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.
To execute such robotic tasks as behaving interactions with the environment, it is required to control not only the position of a manipulator but also the force exerted at the contact. The paper first presents the dynamic modeling of the mobile modular robot (MMR) which is composed of the mobile platform and the modular manipulator. The mobile robot, having two degrees of freedom(DOF) because of the...
This paper is about preservation of physical integrity of mobile robot for real outdoor applications encountered in agricultural field. Unlike other approaches that try to detect and to avoid obstacle, we consider the allowable speed grid. This grid depends on the vehicle capabilities, its dynamic constraints, its speed and the 3D rendering of the environment. We made a dynamic study to estimate the...
Reconstruction of movement control properties of the brain could result in many potential advantages for application in robotics. However, a hampering factor so far has been the lack of knowledge of the structure and function of brain circuitry in vivo during movement control. Much more detailed information has recently become available for the area of the cerebellum that controls arm-hand movements...
This paper introduces a passive dance partner robot for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, the passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. We also propose a control architecture referred to as CAST (Control Architecture for...
Different components are needed to control a service robot, which helps people in the household environment to do daily tasks. Controllers in closed loop are needed to control the actuators and sensors to provide actions. A sequencer schedules and coordinates these actions to finish a given task. And an AI planner is also needed to generate the sequence of the actions. Followed this well-known three-layer...
There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. A novel structure including an MWIP system and a movable seat called UW-Car is proposed in the study. The dynamic model of UW-Car system running in the flat ground is obtained by applying...
This paper presents the design, fabrication and characterization of a novel tactile skin-like sensor with the capability of detecting at the same time external mechanical stimuli like pressure and shear strain and that possesses some of the intrinsic properties of human skin, like extensibility, flexibility and compliance. The proposed sensor is resistive based and integrates two sensing parts built...
We have developed a finger-shaped sensor array that provides simultaneous information about the contact forces, microvibrations and thermal fluxes induced by contact with external objects. In this paper, we describe a microprocessor-based signal conditioning and digitizing system for these sensing modalities and its embodiment on a flex-circuit that facilitates efficient assembly of the entire system...
Humans rely on the feedbacks they received from a teacher in learning a new motor skill. Tactile feedback is effective in motor learning as it is direct and real-time. We proposed a 3D Orientation Guide (3DOG) which is made up of three coin-sized vibrating motors (tactors) to create meaningful tactile feedback to give users easily interpreted instruction on how to adjust their forearm postures and...
A novel three-dimensional force flexible tactile sensor based on pressure-conductive rubber is presented. The sensor has good flexibility and can be used to measure three-dimensional force. Its major principle is that we can obtain applied force through detecting pressure-conductive rubber's resistance. The preliminary results of the pressure-conductive rubber's finite element analysis and simulation...
In this paper, we presented a design for an automated single cell loading and supply system that can be used with complex microfluidic applications requiring single cell loading such as the current nuclear transplantation method. The aim of the system is to automatically transfer mammalian donor (~15 ??m) or egg (~100 ??m) cells one by one from a container to a PDMS micro-channel and then transport...
We have developed an automated cell cutting and its nucleus detection technique for automated nucleus transplantation. Animal cells softened by cytochalasin treatment were injected into a microfluidic chip. The microfluidic chip contained 2 orthogonal channels: 1 microchannel was wide, was used to transport cells, and to generate the cutting flow; the other microchannel was thin and used for aspiration,...
We proposed a polymer-metal hybrid MMT (magnetically driven microtool) which has properties of both elasticity and rigidity. A magnetic metal axle is made by electroplating, then it is mounted directly in the center of the MMT during molding. By using this process, we could fabricate a hybrid MMT whose fixed axes are elastic to move specific direction, while the center axle is rigid to prevent bending...
We have proposed cell coupling system for mammalian somatic cell cloning process in microfluidic chips. There are two kinds of nuclear transfer methods, microinjection and cell fusion; we selected the cell fusion method. Unlike the conventional method by the manual labor under the microscope, our aim is developing automated cloning work which is being performed in microfluidic chip. Although this...
This paper introduces the main idea of Nested Partitions algorithm, and applied it to solve the job shop scheduling problem. In the algorithm the job shop scheduling problem is considered as a partition tree. The algorithm partitions the feasible region and concentrates the sampling effort in those subsets of feasible regions that are considered the most promising. Genetic algorithm search is incorporated...
The minimal invasive surgery reducing an incision is required for a tumor resection in the field of neurosurgery. The minimal invasive surgery has many advantages of operations which are less lost of blood and painless using a thin long pole shape surgical instrument. For all those advantages, it has defects of difficulties of visual insurance and limitations of moving surgical instruments. Therefore,...
BVP Path Planners generate potential fields whose gradient descent represents navigational routes from any point of the environment to a goal position. The resulting trajectories are smooth and free of local minima. In this paper, we refine our BVP PP approach by introducing a novel form for the core equation that permits to easily cope with terrain inhomogeneities. This is accomplished by changing...
The probabilistic roadmap method (PRM) has been widely used in the field of robot path planning and based on it, a great number of variants have been developed addressing for different purposes, e.g. the lazy PRM method, the dynamic roadmap (DRM) method, and the dynamic bridge builder method (DBB). In this paper, PRM is extended as well-a hierarchical roadmap based rapid path planner is presented,...
We develop a one hand drive wheelchair with original manipulation mechanism and power assist mechanism. In this investigation, first, we improve the transfer mechanism of this wheelchair. As a result, using an improved mechanism, the running resistance of the wheelchair decreased with about 1/2 to the previous one. The effects of this improvement are verified by long distance drive experiment using...
For example, there exist some wheelchair users, who cannot operate a powered wheelchair well by using a joystick, which is usual manipulation equipment of powered wheelchairs. A prototype of our group has simple manipulation equipment, constructed by buttons or levers. This operation equipment restricts the running performance of wheelchair. On the other hand, due to the restricted running performance,...
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.