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This work presents a mobile robot that moves suspended on transmission lines and/or telecommunication transmission lines, which can transpose signalizing spheres and sustaining insulators, placed at any position on wire. The use of multi body systems software helped in the development of the prototype allowing to visualize the three-dimensional behavior of the robot when the surmounting signalizing...
When working with mobile robots, a typical task consists in developing simulated tests before going towards the real implementations. Nevertheless, this simulation stage may be very time consuming for setting-up environments and robots. Also, after demonstrating that things worked well in the simulated environment, implementing algorithms in the real robots demands an extra time consuming stage that...
When there is the need of a robotic manipulator to follow a certain smooth and continuous trajectory, it involves the specification of the curve to be followed and the way the gripper should behave alongside it. This work aims to identify and analyze a technique to be used in a 3D virtual robotic simulator that executes smooth and continuous movements. It also aims to develop a method for trajectory...
Navigation is a broad topic that has been receiving considerable attention from the mobile robotic community. In order to execute a autonomous driving on outdoors, like street and roads, it is necessary that the vehicle identify parts of the terrain that can be traversed and parts that should be avoided. This paper describes an analyses of many multi-layer perceptron neural networks(ANN) used for...
Quality control, cost reduction and above all, human and environmental safety are great reasons that stimulate the investments in technologies such as automatic inspection. The automatic inspection of weld lines in storage tanks is of special interest due to the fact that such tanks are currently used to store harmful products. For a reliable inspection it is necessary to accurately detect the weld...
This paper focuses on the trajectory tracking control problem of a four wheeled omni directional mobile robot. The controller architecture considers both the kinematic and the dynamic control in a cascade structure, where a model predictive controller (MPC) is used to control the robot dynamics. Part of the control effort is used to compensate the friction effects, allowing for the use of efficient...
In this paper the hexarotor dynamic model with nonlinear inputs and full state back stepping technique is presented. Dead zone and saturation nonlinear inputs are considered reflected to the rotors. The goal is to obtain a faithful mathematical representation of the mechanical system for analysis and control design, not only in hover, but also in motion when take-off, land and flight for aerial navigation...
Evolutionary algorithms are very common techniques used in computational intelligence and robotics field applications. Some algorithms need a large amount of memory and processing power, making them difficult to implement into embedded systems. In this work a profile-based approach is proposed and applied in an evolutionary algorithm with some characteristics that allow it's use on embedded systems...
Humanoid robots are an extremely complex interdisciplinary research field. Particularly, the development of high size humanoid robots usually requires joint efforts and skills from groups that are in many different research centers around the world. However, there are serious constraints in this kind of collaborative development. Some efforts have been made in order to propose new software frameworks...
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