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This research aims to study the parameters that contribute to the crawling performance of the snake robot inside an inclined pipe. The shape and motion propagation of the snake robot directly affect the forward crawling speed of the robot inside a pipe. Motion shape code is proposed as the simplified method for describing shape of a modular snake robot. The motion propagation can be created by shifting...
Micro rubber pneumatic actuators have attracted in medical and biotechnology fields, especially they have been expected for minimally invasive surgery and handling biological cells because of high safety caused by low mechanical impedance.
Dielectric Elastomer is considered as a kind of promising biomimetic actuator material which behaves similar to human muscle and can produce significantly large strain at high pre-stretch. It generated considerable interests in recent years for use in robotics and mechatronic applications. This paper is mainly on fundamental planar actuation experiment from which we abstract some Voltage-Area deformation...
A new technique for face recognition is proposed, which uses active appearance model (AAM) to extract facial feature points and uses global shape features to recognize face. To enhance performance of AAM, we use Adaboost to locate positions of eyes. After extraction of facial feature points, we use any two points of global shape features and compute the distance of two points as a descriptor to construct...
Robot learning by demonstration (LbD) has been a natural learning paradigm through which robots can learn the underlying tasks from human's demonstrations. In most LbD related work, the demonstration normally just includes simple and short-term actions like gestures and grasps. Little attention was paid on the demonstration learning of long-term motions. In this paper, we propose to study the motion...
The work reported in this paper is motivated by biomimetic inspiration - the transformation of patterns. The major issue addressed is the development of feasible methods for transformation based on a macroscopic tool. The general requirement for the feasibility of the transformation method is determined by classifying pattern formation approaches and their characteristics. A formal definition for...
The rendezvous and landing missions are very significant for scientific explorations. In such missions, the navigation and guidance based on image data is very important. The spacecraft Hayabusa performed the descent flights to the target asteroid Itokawa in November of 2005. To accurately determine the spacecraft position, a landmark tracking scheme with the help of the ground operation was introduced...
In this paper, we propose a simple binary shape matching algorithm and its hardware implementation. A shape matching algorithm is a method to measure the similarity of objects in an image. This technology is generally used in image retrieval, inspection, and object detection. The proposed method uses a transformation matrix that handles translation, rotation, and scaling. With a combined transformation...
In the development of miniature opening and closing mechanism, piezoelectric element has been used as its actuator. This mechanism, however, tends to become larger and complicated as it needs a mechanism for displacement enlargement because of the infinitesimal output displacement. Therefore, an attempt applying buckling phenomenon of long column to the opening and closing mechanism has been made...
This paper describes results obtained in a preliminary investigation of a cooperative task consisting, for a pair of human operators, in moving a handle-shaped object between two predefined locations on a table. Seated, the operators use only upper body with single hand and arms in achieving this task. In a first step, each subject realized the task in a standalone mode. In a second step, pairs of...
This paper introduces a method for hand-raising gestures detection based on human body silhouette analysis in indoor environments. Past approaches have detected the gestures for isolated persons or seated persons. Our method can deal with moving persons in crowd. First, background subtraction based on integration of intensity histograms with codebook of color feature is employed to segment human bodies...
In this paper, we present a one dimensional descriptor for the two dimensional object silhouettes associated with each level of barycenter contour for multiple views shape matching and retrieval. Firstly, the barycenter contour is applied onto the shape contour. Then the averaging multi-triangle area representation (AMTAR) at each level of barycenter contour is computed as the shape descriptor. Finally,...
Hinfin loop shaping is a feasible method for designing a robust controller; however, the controller designed by this method is complicated and has high order. It is not easy to implement this controller in practice. To overcome this problem, we propose an algorithm, GA based fixed-structure Hinfin loop shaping control, to design a robust controller. In the proposed technique, genetic algorithm is...
The development of a teleoperated robot for USAR (Urban Search And Rescue) activities has been discussed in the paper. Suitable camera view angle of the USAR robot has been examined by using simulation and it has been shown that wider angle than common usual camera is better for the robot. Isotropic bumping and touching object(IBO) has been proposed for the grouser of the robot crawler in order to...
The authors aim at the development of a 3D laser scanner that can measure uniform and dense 3D shape of static objects in dynamic environment. The 3D scanner was composed of a 2D Laser Range Finder (LRF) and Pan-Tilt base. 3D shape is measured by rotating 2D LRF that is tilted around the two axes. The laser point trajectory shows cross scan. Use of cross scan achieved the wide view angular and the...
Programmable force field, as a generalized supporting concept for universal part feeder, has been researched and developed for decades. A variety of fields has been proposed, most focused to the fewest possible part positions and orientations. However, there are more factors needed to be concerned in practical use, such as time consumed for part manipulation, or ability of the actual devices to create...
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