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In this paper, the concept of modular robots is introduced to a type of multi-link snake robotic systems. The links of the traditional snake robots are evolved to intelligent modules, and this decentralized architecture can benefit for the removal of broken parts and the adding of new modules for reconfiguration. The module with automatic connector and wireless communication is implemented first,...
The flying mechanism of birds and big insects, especially the rules of wings motion in flight, are investigated, and some details of mechanical frame are also considered. The entire dynamic model of flight attitude of flapping wing micro aerial vehicle (FWMAV) is developed. The design of attitude controller is challenging due to the complexity of the flight process, and the heavy difficulty includes...
Whether the central nervous system of primates uses a body-centered or an eye-centered frame for reaching is still a controversial debate in neurosciences. Does the proprioceptive information allow to represent the visual information with respect to the body or inversely, does it transform the hand position in retinal coordinates? In this paper, we implement and test two control schemes associated...
The use of large scale multi-robot systems is motivated by a number of desirable features, such as scalability, fault tolerance, robustness and lower cost with respect to more complex and specialized agents. This work is focused on a a behavior-based approach to the problem of the multi-robot border patrolling, in the framework of the Null-Space-based Behavioral control (NSB); it is based on two previous...
Traversability analysis is a significant and challenging problem for planetary rover's navigation and safeguard on rocky and bumpy terrain. Moreover, the growing requirement for the micro rover in future planetary missions demands robust traversability analysis upon limited sensors and field of perception. In this paper, a framework for stereo based terrain mapping and traversability analysis in autonomous...
In this paper, locomotion of a capsule robot which is also called the Capsubot is studied. The Capsulbot is two-mass system and it moves with no external parts. In the previous our researches for the Capsubot, we have studied to find a proper control input through an optimal control and verified by simulations and experiments. The previous study for the Capsubot, however, was totally based on open-loop...
Detection of local feature covariant region is a new technology of image contents and image semantic representations, and it has become an important foundation of the image recognition, learning and understanding. First, a Laplace of Gaussian corner detection method is proposed based on edge contour curves, in the meantime, a new local feature descriptor, named covariant support region, is introduced...
In this paper a compact vision-based seam tracking system is designed for fillet joint. The main consideration in developing this system is its applicability and reliability. Thus programmable logical controller (PLC) is used as the controller and smart camera as the vision sensor. To get reliable image features, laser structured light is used. Besides its hardware structure, the image processing...
Local descriptors computed for key-points or interest regions are successfully applied in computer vision area. Among various descriptors, the SIFT based descriptors have been demonstrated to perform best. However, their computational cost is very expensive. In the paper, we propose a fast local descriptor, which is composed of the coding computed from the image patch centered at each key-point. The...
A control infrastructure for comparison of feedback inverse kinematics (FIK) with pseudo-inverse based methods is developed in this paper. The Kinematic model of Mitsubishi RV-1A, a six degree of freedom (DOF) robotic manipulator is constructed to map the Cartesian space trajectories into the joint space trajectories. The Denavit-Hartenberg (DH) parameters of this manipulator are calculated by using...
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...
The controller of robot or satellite is primarily implemented with electronic circuit. However, the controller circuit is vulnerable in the space. Faults and changing environment are two main factors that cause failure of the controller circuit. In order to survive in such harsh circumstances, an evolvable hardware method is used. In this paper, the robustness of evolvable hardware is analyzed in...
High aerial density is needed for improving the capacity in Hard Disk Drive (HDD). In order to achieve this task, tracking performance and robustness of HDD servo system need to be improved. H?? robust controller is one of the most popular techniques for the mentioned problem; however, order of this controller is usually higher than that of the plant, making it difficult to implement practically....
Research of modern flight control methods for unmanned aerial vehicles (UAVs), which lower the cost and risk associated with the design of actual physical flight systems, has become research hotspot in recent years. However, design of control laws for UAV is complicated and challengeable due to UAV uncertainties, nonlinearity and coupling. This paper proposes a new hybrid controller design scheme,...
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...
This paper presents a robust controller based on the application of the linear matrix inequalities (LMI) to solve the swinging up and stabilization problem of a serial double inverted pendulum (SDIP), which is of complicate nonlinearities and limitations of actuator and sensors. The designed H-infinity robust controller was optimized to realize the required objectives and eliminate the negative effect...
Repetitive control, a distinctive control method with a human-like learning capability, is of both theoretical and practical importance. This paper deals with the problem of designing a robust observer-based repetitive-control system that provides a given H?? steady-state disturbance-attenuation performance for a class of plants with time-varying structured uncertainties. A continuous-discrete two-dimensional...
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