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This paper proposes an autopilot system using a PID compensating model to satisfy performance required for the automatic navigation of ships under various marine circumstances. The conventional autopilot system using PID controller, has difficulties in control of overshoot and compensating nonlinear characteristics of ships. The autopilot system using the proposed PID compensating controller has an...
Inspection of the structural health of the bridge column is very important task but near-water surface region is dangerous for structural health monitoring robots due to water tides and spray. The unmanned surface vehicle with vertical thrusting function was developed to attach bridge column regardless of the surface status or material for close inspection and minimizing turbulence or external flow...
With the development of face recognition technology, it is already being applied in various fields such as security and robotics. However, products associated with face recognition systems are difficult to commercialize because of the absence of evaluation methods that reflect the actual service environment. The best way to evaluate face recognition performance is evaluation by real people or methods...
Object detection is one of the important problems for autonomous robots. Faster R-CNN, one of the state-of-the-art object detection methods, approaches real time application; nevertheless, computational time lies borderline of real time application, i.e. 5fps with VGG16 model in K40 GPU system in [1]. Moreover, computation time depends on model and image crop size, but precision is also affected;...
This paper describes the mechanism of a one-legged jumping robot that can mimic the muscular and skeletal system of a human leg. The jumping robot has a waist, a thigh, a shin, a foot, and a toe. The McKibben-type pneumatic muscle actuators that are able to generate the maximum output force of 1200 [N] are employed. Two kinds of pneumatic artificial muscles, mono-articular and bi-articular muscles,...
Stroke patients have reduced kinematic characteristics in gait speed, cadence, step kinematics, and range of motion (ROM). Especially, a drop foot is a common symptom during gait after stroke due to the weakness of ankle dorsiflexor. A few robotic ankle systems have been developed to measure and train pathological ankle movements. However, the previously developed systems use orthogonal ankle axis...
Traditional elastic actuator is the flexible structure which needed to connected to the output shaft of the brake. Besides, according to the principle of the state of the connection, it could be divided into series elastic actuators (SEA), as well as parallel elastic actuator (PEA) [3]. Therefore, the brake output has a certain flexibility, providing compliance or shock absorption, and other functions...
A gesture is not performed in only one action but a combination of continuous actions. It is very important to know the start and end of a gesture for accurate gesture recognition. In this paper, to extract a meaningful gesture portion in an online situation, we introduce a method that can distinguish the start and end of a gesture. Then, we describe the method of recognizing an extracted gesture.
Interaction between wearable robot and the user may cause skin injury, especially the pressure ulcers due to sustained pressure at the connection site. In this study, relationship between pressure ulcer breakout time and applied pressure which is the major cause of pressure ulcer is modeled using human experimental data. The model is proposed to be used to limit the wearable robot use time depending...
In this paper, a fuzzy compensation (FC) technique along with the on-line system identification of two actuator systems of a one-wheel robot. Recursive least square (RLS) algorithm is used to identify the system with FIR-typed moving average filters for both a gimbal and a body system. To compensate for uncertainties in the modeling process, a fuzzy compensator is designed. Experimental studies of...
This paper presents dynamics control of underwater vehicle based on motor velocity servo. For control of robot's location, pose, velocity in complicated underwater environment, this study estimates hydrodynamic coefficients by using backstepping technique. Estimated hydrodynamic coefficients are to be used for controlling of robot's exact location, pose, and velocity, within the framework of adaptive...
Recently, biomimetic robots have received great attention as an alternative to overcome the limit of conventional robots. However, there is no standardized methodology to design and determine the specifications of biomimetic robots. In this paper, the concept of allometric scaling and its application to biomimetic robot design considerations are discussed. Also, characteristics of motion data of small...
Autonomous navigation is a basic feature for unmanned vehicle systems. For successful autonomous navigation, safety and mobility should be considered for path planning. For safety, a path should be planned to avoid threat, and for mobility, it should be planned by considering landscape and robot dynamics. This path can be obtained by applying the threat and mobility information to calculate the cost...
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