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In this paper, we propose a method for a mobile robot to navigation in textureless environment using an omni-directional camera. The method makes an environment map consisting of 3D edge points obtained from omni-directional camera images and estimates the locations of planes by analysing these 3D edge points so that the robot can autonomously travel while avoiding walls as obstacles. The method has...
A robust color image segmentation method based on weighting Fuzzy C-Means Clustering (RWFCM) is proposed for color image segmentation. The first component of color feature set is chosen as the one-dimensional eigenvector. In order to reduce the computational complexity, the mapping from pixel space to eigenvector space is used for modifying the object function. Feature distance which is applied to...
In this paper, online path optimization method for Unmanned Aerial Vehicles (UAV) by adjusting parameters of flight path is proposed. Especially, the energy efficient path for UAVs under the presence of steady wind is discussed. Although the relation between the energy consumption and the flight path parameters is hard to model explicitly in general, which induces the difficulty to adopt gradient...
This paper presents computer simulation and flight test of a small reusable rocket which was launched in an annual rocket launch campaign held in France. The mission of the rocket is autonomous guidance to a target point using parafoil. Authors developed a recovery system that has two stage parachute and parafoil riser separation mechanism to avoid tangling of string. Guidance controller was developed...
This paper proposes a self-position estimate algorithm for the multiple mobile robots, each robot uses two omnidirectional cameras and an accelerometer. In recent years, in Japan, the Great East Japan Earthquake and large-scale disasters have occurred frequently. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable...
Achieving robust dynamic walking is one of the most important properties for practical legged robots. This paper proposes two output deadbeat control laws for generating a robust dynamic gait in terms of convergence speed; one generates a discrete-time (digital) control input and the other generates a continuous-time one. We introduce an underactuated spoked walker for analysis, and show that both...
This paper proposes a new method to detumble uncontrolled large space debris such as malfunctioning satellites. There are many researches about a space robot capturing and deorbiting space debris. However it is generally very difficult to capture tumbling targets such as the malfunctioning satellites because these targets are out of control in attitude and rotate with nutational motion. Hence we propose...
The advantages of using force control in industrial or other type of robotic systems are well known. Study of such systems in virtual environment in the form of simulation is of great help for the design of a controller or a robot. In this paper, we show how to simulate different force control algorithms of a typical serial robot used in the industries before deciding to choose a suitable one for...
The purpose of this paper is to use Grey Relational Analysis (GRA) combined with Analytic Hierarchy Process (AHP) for choosing an English coursebook in the university. First of all, 12 English teachers were interviewed, and the elements of English coursebook were introduced. Next, the proposed GRA combined with AHP method is applied to analyze the importance of coursebook elements. Finally, the results...
The paper deals with the motion planning for a spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The condition of controllability is derived and it is shown that the robot is controllable unless the contact trajectory goes along the equatorial line in the plane of the two rotors. The dynamic motion planning problem is then formulated, and an approach based...
In this paper, we deal with duplex and quasi-duplex operations in automated food packing systems known as so-called automatic combination weighers. A typical food packing system possesses n weighing hoppers. Some amount of foods is thrown into each hopper, and it is called an item. In a duplex operation, two disjoint subsets I′ and I″ are simultaneously chosen from the set I of current n items to...
We assessed the feasibility of applying a resistive network (RN) filter to the scale-invariant feature transform (SIFT) algorithm by performing computer simulations for the hardware implementation of the filter. SIFT is an algorithm for computer vision to describe and detect local features that are invariant to scale and rotation of objects. However, it is difficult to perform multiple spatial filterings...
The latest video coding standard called high efficient video coding (HEVC) has been standardized recently to provide higher coding performance than previous state-of-the-art video coding standard H264/AVC. However, the near 50% bitrate reduction compared to H.264/AVC mainly comes from the adoption of several advanced coding techniques but at the expense of increased coding complexity as well as hardware...
In geological area, such as petroleum and mining exploration, virtual reality (VR) immersive systems have been largely used for geological data treatments. Most of such VR systems involve unimanual interaction with data in a stereoscopic visual environment. Many research activities have shown that bimanual interaction tends to provide better performance when compared to unimanual interaction. Thus,...
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