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The new open-source Matlab/Simulink toolbox called RT-MaG presented here generates reliable standalone robotic applications running on real-time embedded Linux targets such as tiny Computers On Module (e.g., Gumstix boards). This toolbox gives direct access from Simulink to the main communication drivers classically used in robotics: network interfaces (via UDP), asynchronous and synchronous serial...
Crustal movement simulation takes the very essential effect in the research on water cycle and related land surface processes. In this paper, a crustal movement simulation system (CMSS) is presented. The system enables researchers investigate the effects of crustal movement on rivers and lakes in the laboratory environment. The CMSS proposed consists of twelve sets of parallel mechanism supported...
In this paper, the design of a new compliant two-axis PZT actuated gripper is proposed based on flexure mechanisms. Its uniqueness is that both of the two gripper jaws can achieve two degree-of-freedom (DOF) movement. A lever structure is designed to meet the requirement of larger displacement due to the stroke limitation of the actuator. The gripper parameters are optimized by using genetic algorithm...
Breast cancer is the most common cancer in female. Accuracy of breast biopsy intervention is necessary for the certain breast cancer diagnosis. Many breast navigation systems have been developed in the past time to cope with this uncertainty, however, the worthwhile accuracy could not yet reach due to the breast deformation during the intervention. The concept of breast mathematical model to simulate...
The middle ear is a sophisticated mechanism which transmits sound waves from the outer ear to the inner ear, while it amplifies and filters the sound waves depending on their frequency. However, the sound path can be broken due to traumas, infections, ossification or alteration. In this case, the surgeons reconstruct the sound path with an implant, mostly with passive titanium prostheses. Developers...
A novel robot arm called deformable arm for the service robot is presented in this paper. A flexible working space and the ability to deal with multiple tasks are obtained with a single arm by changing the arm shape. However more flexible use brings difficulties in actual use, the arm's parameters will be changed with the different arm structure and cannot be calibrated with conventional methods....
It is a significant problem to learn the scene correlation of uncalibrated static cameras, which can be applied for intelligent surveillance systems with a large scale camera network. Some existing approaches learn the scene correlation among camera views by tracking targets across cameras. They seldom analyze the scene correlation among cameras with appearance modeling for moving targets. In this...
This paper is concerned with the detection of moving objects using a pan-tilt camera and a background subtraction algorithm. Traditionally, motion compensation is performed on the current image to align its pixels with their background models in previous frames. Pixel misalignment however can occur during motion compensation. Although this problem can be alleviated by using pixel motion such as the...
Development of computational models of the brain is relevant not only for deepening our understanding of the biological system but also for potential applications to various engineering problems. In this paper the implementation of a bi-hemispherical neuronal network model of the cerebellum (biCNN) in a stand-alone, portable real time (RT) device is presented. The biCNN is tested during a control...
A means for fast and accurate indoor localization using point-cloud data is presented. A sparse environment model is proposed, comprised of a list of planar patches. It is shown that, with this simplified model, incoming point-cloud data can be associated rapidly with one (or none) of the constituent planes, and the environment model can be fit to the clustered sample points algebraically in a least-squares...
This paper presents a non-iterative pose-graph optimization algorithm for fast 2D simultaneous localization and mapping (SLAM). The graph-SLAM approach addresses the SLAM problem using a factor graph structure. For a pose-only SLAM problem, landmarks are not explicitly modeled and are not a part of the SLAM problem. Conventional pose-graph optimization methods minimize the error by an iterative local...
We present a visual servoing system for the synchronization of a robot with a dynamic rigid body using a particle filter-based state estimator. We experimentally demonstrate its application for robotic loading of parts onto oscillating hangers in an industrial paint line. The particle filter is implemented with a physical dynamical model of the hanger, using the Euler equations for a pendulum with...
To make up the shortcoming of numerical controlled machine fault diagnosis, a comprehensive fuzzy decision-making method is proposed in this paper. The new method combines fault phenomenon with fault reason. Based on the theory of fuzzy mathematics, the fuzzy relationship model between fault phenomenon and reason is established. And the comprehensive fuzzy diagnosis is realized with T-S model. Based...
Navigation through an intersection is a fundamental task that will enable an autonomous car to operate in a real traffic environment. Previous studies about intersection navigation generally assume vehicle to vehicle communication ability for all of the vehicles. Since this is unattainable in the near future, we focus on the scenario that vehicles on the road cannot communicate with each other. A...
Percutaneous transluminal coronary angioplasty (PTCA) has been proved to be a standard solution to most cardiovascular diseases (CVDs). The surgical simulator provides the trainees a new vehicle to learn this skill much more conveniently and effectively. The blood vessel model is at the core of the virtual environment. In this paper, a robust and semi-automatic approach to segment the abdominal aorta...
In order to solve the problems of complex calculation and uncontrolled accuracy in dynamic model of flexible manipulator, a new method of building dynamic model is proposed based on a new model with springs and rigid bodies. According to this method, manipulator is simplified as some rigid bodies connected by springs. So new dynamic model is built by Lagrange equation with added elastic energy which...
In the present paper a compact model for a piezoelectric drop-on-demand (DoD) printhead is derived from basic electrical, mechanical and fluid mechanical relationships. The model covers the whole droplet generation process, spanning over the electrical as well as the mechanical and fluidmechanical domains. It allows predictions about essential droplet characteristics, such as droplet volume and flight...
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