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This paper aims at designing a robust controller for a 2RT parallel robot for eye telesurgery. It presents two robust controllers designs and their performance in presence of actuator saturation limits. The nonlinear model of the robot is encapsulated with a linear model and multiplicative uncertainty using linear fractional transformations (LFT). Two different robust control namely, H∞ and μ-synthesis...
The simultaneous localization and mapping (SLAM) is a main problem in navigation of autonomous robots and solving it is interesting for researchers. Nowadays the SLAM technique is one of key part the navigation systems. In this paper, an efficient inertia SLAM algorithm has been presented for an unmanned aerial vehicle (UAV) or any airborne vehicle. The structure of mentioned inertial SLAM algorithm...
This paper presents a haptic system which has appropriate frequency to contribute much more real feeling to the users. In this system, haptic rendering is accomplished using streaming point cloud data of Kinect. A preprocessing phase including downsampling and noise reduction is applied to the raw point clouds to prevent huge computation load. In preprocessing phase, it should be concerned that the...
This paper introduces RF source localization in the absence of Line Of Sight signal reception considering the reflection phenomena. Reflection that can reduce the signal strength due to the angle of reflection and the distance between the RF source and the receiver. The proposed approach is used to localize an RF source based on the reflection model of signals from obstacles using RSSI and DOA as...
In automatic videosurveillance system, the first step is the extraction of moving objects. In this work, we investigate a new approach for foreground-background segmentation by using a modified Codebook algorithm. This approach exploit the perceptual information to optimize the detection. It is an adaptive strategy which is proposed to to reduce the computational complexity of the foreground detection...
Dynamic modeling and control of planar parallel cable robot with considering elastic and inertia effects of cables and pulley dynamic consideration in final equation of motion is calculated in this paper. In this paper, planar parallel cable robot has four cables, demonstrate one degree of actuation redundancy. More perfect dynamic equation of cable robot is derived that contains end-effector, cable,...
Continuous passive motion (CPM) is a treatment used to prevent stiffness of a joint caused by injury or surgery. Applying this method by rehabilitation robots improves the accuracy of the motion in addition to the length of the training. In addition, ankle is an important joint which has to stand the body weight and tolerate large forces during daily activities and exercise. In this paper, a rehabilitation...
In this paper, two nonlinear suboptimal control techniques are investigated to effectively design flight control system for a quadcopter. Quadcopters have nonlinear, multi-input multi-output (MIMO), coupled and underactuated dynamics. First, State Dependent Riccati Equation (SDRE) method is utilized to tackle infinite-time nonlinear optimal control problem of quadcopter flight through precise approximation...
Existence of asymmetric features in a passive walker can be the result of environmental and physical parameters such as mass distribution of legs, length of the legs, path slope, and so on. A great part of previous research works relies on the belief that lack of symmetry and equilibrium would amplify phenomena such as bifurcation and chaos and eventually would cause different step lengths and instability...
Filtering is an effective method of alarm management family that can reduce false and missed alarm rates significantly. Simple and effective techniques of fault diagnosis methods are popular in industry. So, deriving a simple analytic filter design approach is important. This study proposes a simple analytic linear filter design based on a probabilistic model of the system. At last, the effectiveness...
The advancement of technology has enabled new functions and possibilities for prosthetic devices. This advancement has introduced additional complexities for the user of the prosthetic devices. The added complexities can actually force the user to use simpler passive prosthesis rather than more complex and more flexible ones. This paper discussed the various aspects of the FUM Bionic Hand-I, designed...
Master-slave camera systems are ideal for detailed surveillance of desired targets in wide scenes. In this paper, we propose a fully automatic camera system that is structurally unconstrained and independent from both intrinsic and extrinsic camera parameters for detecting activities in indoor or outdoor environments. Unlike traditional models in our system, two wide cameras are used to reach the...
In this paper, a push recovery controller based on the Model Predictive Control (MPC) and Capture Point (CP) is developed. The three bio-inspired strategies that have been used for balance recovery are the ankle, hip and stepping Strategies. There are several cases for a biped robot where stepping is not possible. In this situation, the balance recovery by modulating the angular momentum of the upper...
In this paper, a new method based on ultrasonic waves is presented for particle positioning. In this method which is called acoustophoretic, at first, the particle is levitated and then is transferred to the desired position. Finite element software was applied for investigating and analyzing the effective parameters on this process. According to the simulations, after generating standing waves in...
This paper introduces a method to improve the feedback accuracy using multisensor data fusion. Flexibility in cables and unmodeled rotation of feeder pulley in the spatial workspace cause unreliability in the encoder data as well as sagging in cables. The purpose of this work is to provide an effective scheme to combine other sensors' information from multiple sources to increase the precision and...
Optimal solution for nonlinear identification problem in the presence of non-Gaussian distribution measurement and process noises is generally not analytically tractable. Particle filters, known as sequential Monte Carlo method (SMC), is a suboptimal solution of recursive Bayesian approach which can provide robust unbiased estimation of nonlinear non-Gaussian problem with desire precision. On the...
Accurate modeling of the circuits at different steps of design process is an essential factor for having a cost effective and high throughput final circuit implementation. In this paper an efficient system level modeling of a digital pixel sensor architecture with the capability of harvesting the energy of illuminated light is presented. For the modeling the SystemC-AMS analog and mixed signal extension...
Obtaining a dynamic model for the parallel mechanism is always regarded as a challenging process due to high complexity of the dynamic equations especially in presence of friction. In this paper the process of black-box identification of friction and rigid-body dynamics of an overconstrained 3-DOF decouple mechanism is addressed. Since the under study mechanism is an overconstrained parallel mechanism,...
In operating rooms, communication errors between the surgeons and assistants may be a source of inefficiency or error. In laparoscopic surgery, the endoscopic camera is an essential device, usually held by a human, and, why not, by a robotic assistant. In this paper, a novel four-DoF isotonic foot interface for controlling an endoscope positioner is proposed, featuring two rotational and two translational...
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