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As a part of the Elderly Assisting Robot, we designed a Beckhoff based multi-motor controlling system for a four-DOF lightweight robot arm after comparing with present robot arm controlling methods and the market demand analysis. A gear-based two-DOF joint was chosen to realize the dexterity. Various types of PID regulators were implemented to improve the performance of motors. RS232, CANOpen and...
Throwable miniature robots are very suitable for initiative reconnaissance and surveillance in important targets of sensitive areas. However, the throwing deployment mode of miniature mobile robots demands excellent anti-impact property. Moreover, another crucial problem resulted from the small volume of miniature robots is the difficulty of packing locomotion, sensing, computing and power subsystems...
This paper considers trajectory tracking control problem for internet-based teleoperation system under time varying communication delay. The design comprises delayed position signals with the local velocity and nonlinear adaptive control signals. Adaptive terms are used to learn and compensate uncertain parameters for the gravity loading vector of the master-slave device. Lyapunov-Krasovskii-like...
This paper deals with a novel model free approach composed of coupled adaptive nonlinear and linear oscillators with emphasis on make robot's walking more stable and faster. In this regard Matsuoka neural oscillators have been used to generate control signals to control the locomotion of a humanoid robot. To reach smoother walking and increase speed and robustness, the current system controls roll...
The distributed optimal fusion problem for the state estimation of multi-sensor discrete-time stochastic systems with additional state equality constraints is considered. After obtaining the filtering error cross covariance between local filters, by the distributed optimal fusion algorithm weighted by matrices, the constrained distributed optimal fusion filter is derived. A numerical example shows...
Due to limited sensing and communication capabilities, a team of robots must maintain connectivity for information exchange while performing group tasks. Maintaining connectivity of networked robots is always a challenge in multirobot cooperation. In this paper, we develop a novel controller to guarantee multirobots with limited communication capabilities to approach their individual goal positions...
Bridge structural health monitoring is a multi-parameter monitoring for guaranteeing safe construction and service of bridges. Focused on the features of the collected data by various front end sensors, that are reflecting bridge structural health state such as strain, vibration, distortion, cable tension etc., a bridge structural health data analysis model is established in this paper, based on semi-supervised...
Base on the ZigBee technology, a wireless sensor networks for remote home environment monitoring and health care monitoring was built in this paper, and the applications of data fusion algorithms in system of front & back end data processing were deeply discussed. The experiment is proved that the applications of data fusion algorithm, which is a combination of Bayesian estimation and fuzzy reasoning,...
Manipulation of biological cells has recently drawn tremendous attention for its wide applications in biomedical fields such as cell-cell interaction, drug discovery, and tissue engineering. This paper presents a rapidly-exploring random trees (RRT) based path planner for transportation of biological cells in robotic transportation with optical tweezers in three dimensions (3D). By integrating the...
Capsule endoscopy (CE) is a revolutionary technology that enables physicians to examine the whole digestive tract in human body in a minimally noninvasive manner. However, it is reported that the large amount of video data yielded in each examination produces a troublesome and time consuming task for a clinician and it takes about two hours on average to examine. To reduce such a heavy load for clinicians,...
ECG and pulse waveforms are important physiological parameters that can be utilized to analyze noninvasively physical condition and monitor cardiovascular diseases. In recent years, they were studied for evaluating the effects of exercise on human body. However, the systematical analysis on the changes of ECG and pulse waveforms before and after exercise has not been found. This study examines the...
The development of Auto-ID technologies has brought new opportunities to improve tracking and tracing process and thus enhance safety and traceability in the food supply chain. EPCIS (EPC Information Service) is a crucial specification for enabling EPC-related data sharing within and across enterprises in standardized way. Due to the limitations of real case implementations, we exploit a simulation...
With the world economy warmer, new opportunities for development of logistics industry have been brought. Under this new situation, how to improve the productivity and reduce the operating costs are very important issues for enterprises. Wireless Fidelity and Real Time Location Systems used in automatic warehouse management system can make the management of storage, transportation and distribution...
We introduce a Multi-Point Stochastic Insertion Cost Gradient Descent (MuPSICGD) heuristic algorithm to solve multi-depot split-delivery vehicle routing problem (MDSD-VRP) through an innovative approach. We also describe two solution improvement techniques that can further enhance a fairly good solution. Our contribution is threefold: First we present a heuristic-based mechanism to solve multi-depot,...
A wireless sensor network refers to a spatially distributed autonomous sensor system to monitor physical or environmental conditions and to cooperatively pass their data through the network to a main location. With many industrial and consumer applications, the study of of wireless sensor network has attracted much research attention recently. In this paper, we study the sensor network cluster location...
Based on the analysis of present security situations of food industry, this paper illuminates a new security detecting architecture and a synthesized information platform, called Synthesized Architecture of Food Security Detection (SAFSD). The platform is not a simple software or a hardware, but a synthetic system, which integrates effectively the information resources of government management departments,...
Piezoelectric ceramics actuator is widely used in ultra high precision and tracking mechanism for the advantages of simple construction, high response frequency, rapid dynamic performance and excellent heavy carrying capacity. But the hysteretic nonlinear characteristic reduced the tracking precision. A modified modeling method based on dynamic recurrent neural network(DRNN) is designed in this paper...
The fault diagnosis method based on grey relation analysis needs choosing reference pattern vectors which have a strongly ability of classify and identifying fault, otherwise the veracity and reliability of fault diagnosis can be greatly reduced. On basis of traditional grey relation analysis, multi-samples were adopted as reference signals and the relation indexes between multi-sample reference signals...
This paper presents a new nanometer displacement sensor with a mechanical amplification structure based on flexure hinges. There are many advantages of the new sensor, such as large operating range, small size, high linearity, and low cost. In this sensor, the input nanometer scale displacement will be amplified by flexure hinges with a multi-stage enlarger configuration. Then the expanded displacement...
Grey multiple attribute fusion method is put forward in this paper and applied to condenser fault recognition in which grey relation analysis is combined with multiple attribute decision making. First the state parameters of condenser are fuzzed and use traditional relation analysis method to calculate the relation coefficients between pattern samples and the samples to be diagnosed. The classical...
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