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This paper presents the evaluations and analyses of hand gesture recognition using convolution neural networks (CNNs). CNNs are expected to deal with various articulation and multi-view changes of hand gestures. We show how to employ depth-based hand data with convolution neural networks and how to obtain the successful training and testing results from it. The evaluations were performed on famous...
A biomimetic jellyfish robot is explored. The robot will be actuated by Ionic Polymer-Metal Composites arranged in a silicone dome. Computational Analysis is used to optimize thrust production by the jellyfish robot. Preliminary experiments will be conducted to analyze the deformation, thrust, displacement, and velocity. The two analyses will be compared to further optimize the design.
In this paper, we study the vehicle lateral control for backward driving. While the path tracking algorithms for forward driving have been studied extensively, backward driving control of an autonomous ground vehicle has received less attention. The vehicle backwards is harder than driving forwards because of the non-minimum phase system and the limitation of the dynamic lateral motion model by the...
The paper presents a design concept of new modular snake robot for a variety of rhythmic motions implementation. The snake robot is designed so that it can realize various motions such as rectilinear, serpentine, concertina and side-winding motions as if real snake does. It is constructed by joining a number of similar modules and each module in the body has three degrees-of-freedom. The modules are...
Laser Range finder (LRF) is one of the promising sensors for mobile robot indoor navigation since it can give plentiful information by high accuracy, high resolution and high speed. But, many indoor environments have various kinds of transparent obstacles such as glass and they may lead to many noises when LRF is applied. Sometimes, these noises result in wrong positioning of obstacles and thereafter...
High power amplifiers (HPA) are essential in orthogonal frequency division multiplexing (OFDM) wireless communication system, but efficient transmission and nonlinear are inversely proportional which difficultly to balance. It's important to improve the HPA linearity and not reduce the efficiency. The digital predistortion technique is suitable for improving linearity. In this paper, based on the...
The naval gun weapon systems are the complex and large mechatronic systems which consist of mechanical system, electrical system and hydraulic system and so on. The systems have a wider working range, a worse working environment and a higher failure rate. Whether ship borne gun weapon systems work normally or not, they directly affect the performance indexes of the weapon systems, even do the entire...
At present, for the optimization of the parallel three degree-of-freedom bionic eye, it often takes the work-space and volume as the optimizing objective, and the theoretical motion accuracy of the bionic eye is ignored. In this paper, the inverse kinematics model of the bionic eye is established, and then its flexibility is analyzed. Finally, taking the comprehensive performance index, which is used...
Under the precondition that walk assistance and rehabilitation functions are achieved, higher demands for lower limb exoskeleton rehabilitation robot from psychological and physiological needs of users are proposed. Based on the analysis of research status of rehabilitation robots, Quality Function Deployment (QFD) method is adopted to conduct demand analysis, define design requirement and make design...
This study introduces an efficient visual simultaneous localization and mapping (SLAM) algorithm that can be applied to autonomous inspection of underwater structures, such as ship hulls, dams, and marine structures. Considering that visual features on the surface of typical underwater structures are not uniformly distributed, the proposed visual SLAM algorithm includes an intra-image analysis scheme...
Ball screw is widely used in the fields of modern industry, aviation industry, automobile industry, etc., and has a greater impact on the development of the machine tool industry. Axial clearance between ball screw and nut will exist under the action of axial load which directly affects the accuracy or positioning accuracy. Therefore, to reduce or eliminate the axial clearance, preload between screw...
In this paper, antagonistic robot joint which uses the Twisted String Actuator is developed. One axis robot joint is antagonistically driven by two Twisted String Actuators. This paper introduces the robot joint design and the performance of one axis robot. The position control is performed for antagonistic robot joint. The non-linearity of wire twist model causes the internal locking problem. The...
A stability measure approach with combination of force and position is proposed while considering the cable mass in this paper in order to assess the stability of a cable-driven parallel robot with long-span cables. The stability mentioned here implies the ability of the cable structure resisting the external disturbances to make the platform be in equilibrium. Firstly, the kinematic equation with...
The relative pose measurement method of the non-cooperative target in space is a problem that should be solved in space on-orbit manipulation. In this paper, we utilize a sensor of Kinect to obtain RGB information for simulating the above process. The scene segmentation and target recognition are achieved by using the method of invariant features and background differences. The recognized target areas...
To monitor the coal temperature in the open-air coal yard timely and effectively is one of the most important means for the coal mine to prevent its spontaneous combustion[4]. According to the characteristics of the open-air coal stack and the requirements of inspection, a temperature patrol measurement system using four rotor unmanned aerial vehicle (UAV) has been designed, which consists of UAV...
In this paper, we propose an algorithm to easily correct zero-offset in robotic manipulators by identifying screw information. The proposed algorithm improves the accuracy of the robot even if there may be errors in the other geometric parameters. To identify the screw information, the robot is made to create a circular trajectory by rotating a certain joint, while other joints being fixed, and then...
With the development of the high-speed rotating machine, the rotor is becoming very sensitive for the mass unbalance caused by the asymmetry design, machining error, assembly error and operational fault. In order to actively reduce the rotor unbalance, a new electromagnetic balancing mechanism is proposed. This balancer is driven by the ring coil and keep the balanced condition by the permanent magnet...
This paper proposes a calibration algorithm for a three degrees-of-freedom (DOF) planar cable-driven parallel robot. The developed calibration algorithm uses a low-cost laser distance sensor to measure the distance between an end-effector and a laser reflector, and also uses the cable lengths measured by using motor encoders. MATLAB simulation results show that using a single laser distance sensor...
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