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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 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...
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...
In this paper, we propose a novel learning-based approach for single image dehazing. The proposed approach is mostly inspired by the observation that the color of the objects fades gradually along with the increment of the scene depth. We regard the RGB values of the pixels within the image as the important feature, and use the back propagation neural network to mine the internal link between color...
In robotic application, flexible actuator is the end terminal parts. Rigid actuators are accurate but have poor security and practicability. This paper designed a new type of pneumatic dexterous hand — flexible three-fingered hand. The flexible three-fingered hand grasping pattern can be divided into griping, grasping and holding. The pattern classification of flexible three-fingered hand is designed...
The deaerator pressure and deaerator water level are intercoupling in marine steam power plant. Traditional PID control strategy is difficult to get satisfactory control effect. We must take corresponding decoupling measures. This paper proposes a deaerator pressure and deaerator water level decoupling control strategy based on PID neural network, with which we can make comprehensive utilization of...
Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively...
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