligence and communication. It also circumscribes the volume of work that needs to be accomplished for the robot to approach the level of human understanding. Now, robotic intelligence is a specific part of artificial intelligence, and the need to semanticalize pertains to the whole field but the world of the robot seems “smaller,” and...
This paper aims to develop an autonomous humanoid finger gaming robot that can interact with humans. The finger gaming robot will have 9-inch panel display to show the robot face, two robotic arms of which each contains a hand with five fingers, a mechanical chest, and a wheel-type mobile platform. The mechanical arm and hand can smoothly carry out all actions required in a finger guessing game. The...
Soccer for humanoid robots has been a field of study for a long time, and the majority of the teams that compete in a tournament only focus until now in reaching the ball and drive it to score. That is the reason why we think that a more collaborative work would be a real improvement towards accomplishing the RoboCup 2050 ultimate goal of a fully autonomous humanoid team defeating the winning team...
This paper presents a low-cost fall detection solution based on the use of a commodity smartphone. By collecting, processing and analyzing in real-time signals collected from the smartphone built-in sensors (tri-axis accelerometer and tri-axis gyroscope), the device is able to differentiate a genuine fall occurrence from routine motions of normal daily activities. This enables to generate an immediate...
Tuning the colour thresholds within robot soccer is laborious, and sensitive to changes in illumination. An algorithm for automatic gain control and white balancing within the camera is described. This significantly reduces the effects of the variations in lighting on the thresholds. Next, a new colour space is proposed which maximises the hue separation of the different coloured regions to improve...
Colour identification is a common task for many applications in computer vision. Many existing colour identification methods are application dependent. Therefore, they could only operate in certain environments and their performances are highly dependent on the lighting condition and quality of the images. In this paper, a novel colour identification method is introduced using an adaptive hue based...
This paper illustrates the implementation of a speech-to-speech translation humanoid robot in the domain of medical care. At this stage, the proposed system is a one-way translation that is designed to help English speaking patients describe their symptoms to Korean doctors or nurses. A humanoid robot is useful because it can be extended to reach out to people in need first and may substitute the...
This paper describes a novel view-based method using panoramic images to perform local homing in outdoor environments. This holistic algorithm makes uses of difference images (in relation to a reference snapshot) to build an image reference frame centred at the home position. The currently experienced view at any local position is then projected onto this reference frame to determine the image coordinates...
Dominant plane estimation is an fundamental task not only for trajectory finding problems but also autonomous navigation of mobile robots and MAVs (Micro Air Vehicles). In this paper, we illustrate a novel dominant plane detection approach from a RGB-D camera image sequences. A plane fitting as region growing technique is used in this work, rather than implementing the original algorithm, we modified...
Among numerous medical devices that generate noise, music is gaining increasing importance in modern operating rooms. Many surgeons perceive music as concentration enhancing during surgery. In safety critical situations instead, e.g. when a medical device emits an alarm, the additional noise exposure induced by music is considered distracting. In this article we present a novel, modular device that...
RGB-D sensor frameworks such as the PrimeSense/Kinect have brought a massive change in the range of applications for the usage of depth data in not just core robotic and computer vision systems, but also in security, entertainment and medical faculties among others. Such projected texture range measurement systems have also effectively substituted traditional range sensor systems such as Laser and...
In this paper we are interested in recovering 2D tree structure of vines from binary images. We propose a bottom-up approach that firstly segments an input image into cane parts, and second infer their connectivity by using Gibbs Sampling. Our approach is similar to previous work on vine structure inference [1], but instead of the use of heuristics for connecting cane parts, our method uses Gibbs...
This paper presents the kinematic analysis of the SCORBOT-ER 4u robot arm using a Multi-Layered Feed-Forward (MLFF) Neural Network. The SCORBOT-ER 4u is a 5-DOF vertical articulated educational robot with revolute joints. The Denavit-Hartenberg and Geometrical methods are the forward kinematic algorithms used to generate data and train the neural network. The learning of forward-inverse mapping enables...
Force Sensitive Resistors (FSRs) are used for kinetic evaluation of human gait by measuring under foot pressures during gait. FSRs from different manufacturers, with variation in morphologies and loading capacities were selected in past research projects. However a functional comparison of different FSRs and options on how to choose them for gait analysis is not established yet. In this work, investigation...
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