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.
According to the motion principle of the frog scooter, a kind of novel mobile robot with passive wheels called Frog Skating Robot is designed. The robot consists of three passive wheels, and the steering of the two rear passive wheels are controlled indirectly. There are only 3 DOF of the robot need to be controlled. The driving forces of the robot come from the frictions between the wheels and the...
This paper proposes a co-worker in-time Parts/tools Delivery to You robot, PaDY, in an automobile assembly line. Since co-worker robots share a workspace, the workers are at risk of colliding with them. Therefore, the safety of the workers has to be considered when operating such robots. In previous studies, the robot generally stops to ensure the worker's safety when a collision is detected, delaying...
A study on haptic feedback of the master side for an interventional surgical robot system plays a critical important role in the master-slave vascular interventional surgery robot system with haptic feedback, and accuracy control of force feedback is an important means to improve accuracy of the vascular interventional surgery robot teleoperation. Focus on the problem of lacking haptic feedback and...
Weapon-Target Assignment (WTA) study is always a hot research topic. The model description and corresponding algorithms are keys to the success of solving WTA problems. Accordingly, the paper first introduces two important concepts of Weapon System of Systems (WSOS) and Combat Capability to WTA model. Further, a Weapon-Target Assignment model based on Combat Capabilities is proposed, in which we not...
A new typed inducer is devised for alternating current field measurement (ACFM). A numerical simulation model of the inducer is built to observe the distribution of magnetic flux density near the crack, and a dynamic model is developed from it to model a real ACFM inducer passing a real pipeline with a crack. The dynamic model is verified by comparison with experimental data and shows good agreement...
The technology of navigation and localization for Multi-Autonomous Underwater Vehicles (AUVs) is an important way to solve the problem of complex operation environment. This paper addresses the problem of Multi-AUVs cooperative navigation and localization, based on the Leader-Fellow form. Then, Extended Kalman Filter (EKF) algorithm is proposed to solve this problem. A navigation model of the slave...
This paper built an improved vascular model based on mass spring model, considering forces associated with springs elongation and bending. Meanwhile, for the improve of real-time computation, few nodes are used to build vascular model. In order to ensure vascular model is similar with biomechanics properties of real vascular, using Gaussian Processes to optimize parameters of model. Parameter set...
A nonlinear adaptive power-level controller designed by Lyapunov stability theory is proposed in this paper. The control law considers with features of nonlinearity and uncertainty associated with nuclear reactor model, and its expression can be proved via Lyapunov function directly. The values of state variables and errors between output power-level and desired power are all considered in the control...
In recent years, research on wireless power transmission (WPT) technologies has been attracting more attention after MIT introduced the magnetic resonance technology in 2007. Wireless magnetic resonant power transfer is an emerging technology that has many advantages over other wireless power transfer methods due to its safety and flexible comfortable supplying energy needs to electric devices. At...
A two-wheeled self-balancing robot is analyzed in this paper. The dynamic model of this robot is presented based on Appell Equations. The model is divided into two separate subsystems: balance subsystem and direction subsystem, and sliding mode controllers for each subsystem is designed separately. Computer simulation of the controller is taken with Matlab/Simulink. Simulation results show that the...
As one of the most promising substitutes for regenerative medicine, the pore cell scaffold attracts great attentions in tissue engineering recently. In this study, we apply microfiber to assemble this kind of porous structure based on magnetically-guided manipulation. The microfiber is fabricated by biocompatible and biodegradable alginate solution inside a microfluidic device. To feasibly manipulate...
Operator based robust two loop nonlinear free vibration control of a flexible plate is considered in this paper. A model of the flexible plate taking into account the hysteresis from the piezoelectric actuators of the plate is given. Robust two loop nonlinear free vibration control scheme is proposed for the plate using operator theory, also, the tracking problem is shown. The effectiveness of the...
Virtual catheter training system is a typical application of Virtual reality(VR) technology in the medical field. Doctors must operate catheters through experience accurately in traditional minimally invasive surgery(MIS) to ensure the safety of the operation. In order to improve the operation skills we proposed the force feedback-based robotic catheter training system. In this paper, we can obtain...
This paper presents an application of an isomorphic haptic device in excavator simulation. First, we introduce system composition and techniques used in mapping position and forces. Then, the position prediction model of haptic device and the dynamic model of system are given. In addition, we describe problems and solutions in both virtual and realistic force rendering process in operation of the...
Focusing on the method to dispose of ineffective and erroneous information from certain sensors, an online-inspection algorithm for measure consistency is proposed. Before the data fusion or the establishment of soft sensor model, the consistency measure of original data is calculated and removes those data with low quality and precision. Based on the thought of Mahalanobis distance calculation, this...
Optical flow sensors (OFSs), with characteristics of small size, light weight, low cost, little power consumption, fast response and no radiation, are suitable for miniature aerial vehicles (MAVs) to detect the environment around them. According to our recent works, besides the velocity and the flight height above the ground, many other flight states can also be obtained using optical flow sensors...
Using Kinect acquired RGB-D image to obtain a face feature parameters and three-dimensional coordinates of the characteristic parameters, and to select the characteristic parameter Facial by Candide-3 model, and feature extraction and normalization. Smile face expression data collection through Kinect, SVM collected to smiley face data classify and output the result of recognition, and the results...
With the development of various imaging technologies, medical imaging has been playing more important roles on providing scientific proof for doctors to make decisions on clinical diagnosis. At the same time, it is very important to excavate valuable information hidden in those images and take over some auxiliary medical works from doctors by the computer. Therefore, a large number of image segmentation...
The machine vision based inspection and measurement system obtains more significant advantages, such as higher speed and accuracy. A vision based embedded tiny spur gear inspection and measurement system is proposed. The system, which is designed for measuring gear's addendum and dedendum diameter, and inspecting the tooth deformation. In this system, Field-Programmable Gate Array (FPGA) is used to...
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.