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Lek behavior is a biological mechanism used by male birds to attract mates by forming a group. This project explores the use of a biological behavior found in many species of birds to form leks to guide the creation of groups of robots. The lek behavior provides a sound basis for multi-robot formation because it demonstrates a group of individual entities forming up around a scarce resource. This...
The biomimetic undulating fin, RoboGnilos, is inspired by natural fish that generally swim via undulations of a long dorsal or anal fin. However, the present performance of this fin-type underwater propulsor can hardly be satisfactory in velocity, efficiency, or maneuverability, and retains a long distance to practical applications. This paper examines the dynamics of the undulating fin, and proposes...
Many practical application in the field of robotic and perception are using angular data. In this work we present a multi-sensor multi-temporal data fusion filter for angular data. Most of the time, statistic filters, are designed on linear domain. In this work we propose a recursive filter defined on the circular domain with a von Mises distribution. In our application we consider a set of measurement...
In this paper, we describe a novel method of word acquisition through multimodal interaction between a humanoid robot and humans. The developed robot realizes word, actually verb, acquisition from raw multimodal sensory stimulus by seeing movement of the given objects and listening to spoken utterance by humans without symbolic representations of semantics. In addition, the robot can utter the learnt...
The accuracy of corner detection is critical for many machine vision applications. A novel corner detector based on video is proposed in this paper. The corner detector can effectively constrain camera noise by using multiple frames from video. The kernel of this method is the similarity algorithm which including a special representation of binary image, a robust template, a simple similarity function...
As a novel service robot, the automatic cooking robot (ACR) has been attracting many people's attentions. But the existing products still have some disadvantages, especially the quick-return mechanism used as the main mechanism to turn over the pan. There are always large vibrations and noises accompanying with the motions of the quick-return turning-over mechanism. And its stability and reliability...
Many industrial motion systems use electronic motors. However, big power systems that make automobile frames, roll blending machines and many other systems can't use electronic motors due the latter's relatively small power. In order to solve this problem, we propose using hydraulic systems. The open-loop control method and the close-loop control method are widely used to control hydraulic systems...
An improved particle filter algorithm is proposed for WSN-aided robot localization. This algorithm introduces node reliability and proposes its expression to realize information fusion among nodes. After having computed node reliability, sensor nodes with high localization, and take effect on updating particles according to their reliability. Furthermore, a novel simulation system for WSN-robot based...
Stochastic resonance has been found to be a common mechanism in a variety of physical and biological systems including signal transduction in human audition and vision. It was supposed that adding stochastic noise signal to the texture force model could enhance the realistic of haptic texture display. Based on this assumption, the prior texture force model based on image processing was improved by...
This paper investigates theoretical and experimental comparison of LS estimation and Bayesian type filters such as EKF, UKF, PF and GMSPPF (Gaussian Mixture Sigma Point Particle Filter) methods for dynamic identification of a 6-DOF parallel motion platform. Comparison results show that the UKF method and the GMSPPF method are most efficient and easy-to-use parameter identification approaches for highly...
In order to overcome the drawback of the normal unscented Kalman filter (UKF) a novel adaptive UKF (AUKF) is developed and applied to nonlinear joint estimation of both time-varying states and modelling errors for helicopter. The filter is composed of two parallel master-slave UKFs, while the master UKF estimates the states/parameters and the slave one estimates the diagonal elements of the noise...
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