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Four wheels independent driving (4WID) electric vehicle uses four motors. if some motors get faults, the whole vehicle would loss the stability to cause casualties. To solve the problem mentioned above, the fault tolerance control strategy of two motors of the 4WID electric vehicle running in straight line was studied and solved in this paper. The two-motor-fault modes were listed in all its aspects...
In this study, we consider cooperative control issues for a multi-unmanned aerial vehicle (UAV) system. Specifically, we present a cooperative formation control strategy for a multi-UAV system with unidirectional network links. Our strategy is to apply a consensus-based algorithm and leader-follower structure to the UAVs so that they can cooperatively fly in formation. The leader provides each UAV...
In this paper, a new integrated control system via visual-servoing and cascaded proportional derivative (PD) controllers for an autonomous hexacopter is proposed. The spherical image based visual servoing is designed to control the hexacopter to the desired pose with respect to an arbitrary target in three-dimensional (3D) workspace based on images captured. Meanwhile, the cascade-PD controller is...
This paper proposes an extended connected-components labeling algorithm for sparse Lidar (Light detection and ranging) sensor data. It is difficult to label sparse Lidar data using the general connected-component labeling algorithm. The proposed technique first increases the density of the sparse data by performing mathematical morphological operation of dilation. Next, labeling is performed on the...
This study aims to develop mathematical model which can capture behavior of “wheel spider” that can perform rolling locomotion and analyze characteristics of the behavior to realize biologically inspired locomotion by robots. Therefore, a rolling wheel spider model is developed by applying constraint force on the ground to a wheel spider model without the ground and considering velocity transformation...
Over the last few decades, legged robots are becoming a promising solution for rough terrain navigation, however, existing legged machines often lack versatility to perform a wide range of different gaits. To build a highly dynamic and versatile legged robot, it is essential to have lightweight legs with optimized design and suitable actuators for the desired robot performance and tasks. The design...
A mobile robot's ability to negotiate obstacles is important for successful point-to-point navigation. Hence, this paper presents a two stage fuzzy reactive control method. The first stage consists of a direction sensor that employs a fuzzy objective function to compute a direction (heading angle) for a robot to travel. At the second stage, a fuzzy dynamic window method utilizes a fuzzy objective...
Traditional robotic guitar-like stringed instruments have lacked sufficient degrees of freedom and responsivity required to emulate even an average human guitar player. We seek to address this in the design and construction of a modular four-string robotic bass guitar, MechBass. This paper describes the various components of each module and the system-level operation of MechBass. The result is an...
The European Space Agency, ESA, has been working on specifying a set of standardised Telerobotics service interfaces in the context of the METERON project. These Services facilitate integration of new robotic agents into the generic infrastructure of future human-robotic space missions. The METERON Robotic Services have been successfully used for the first time as part of the METERON OPSCOM-2 experiment,...
This paper describes a multibody dynamics algorithm formulated for parallel implementation on multiprocessor computing platforms using the divide-and-conquer approach. The system of interest is a general topology of rigid and elastic articulated bodies with or without loops. The algorithm divides the multibody system into a number of smaller sets of bodies in chain or tree structures, called “branches”...
Humanoid robots are designed to interact with people. To improve the design and development of robots for social human-robot interaction, it is important to consider how people perceive the appearance and behavior of these robots. This paper presents the results of a study on the perception and the changes after passive and active interaction with a physically present humanoid robot in terms of anthropomorphism,...
This work presents the design and implementation of a wireless sensor network, by using the ZIGBEE communication standard, for system monitoring on watering, climate control, and lighting on rose greenhouses. Our aim was to develop a remote and low-cost supervision system, for providing farmers in small and medium enterprises in the flower-growing sector with the possibility of continuous follow-up...
Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot...
Paper describes a concentric circular wireless sensor network topology and sensor data retrieving strategy using a mobile sink. A quadcopter acts as a mobile sink. The strategy states how to improve network lifetime by reducing energy consumption of power constrained sensor nodes. It eliminates packet routing and optimizes packet retransmissions by reducing packet error, packet loss and packet collisions...
Sodium concentration in plants inhibit shoot and root growth. Traditional wet-chemical methods of determining elemental concentrations require pre-treatment and leave unwanted by-products. Laser-induced breakdown spectroscopy is a technique that needs very little pre-treatment and produces no secondary waste. Laser-induced breakdown spectroscopy is used in this work to determine sodium concentrations...
In this paper we propose a low cost and computationally inexpensive adaptive transmission power control algorithm for wireless sensors to communicate with the base station or hub. This power control algorithm can be used in scenarios where the transmitting station is not static and the distance between the transmitter and the receiving station changes with time. In addition to that there can be unwanted...
This paper presents a novel vision based technique for navigation of agricultural mobile robots in orchards. In this technique, the captured color image is clustered by mean-shift algorithm, then a novel classification technique based on graph partitioning theory classifies clustered image into defined classes including terrain, trees and sky. Then, Hough transform is applied to extract the features...
This study proposes a vehicle-following control system for personal electric vehicles (EV). Recently, projects aimed at using personal vehicles to solve vehicle transportation problems associated with overcrowding in cities and depopulation in mountain villages have been under way in several regions in Japan. This study was conducted to contribute to improving mobility in depopulated regions by applying...
A position tracking controller for a hexacopter is presented which is robust against disturbances like modeling errors or propulsion efficiency degradation. The presented controller stands out because of its simple design which does not resort to reconfiguration and avoids the necessity of a Failure Detection and Isolation (FDI) filter. The baseline controller has a cascaded structure with two loops...
Bio mimicking micro/miniature robots require design aesthetics, simplicity, low power, lower computational requirement, resilient operation and repeatability. The main choice of actuators in such systems are Shape Memory Alloys (SMA). The larger strain and reduced size of the SMA sub millimeter diameter helical springs make them a potential choice in such systems. Sensorless position/ displacement...
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