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The article introduces an actinomorphic soft robot that possesses a flattened body with a number of arms radially symmetric distributing and extending from robot central disc. Hence, mimicking radially symmetric musculature animals like starfish. The robot arm system, consisted of arm and smart material alloy (SMA) springs is the support structure as well as the robot propulsion device. A novel approach...
This work aims at developing a motor path generator for applications in mobile robotics based on a chaotic neural network. The computational paradigm inspired by the neural structure of microcircuits located in the human prefrontal cortex is adapted to work in real-time and used to generate the joints trajectories of a lightweight quadruped robot. The recurrent neural network was implemented in Matlab...
This paper presents a novel image haze removal approach from single image. In the algorithm, the constant albedo and dark channel prior methods are combined to represent the transmission model of hazed image. And then, the quick shift segmentation approach is introduced to decompose the input image into some gray level consistent areas. Compared with traditional fixed image partition schemes, better...
This paper presents a new scheme for on-line inertia parameters estimation for a rigid space debris captured by a tethered robotic system, based on a new dynamics model of the system where the base satellite and the space debris (target) are modeled as rigid bodies and the attachment points of the tether are offset from the centers of mass of the two bodies. In the proposed algorithm, the chaser and...
In this paper, a flexible in-vessel inspection robot for inspecting the first wall inside the vacuum vessel of Experimental Advanced Superconducting Tokamak (EAST) is modeled using the absolute nodal coordinate formulation. The robot is a macro-micro robot including three curved telescopic booms. When the curved telescopic booms are extracted and retracted during the operation process, its overall...
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...
Tumbler system is a self-stabilized platform and its mechanical structure and premium stability properties can be used for designing coaxial helicopters without using stabilizer bar or flyer bar. The advantage of adopting a tumbler structure in coaxial helicopters is that it will replace traditional stabilizer bar or flyer bar to greatly stabilize flying attitude as well to reduce the structure complexity...
The present generation of surgical tools is reliant on drills and cutting tools that cannot navigate through small corners present in complex bones such as the spinal column. This paper summarizes the development of a flexible robotic surgical system to be used in minimally invasive spinal surgery (MISS), targeting the removal of cancerous tissue. The cutting system consists of a flexible drill and...
A new robust lane marking detection algorithm for monocular vision is proposed. It is designed for the urban roads with disturbances and with the weak lane markings. The primary contribution of the paper is that it supplies a robust adaptive method of image segmentation, which employs jointly prior knowledge, statistical information and the special geometrical features of lane markings in the bird's-eye...
Long-term relationships between humans and robots will expand in the future. We therefore consider that an affinity to robots is one of the important components of a stable relationship. In this paper, we propose an action selection system for robots. We expect the system to select an appropriate action that matches human's individual preference. We used an emotion estimation system to achieve this...
This paper addresses the forward kinematic model (FKM) of a continuum manipulator, namely the Compact Bionic Handling Assistant (CBHA). This model is an essential step in the design of an autonomous robot control. The CBHA is considered as a concatenation of three degrees of freedom (DoF) parallel robot with 3UPS-1UP (Universal-Prismatic-Spherical) joint structure along the backbone. A mathematical...
For an Unmanned Surface Vehicle (USV) system, it is difficult to obtain a precise system model. This is mainly because the USV system is, 1) of extensively complicated and thus presents huge nonlinearities, and 2) easily to be influenced by extensive hydrodynamics. In this paper, our main motivation is to construct a quasi-Linear Parameter Varying (qLPV) dynamical model for a water-jet propulsion...
Current robotic manipulation techniques for optical tweezers assume that the trapping stiffness of optical trap is constant and exactly known. In addition, the dynamic interaction between the cell and the manipulator of laser source is usually ignored in the analysis of the optical manipulation problem. In this paper, a control scheme is proposed for optical manipulation of biological cell with unknown...
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...
A nature snake changes its gaits in different environment, so it is important for a snake-like robot to have more available gaits for a higher adaptability. In this paper, a novel snake-like robot is proposed to verify the motion fusion of rectilinear gait and serpentine gait. At first, the two gaits ant their fusions are analyzed and modeled. Then, the robot mechanism is designed to realize these...
This paper presents a novel method based on the velocity disturbance to control the locomotion of a snake-like robot. The inputs are joint torques which are derived from the dynamics equations. The traditional dynamics equations of a snake-like robot are complex, so a simplified dynamics equations are firstly derived based on the differential geometry theory. Then the velocity disturbance is introduced...
The catheter based minimally-invasive closure of the left atrial appendage for stroke prevention can be realized by placing foldable structures in the heart with the help of a catheter. As a platform for the development and the evaluation of new devices, a phantom was developed that allows to perform the intervention under realistic imaging conditions. The centerpiece of the phantom is an anatomical...
Robot-assisted Cardiac Surgery has remarkably helped surgeons to operate on a beating heart. The robot is preferred to move simultaneously with a point of interest (POI) on the heart surface such that surgeons are enabled to operate as if the heart is stationary. Hence an output regulation technique is proposed in this paper for the surgical robot to track the heart motion without exactly knowing...
In this paper, we present a mechanical design of a conceptual hybrid autonomous underwater vehicle (H-AUV) which combines the features of both a propelled underwater vehicle and those of an underwater glider. We develop its dynamic model and perform several simulations to showcase its locomotive capabilities. The main contribution of the paper is in the proposed motion planning technique to solve...
In this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. The main objective of the paper is to develop a model that is well suited for control design and stability analysis for swimming snake robots. The proposed model is notably less complex than the existing models, while significant parameters such as added mass effects,...
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