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Gratings tiling refers to assembling serial small-sized sub-gratings, to make them into a single integral large aperture grating by means of mechanical process, which is mainly used for pulse compression in the high-energy laser system. In order to ensure that the parallelism and coplanarity between the sub-gratings meet high requirements of submicron level, the grating tiling device itself needs...
Authors developed a novel type of cable reel named “Unicorn Reel (UR)” for mobile robots working in hostile environments that utilize a cable for communications and power supply. Authors introduced a pipe-elected reel configuration for the UR to receive the cable from all directions, and a new type of level winder consisting of passively swing lever to lead the cable from the pipe to the reel. Although...
This paper presents a path planning and collision avoidance method based on artificial bee colony (ABC) optimization algorithm for multi-robot systems. Standard ABC algorithm can find a proper way for the robots quickly, but it still has shortcomings. An improved artificial bee colony optimization algorithm (IABC) is proposed to plan a reasonable collision-free path for each robot of a multi-robot...
Foraging is the process of collecting food from the environment. Several food sources may be available in the environment with different properties like food nutrition, distance from the nest, predator risk, etc. A forager must collect food from source at any point in time. Forager may not always select a food source with the highest food quality as the associated risk due to predators may be high...
Most multi-robot task allocation algorithms are concerned with the allocation of individual tasks to single robots. However certain types of tasks require a team of robots for their execution, and for the allocation of such tasks non-conflicting robot teams have to be formed. Most of the existing allocation algorithms for such tasks mainly address the robot-team formation and the tasks are allocated...
A heterogeneous robotic swarm for fast deployment and exploration in large scale structured environments is addressed in this paper. The swarm consists of a marsupial robot that is capable of carrying the small robots for fast deployment and loading the small robots for fast displacement. The heterogeneous robotic swarm is governed by a hierarchical distributed control including distributed node control...
This paper is concerned with the formation method for multi-robot systems with obstacles. Consensus formation cannot avoid obstacles in the process of movement, and algorithms based on relative distances are not applicable to the situations requiring rigid topology. An algorithm has been designed combining consensus protocols and the modified artificial potential field method for the second-order...
Driving assistance system has a significant influence on driving safety, and we introduce an integrated Forward Collision Warning(FCW) system based on monocular vision. In order to reduce the searching region of original image, lane making is presented to establish the ROI firstly. Secondly, hypotheses are extracted using Haar-like feature and Adaboost classifier. To remove false positive detection...
In traffic video surveillance system, target-level tracking and feature-level tracking are two important areas for research. Therefore, the combination between them is an interesting question. Mean-shift is a traditional target-level tracking algorithm with no adaptation to vehicle scale and orientation change. In order to solve the problem, algorithm combine SURF (speed-up robust feature) feature...
We examined the human subject's head/eye characteristics when they tracked targets made up of periodic oscillating signals moving along horizontal direction. Our analyses focus on the effect of two different sinusoidal components of target motion on pursuit performance. This study revealed that the gaze tracking gains were modulated by the ratio of the two signals of difference oscillation frequency...
Despite of many efforts by researches, real-time localization of mobile robot only using onboard sensor is still an open problem in mobile robotics. To contribute this research area, in this paper, a simple and effective method is proposed based on an adaptive estimator for estimating the position and linear velocity of a mobile robot in an unknown and unstructured environment using measurements of...
A sub-optimal guidance and nonlinear control scheme based on Optic Flow (OF) cues ensuring soft lunar landing using two minimalistic bio-inspired visual motion sensors is presented here. Unlike most previous approaches, which rely on state estimation techniques and multiple sensor fusion methods, the guidance and control strategy presented here is based on the sole knowledge of a minimum sensor suite...
In this paper, a Wireless Local Area Network (WLAN) solution for the industrial communication system utilized in the factory automation (FA) environment is addressed. In the FA field, the communication mechanism which is intended to the short frame transmissions under real-time, safety and fair distribution between the industrial robots (iRBs) is now being investigated. We offer two proposals to achieve...
Gain tuning is very important in order to obtain good performances for implementing a controller. In this paper, three popular evolutionary algorithms are utilized to optimize the control gains of a position domain PID controller for the improvement of contour tracking for robotic manipulators. Differential Evolution (DE), Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) are used to optimize...
This paper proposes an algorithm that estimates a reaction torque loading the grasping jaws of wire-actuated robotic forceps and compensates for subsequent wire elongation. The algorithm is constructed by the combination of the Reaction Force Observer (RFOB) and an optimization problem based on a gradient descent method. The conventional RFOB is used to estimate an external torque that includes not...
In robotic manipulation, higher levels of dexterity are sought in multiple domains. More unstructured environments demand that robots are able to dexterously and flexibly resolve their tasks. Dual-arm humanoid robots are seen as advantageous for such tasks. Much work has been performed in motion planning, control, and cooperation across multi-independent manipulators, but recent emphasis has been...
In this paper, we discuss the identification of finger operation and control of the fingers of a myoelectric prosthetic hand. In our proposed design, finger operation is categorized as one of the six types of motion, and on the basis of integrated electromyography (IEMG), the identification of finger operation is performed using a support vector machine-based classifier. In addition, we describe a...
This paper presents a modified gait generation method based on height compensation of center of mass (HCCOM) for biped humanoid robots. The method combines natural gait plan (NGP) and 3-D linear inverted pendulum model (3D-LIPM). By analyzing the human natural gait, the HCCOM considers the effect of swinging leg for COM height, so the hip height is no longer fixed and re-planned as a periodic movement...
The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the “torso protective strategy” for safe landing of a biped humanoid robot. First, the effectiveness of the torso strategies to the safe landing is analyzed from...
This paper presents a control strategy based on phase modification during double support period to enhance a humanoid robot's walking stability. When the foot of the swing leg touches the ground, if Zero Moment Point(ZMP) is not in the stable margin, the phase modification will start. According to the position of ZMP and the relationship between the motion of Center of Gravity(COG) and ZMP position,...
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