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During spinal surgery, spinal physiological motion (SPM) due to respiration can interfere with the operation. The patient is anesthetized and breathes passively with the aid of a respirator, causing periodic SPM. In this paper, a respiratory model based on the respirator flow waves is proposed; and a spinal physiological motion simulator (SPMS), which is based on a 3-RPS parallel mechanism, is developed...
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...
This paper proposes a human face tracking system for obtaining elderly people's facial images, which can be used to estimate their individual emotion. Quadrotors are used to overcome occlusion and obtain closer facial images, while Kinect sensors provide human detection and quadrotor navigation. Noise from the measured head position results in vibration of the goal position, and subsequently the quadrotor,...
In this paper, the contour tracking control of multi-DOF serial robots is developed for the first time and a new cross coupling control algorithm is proposed, based on contour errors of the end-effector and tracking errors of the joints. The contour error of the end-effector is transformed to the equivalent tracking errors of the active joints by the Jacobian regulation, and the control law is implemented...
In this study, we developed rehabilitation software for SEMUL (simple exercise machine for upper limbs). SEMUL has eight software routines; however, these routines do not manage to combine quantitative evaluation with user amusement. To solve this problem, we developed training software in the form of coin-collecting software. In addition, we developed the coin-collecting software such that it was...
In this paper, a wheel/track mobil platform for robot search and rescue such dangerous tasks is designed. Through the wheel/track transform mechanism, the wheel and track motion modes can be switched alternatively to adapt to different ground situations. The friction between the belt wheel and hub is used to drive the track and its guide wheel is the one of the transform mechanism. When the guide...
The purpose of the present study is to develop a person counting system using a 3D laser scanner. The system consists of a person-detection component, a tracking component, and a counting component. The person-detection component detects human bodies as a point cloud, even if a number of people are close to each other. To achieve this, we use a method of grouping the point cloud towards the bottom...
A new control strategy for redundant robot motion control is proposed in this paper. In this strategy, the robot manipulator can track different trajectory precisely submitting to a multi-level constraints model. The significant physical quantity, namely, torque of the motor, is considered in this multi-level constraints model. Besides, to track the different path effectively, a control law has been...
In this paper, a new method to detect wheeled mobile robot's position and orientation is proposed. First, we paste a black rectangle board on the head of the robot as a mark, whose long side is parallel to the robot's orientation. And then on the image plane, we use CAMShift to track the robot after some pre-processing. We will get a search window which includes the target robot only by the use of...
In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate...
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