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.
Manipulators that execute tasks by following assigned trajectories, experience limitations in mobility when encountering singularities within their workspace. Generating trajectories for manipulators thus requires the avoidance of singular configurations as way points of the path to prevent the manipulator from assuming poses that limit the degrees of freedom of the manipulator. This paper establishes...
Multi-tasking in actions help humans produce actions that satisfy the need of multiple purposes. Even though humans may apply multi-tasking when producing actions, a control device mainly produces a control action that can only satisfies a single task. In this research, a method of Learning Control that utilizes compound function in developing and applying multiple control knowledge (state-action...
This paper deals with a virtual prototype of spatial redundantly constraint cable-driven parallel robot (CDPR) using object-oriented modeling approach. The main physical components of CDPR such as platform, winches, pulleys and cables are mathematically and object-orientedly modeled in Dymola. The parameters used are based on the SEGESTA prototype which is a spatial type CDPR developed for industrial...
A high-speed and accurate hand pose estimation is needed so as to generate input commands to a humanoid robot for the operation by a human operator or user with his/her everyday gestures. In a 2D-appearance-based approach, the larger the scale of reference database is, the better for the hand pose estimation with high accuracy. But individual differences in human hand shape vary by gender, age, and...
Depression is a serious mental health challenge. If left untreated, it could lead to other critical symptoms, even suicide. In Malaysia, the prevalence is estimated between 8–10% of the population but it is often under-recognized and undertreated. This study is the first one in Malaysia to propose an animal robot to provide mental support to patients with depression. The main objective of this paper...
This paper presents a linear time invariant model identification for beetle mimicking flapping wing micro air vehicle (FWMAV) in hovering mode. The identification is facilitated by assuming the wings of the beetle rectangular in shape and the body is considered cylindrical. The main thrust is provided by flapping the wings of the FWMAV whereas the trailing-edges-change mechanism was kept off. The...
A formation transition strategy for a fleet of cooperative mobile robots is presented in this paper. Switching to a new formation in order to handle a specific task is controlled by subdividing the plane of movement into different zones with the assumption that each zone involves a specialized task to be performed by a specific agent. As such the robots adapt their formation as they hit a new zone,...
This paper presents a human-robot interaction (HRI) interface designed to control heterogeneous multi-robot teams for urban search and rescue (USAR) applications. The interface allows an operator to configure and create teams from a list of available robots, and also monitor and control individual robots during the search mission. The motivation behind the design of this interface is to have a user-friendly...
In this work, we consider the estimation problem of multiple unknown sources of radiation with measurement uncertainty by using multi-robot systems in a geometric environment. We proposed the scheme for intensity estimation method of multiple radioactive sources using the particle filter with disperse resampling algorithm and source separation strategy. A team of mobile robots will estimate the source...
A recent approach to increase the mass sensitivity of quartz crystal microbalance (QCM) sensors is by adopting sensing mediums made of high aspect ratio resonant micropillars. In this paper, finite element method (FEM) simulation of a 5MHz QCM with a resonant SU-8 micropillar over its surface is conducted and the significant relation between the resonance frequency shift sensitivity of the QCM-pillar...
Tactile illusions as a practical method in virtual reality allow us to induce a real feeling of an object's properties such as shape or texture although the object not physically exists. The moving wires between two hands induce a velvet-like sensation to hands called Velvet Hand Illusion (VHI). We have proposed that VHI can be used in a tactile display in virtual reality. In order to examine this,...
Most smart material based actuators (smart actuators) are known for their prominent characteristics of a high resolution of positioning, high bandwidth, and the ease of integration in miniaturized systems. However, their applications are restricted by the inherent hysteresis nonlinearity. This paper presents a new nonlinear discrete control design to improve hysteresis compensation in the smart actuators...
In this paper, a novel interval sliding mode observer is designed to detect incipient faults for a class of non-Lipschitz nonlinear systems with mismatched uncertainties. The interval estimation concept is introduced to design interval estimator for the nonlinear subsystem with uncertainties bounded by known intervals. Then novel injection functions are designed to ensure that the sliding motion takes...
This paper describes the work done in developing a simple low-cost system for tracking upper human limb motion system with relatively satisfactory accuracy and repeatability. The system mainly uses two inertial measurements units (IMU)-based sensor, connected to an Arduino Uno microcontroller, which are plugged to a personal computer (PC). An open source 3D visualization code is used to display the...
This paper discusses the dynamic behavior and stability of the marionette style elastic tendon driven robot arm. The purpose of this study is to develop a low-cost and customizable robotic mechanism and its controller suitable to perform tasks involving interactions with the environment. Winding devices for the tendons are located at the remote base, and the tendons are directly connected to the arm...
Modern robot researches focus on disaster response to carry out several missions by a robot itself. Robot software should handle a large number of calculation under real-time constraints. And also, the software design should be complex to process a lot of sensors, which increases a number of factors to consider for the system performance. In this paper, we present the software architecture design...
EEG signal is one of the biological signals that can be useful to control wearable robotic devices, according to the human motion intention. However, the real-time estimation of the user's motion intention from EEG signals is cumbersome. The user's motion intention might not be estimated when the user does not concentrate on the control of the robot, distracted by other things or disturbed by the...
This study presents a kinematic and dynamic analysis of human normal walking in order to establish a mathematical model for the control system of a lower-limb exoskeleton for gait rehabilitation. Based on the number of supported legs, the model analysis was divided into two: a serial approach for one supported leg and a parallel approach for two supported legs. The full model consists on a 7-link...
Ankle sprain is one of the most common injuries among sports with high occurrence and recurrence rate of over 70%. This injury can be prevented with proprioceptive trainings, such as wobble board training. These training can increase range of motion in the ankle joint complex and strengthen musculature of the foot ankle and lower leg. However, most basic wobble and rocker board lack biofeedback during...
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.