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The following topics are dealt with: biomimetic robot; networked robot systems; micro/nano sensing and manipulation; medical robot systems; human motion estimation/recognition; visual tracking and realtime robot vision; acquisition and control; service robot; motion planning and control of manipulators; sensing for mobile robot navigation; space robotics; modular/reconfigurable robot; evolutionary...
Flapping micro Unmanned Air Vehicles (UAVs) can be considered as high frequency periodic systems. Based on the averaging theory, only the mean aerodynamic forces and torques over a wingbeat affect the movement of the body. Therefore, a nonlinear bounded state feedback control law is calculated upon the averaged model and applied to the time varying system represented by the flapping body in order...
During the past decade, lots of diverse researches have been conducted on application of smart materials to build small-scale robots. Several small, powerful, and reliable piezoelectric actuators using piezoelectric ceramic materials have been invented. Among them, LIPCA was introduced as the best unimorph actuator suitable for bio-inspired robots. The actuator plays the role as an artificial muscle...
In this study, we investigate the flight characteristics for various design and control parameters by motion analysis using both constructed hardwares and computational models. We have developed a small flapping robot for use as an observation system in hazardous environments. Here, we have focused on a butterfly design with a few degrees of freedom (DOFs) and a low flapping frequency as a flapping...
- Based on general features of flying insects such as wing rotation, wing corrugation and wing clap-fling, we have introduced an insect-mimicking flapper actuated by a compressed unimorph actuator named LIPCA (lightweight piezoelectric composite actuator). The flapping performance of the flapper has been experimentally investigated in terms of flapping angle, flapping frequency and capability of aerodynamic...
It has been over two years since we successfully develop our own design of flapping micro air vehicle with its dimension of 50cm. But more specified and detailed development to adopt the flight mechanism of natural flyers was required during downsizing its dimension. So this has driven us to the further research on efficient flight system especially on its wing structure. This paper explains our development...
A critical challenge residing in E-healthcare robotic system is data communication over networks without performance guarantee. This paper proposes a novel way of using auditory feedback as the substitute for visual feedback to ensure that the telerobotic remote health monitoring system still functions in a real-time fashion under the unfavorable communication conditions, such as image losses, visual...
In recent years, the Internet-based teleoperation control has become a research focus. Compared with single robot, multi-robot system can be applied to many fields. It has the ability to complete the complicated tasks more rapidly and effectively. The combination form of the Internet-based multi-robot teleoperation system has attracted the widespread attention. However, due to the existence of the...
Since the aging population is increasingly affecting the society, health monitoring at home with interactive tele-operation is of interest to researchers and healthcare practitioners. Assistive technologies for telemonitoring at homes constitute a very promising avenue to decrease load on the health care system, compensate for shortages of nurses and improve life quality. Thus, we attempt to develop...
The indoor security problems such as fire, intruder, smog, etc., can be solved by development of a general type of security robot, which is characterized by mobile robot technology, security and information technology. In this paper, the establishment of approximate arc motion model and feature recognition technology more efficiently help the robot to learn the environment than single incremental...
Execution of complicated tasks all by robot itself within the physical and dynamic environment always shows low efficiency, facing the bottle-necks of machine intelligence. Compared with empowering robot with all kinds of functions and intelligence within its body, it is more natural and achievable to empower it with various kinds of resources as tools within its surroundings. Difficulties in realizing...
The stiffness and statics models of an improved 3-PRC (three-prismatic-revolute-cylindrical) compact compliant parallel micromanipulator (CPM) are established in this paper, which are quite necessary in selecting actuators according to the output forces. By investigating the elastic deformations in each flexure hinge, the statics equations relating the actuator's forces to both the applied external...
The performance evaluation on a newly designed XYZ compliant parallel micromanipulator (CPM) in terms of statics and dynamics is carried out in this paper, which is quite necessary in designing the CPM considering the stiffness and natural frequency requirements. By investigating the elastic deformations in each flexure hinge, the stiffness model in the working directions of the CPM is established...
Biological cell injection is laborious work which requires lengthy training and suffers from a low success rate. Although the development of biomanipulation technology has enabled steps towards automation of adherent cell injection, the automation of suspended cell injection remains a significant challenge. In this paper, a prototype cell injection system for automatic batch injection of suspended...
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