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A robotic fish should be designed to swim with the obstacle avoidance capability in the real world. In this paper, a neuro-fuzzy control method is proposed for a multi-joint robotic fish using 3D printing technology. For this method, we can use the general infrared sensors to measure the existence of obstacles and the distance from the robotic fish to the obstacles. With the inference and learning...
In this study, we describe a novel method of fabricating shape-controlled calcium alginate gel microcapsules. Alginate-poly-L-lysine (PLL) hydrogel microcapsules with predefined shapes were constructed based on electrodeposition method. Firstly, electrolysis of water in alginate solutions with calcium carbonate particles induced alginate gelation on micro-patterned electrode to form 2D gel structures...
This paper describes a geometrical method for grasping objects wherein an object is caged by rigid parts of a robot hand and simultaneously grasped by soft parts attached to said rigid parts. We term this process as caging-based grasping. In this study, we derive concrete conditions for two- and three-dimensional caging-based grasping of objects of various shapes using circular robots and multi-fingered...
In this paper, a system for the wide area surveillance of general urban environments using multiple Mini-VTOL UAVs is developed. Given the information of terrain and buildings in the target area, the problem of (robust) complete coverage of the urban environment is solved by a three-step approximation approach. Firstly, the target area and the observation area are discretized into two sets respectively...
In this paper, an efficient stereo vision based visual odometry algorithm is proposed to solve the long-range outdoor localization problem of a mobile robot using a binocular camera. An improved method of feature matching and tracking based on SIFT algorithm is presented. The color information is used to effectively eliminate wrong feature matching, and the BBF tree is adopted to speed up the search...
Recently, the human-robot interaction systems are extending their capability to work in many applications. Appropriate haptic devices or robot systems have an important role to support the collaboration task which require close interaction between human and robot. This paper proposes a novel 3D parallel mechanism delta robot based on Kalman filter based state observer for the haptic devices. In the...
This paper addresses the problem of mobile robot navigation in unknown corridors using RGB-Depth cameras. Instead of building a full and global 3D map of the environment, the approach exploits line and dense features extracted from RGB-D sensors. Wall-floor boundary lines are extracted from pre-processed point clouds, which ensure reliable line segmentation results compared with monocular based methods...
This paper describes a new measuring model of human body motion using 3D gyro sensors. Proposed model is applied to measure forehand swing motion of tennis players, and swing behaviors are captured. With proposed model, body motion and flow of energy between tennis players are compared. This method can be applied to various motion research with small cost.
In this paper, we will introduce our newly developed 3D simulation system for miniature unmanned aerial vehicles (UAVs) navigation and control in GPS-denied environments. As we know, simulation technologies can verify the algorithms and identify potential problems before the actual flight test and to make the physical implementation smoothly and successfully. To enhance the capability of state-of-the-art...
This paper presents a fabrication method of multi-graphene box structure by a nanomanipulation in a Field Emission Scanning Electron Microscope (FESEM). To bend the multi-graphene in plastic deformation region, the bending stress were measured using a silicon cantilever based on the nanomanipulation. In this study, defects were introduced inside the multi-graphene on the folding line of the multi-graphene...
This paper describes an approach to detect the building based on facet for urban reconstruction. The urban environment is composed of a variety objects. In particular, the building has a rich geometric structure. It consists of two or more facets. Each facet is presented with a quadrangle in the image. A quadrangle is produced by two or more vertical and horizontal lines. There are many lines which...
Manual tasks in industrial production are often monotonous, leading to a decrease in concentration and motivation of the worker and thus to deficiencies in the products. With quality as well as performance requirements getting more and more stringent, workers need additional support by their work environment. We developed a novel approach providing worker assistance and inline quality assurance for...
Hydrodynamic cavitation is an effective and alternative treatment method in various biomedical applications such as kidney stone erosion, ablation of benign prostatic hyperplasia tissues and annihilation of detrimental cells. In order to effectively position the orifice of bubbly cavitating flow generator towards the target and control the destructive cavitation effect, cone angle of multi-phase bubbly...
The paper presents the design of a new device to heat a magnetic nanofluid in-vivo. The optimal design of the device has been carried by coupling Finite Elements (FE) solutions and various multi-objective optimization algorithms based on Non-dominated Sorting Genetic Algorithms (NSGA). The theoretical heating rate of the nanofluid, as resulting from the analytical solution that describes the heating...
Calculating leakage reactance of transformers is a very important factor in designing transformers. It is difficult to calculate the leakage reactance in multiple-winding transformers, because their structures are more complicated. The finite element method (FEM) is useful to obtain the leakage reactance in such a complex case. Using a 3D FEM analysis, leakage reactances have been calculated and compared...
The modular robot is constructed by the same shape and function module. The robot can transform and exchange, because it is multiple modules and function. In previous paper, we manufactured the module by 3D printer, and evaluated the mechanical function of the simple module and modular robot. In this paper, the module is miniaturized and joint parts are improved. Joint parts are used tenon joint in...
Image-based visual servo using coordinates of feature points has been well discussed and used in many applications. However, these methods rely on the perfect matching of feature points, which is often difficult in an actual situation. Recently, visual servoing methods based on region informations such as mutual information and an image transformation matrix are proposed. While these methods can achieve...
The main objectives of the proposed research are identifying, and analyzing some parameters required in scanning processes (i.e., 3D Laser scanner and ASAS). The scanning experiments will be planed and raised in sequences for identifying the appropriate conditions for saving time and cost. The expected results will be used as the guidelines for assisting the design engineer to select the proper methods...
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