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Motion camouflage is a stealth behaviour observed in hover-flies and dragonflies, where a shadower (predator) moves in the presence of a shadowee (prey) while appearing stationary for the later at a fix point, called focal point. This paper presents a new way of obtaining motion camouflage trajectories for unicycle motion models assuming a known trajectory of the shadowee, when the velocities and...
In this paper, we compare three different trotting techniques and five different turning strategies on a small, compliant, biologically inspired quadrupedal robot, the Oncilla. The locomotion techniques were optimized on the actual hardware using a treadmill setup, without relying on models. We found that using half ellipses as foot trajectories resulted in the fastest gaits, as well as the highest...
A Personal Robot should be able to handle possible unknown objects in unknown environments. For a manipulation task the question what to do with an object once it had been grasped is one of the most essential ones beside the grasping task itself. We propose a placement planner for sensor-modelled objects in complex environments. The planner computes a stable position and orientation for the object...
In this paper ceiling affixed ARToolKitPlus 2D code artificial landmarks are evaluated for purposes of robot localization and navigation. Ceiling affixed codes rarely come in contact with people, equipment or robots, and for this reason they are more likely to stay detectable over a longer period of time. Multi threshold averaging, light gradient compensation and neighbourhood search techniques further...
Minimally Invasive Surgery (MIS) is less invasive and creating fewer post-operative complications compared with conventional surgery. This results in shorter recover times and, sometimes, outpatient treatment replaces for previously lengthier procedures. So MIS is the latest trend in surgery. However, MIS is usually associated with a limited view of the surgical view area and is difficult to handle...
Edge detection plays an important role in many advanced robot applications. Sometimes the boundaries of objects should be extracted. This paper proposes an edge detection algorithm that combining both color and depth data. Firstly, the Canny operator is applied to the color and depth image to extract initial edges. Then the color-edges are optimized using depth information to eliminate non-boundary...
Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed...
This paper presents a novel approach to obstacle-aided locomotion — pushing against obstacles in the environment to achieve propulsion — of snake robots. These machines are robots designed to mimic the propulsive behavior of biological snakes, and in nature obstacle-aided locomotion is the main means of propulsion for serpents. The solution presented in this paper is based on a static analysis of...
Presented is a coupled L∞ filter capable of simultaneously estimating model parameters for photo-geometric registration between two (or more) images. We also introduce a colour code based clustering technique to group features for fast and reliable matching. This technique is based on the CIE colour model and is invariant to illumination changes. An increase in speed of almost 2 times is observed...
Path planning is a fundamental method in solving mazes or moving robots traversing through open fields with obstacles. Q-learning method is a model-independent reinforcement learning method, which can be utilized in path planning optimization for robots in a multi-robot collaboration system. However, the efficiency of the traditional Q-learning algorithm is relatively low because of the adopted random...
The traditional triangulation algorithms in multiview geometry problems have the drawback that its solution is locally optimal. Robust Optimization is a specific and relatively novel methodology for handling optimization problems with uncertain data. The key idea of robust optimization is to find the best possible performance in the worst case. In this paper, we propose a novel approach which solves...
Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position...
Facility layout problem (FLP) which deals with the placement of facilities in the plant area is one of the most critical problems in manufacturing systems design. This paper presents a novel facility layout approach based on differential evolution (DE) algorithm. Firstly, mathematical model with constraints for the FLP is established. Then, a new facility layout algorithm based on DE is proposed,...
Rotary-percussive Drill (RPD) has been widely employed in extraterrestrial exploration as a main drilling and sampling device. Percussive mechanism, as an inevitable part of RPD, is commonly utilized to exert percussion onto drill stem to improve drilling performance once hard rock is encountered. However, since driving resource provided by the probe is limited in lunar exploration, outputs of percussive...
A prediction adjustment parameter η for model predictive control algorithms to enhance complex trajectory tracking is introduced. The η methodology is tested in simulation and on an experimental setup using DMC and GPC algorithms.
Minimum time optimization trajectory planning problem which can generate smooth trajectory of joints of robot is still complex and difficult to solve. A novel hybrid cubic B-spline and convex optimization method was presented for trajectory planning of robotic manipulator in this paper. First, the first and second derivatives of path trajectory coordinates s, called pseudo-velocity and pseudo-acceleration...
As a key structure in an aircraft, rudder is employed to steer the flight vehicle under the instructions of center control unit. There are three main components in rudder: actuator, transmission, and control surface. Power is usually transmitted from the actuator to the control surface via the transmission. To some degree, the performance such as the efficiency and rigidity of rudder is directly determined...
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