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Provides an abstract for each of the keynote presentations and a brief professional biography of each presenter. The complete presentations were not made available for publication as part of the conference proceedings.
This paper proposes a method of scaling bilateral control in the presence of time delay in terms of modal space. The bilateral control is characterized by a remote control, which return force information to the local site. Also, the bilateral control enable us to achieve dexterous tasks such as microsurgery by scaling the force/position response freely. However, bilateral control system has a problem,...
Motivated by challenges in safety certification, this paper presents a framework that facilitates the organization of safety evidence regarding the Annex R of IEC 60335-1, i.e. the safety standard for household and similar electrical appliances. Based on the argumentation-induced evidence structure, safety evidence is systematically formulated by making safety claims, providing arguments, and identifying...
In this paper, an adaptive neural integral sliding mode controller using neural compensator is presented to deal with the strong nonlinearity and parameter uncertainty for a Micro-Electro-Mechanical Systems (MEMS) vibratory gyroscope. The proposed control scheme is designed by two kinds of RBF neural networks, where the self-adaptive RBF NN controller is implemented to online approximate and compensate...
This paper investigates the problem of attitude control and disturbance rejection of rigid spacecraft in the presence of parameter uncertainty. The Modified Rodrigues Parameter (MRP) is used along with its associated shadow set as the kinematic variables since it forms a nonsingular set for all possible rotations. The parameter uncertainty caused by the unknown inertia matrix is handled by combining...
Cooperative robotic manipulation is a promising industrial technology that has been attracting much research attention. However most existing control methods for this goal require either online force sensing or the exact parameters of the robot, which is usually difficult and expensive. In this paper, two mobile manipulators are utilised to verify a simple cooperative manipulation control scheme....
Flexibility and mutability are key features of Industry 4.0 solutions. Current machine controls are monolithic systems connected to local actors and sensors by a field bus. Cloud architectures can be used to develop scalable machine controls with generic interfaces and transmit data via computer networks. This paper presents a communication extension for machine controls to enable manufacturing within...
We present cooperative moving object tracking with multiple mobile sensor nodes, each equipped with a multilayer laser scanner. Moving objects in the laser-scanned images are detected by a binarized occupancy grid method. The sensor nodes send the information of the detected moving objects to a central server, which estimates the size, position, and velocity of those objects using a Bayesian filter...
This paper introduces the analytical inverse kinematic solution of modularized seven DOFs redundant manipulator with offsets at shoulder and elbow or wrist, and uses the analytical solution of manipulator to achieve dual arm intuitive teaching. Furthermore, this paper verify the method of select proper joint as redundant axis which could enhance the ability of obstacle avoidance in the corresponding...
Transferring humans while carrying loads on all types of terrains efficiently using compact means of transportation is still a challenge. This may be due to the unstructured areas humans need to move through, or due to traffic congestions in structured roads. Some compact-size, light-weight transportation systems have been developed but they provide only a partial solution to the stated problem. This...
It is important to decrease restriction of users' finger motions. The purpose of this study is to develop a hand-finger motion capture device which uses a miniature camera and small single board computer to decrease restriction of users' movement. The most accurate estimations require data matching with a large database. A compact computer usually has few memory and low machine power, however. We...
This paper presents a novel approach to generate online jerk-limited trajectories for multi-DOF robotic systems. Finite Impulse Response filters are used to efficiently turn low computational cost acceleration-limited profiles into jerk-limited profiles. Starting from a new setpoint, e.g. an event given by external sensors, and an arbitrary state of motion, i.e. with non-zero initial velocity and...
Robot-assisted minimally invasive surgery (RMIS) has become widespread because of its accuracy, stability and intuition. In the traditional laparoscopic surgery, an assistant is essential to help the surgeon in controlling the laparoscope. However, surgeons need to communicate with the assistant, and it is also difficult for an assistant manipulate the laparoscope to an anatomical position that the...
Model Predictive Control (MPC) is a viable control strategy for Multi-Input Multi-Output (MIMO) systems owing to its capability of handling multivariable interactions and constraints on input, output as well as state. MPC design for MIMO systems generally resort to decoupling the system and adopting the Single-Input Single-Output (SISO) design approach. In this paper, the SISO MPC design approach...
The use of RFID technology is increasing in retail stores, because it improves the performance of automated checkout, inventory and theft detection systems. In this paper, we present a novel implementation of a mobile robot that can perform retail inventory autonomously. The robot can autonomously generate a path to cover all the merchandise within the boundaries of a given store map, and then it...
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