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Image-guided navigation is an important component of the orthognathic assisted robot, and it allows the robots to operate in precise accordance with a preoperative virtual plan. However, the present commercially available image-guided navigation systems, which use infrared-based tracking, cant guide the relocation of the bone in the orthognathic operation, that means they are not suitable for orthognathic...
This paper presents a novel nonlinear velocity estimation method for robotic joints based on inverse hyperbolic sine tracing differential algorithm. Unlike the conventional methods that using the motor-side position measurements to obtain the joint velocity, this paper addresses the problem of joint velocity estimation that using the link-side absolute encoder data, so that the kinematic error caused...
This paper investigates uniform global exponential stability(UGES) and stabilization of fractional-order nonlinear positive impulsive switched systems(FONPISS) with mode-dependent average dwell time(MDADT). Firstly, the proof of the positivity of FONPISS is given. Then, by constructing copositive Lyapunov functions and using MDADT approach, a static output feedback controller is constructed, and sufficient...
In the geological exploration of the Adit, the texture, section, joint and other rock structural information are important factors to determine the stability of the Adit. Therefore, the collection and analysis of rock data information are the premise work and the key process of the safe production. Faced with the actual requirements of Adit 3D reconstruction, an automatic 3D reconstruction system...
This paper investigates the contour control problem of an X-Y table driven by two permanent magnet linear motors based on terminal sliding mode control method. By introducing a non-singular terminal sliding mode control(NTSMC), a novel contour controller is designed for biaxial motion control system. A variable exponential reaching law based on equivalent error was designed in order to eliminate the...
In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human by considering impedance learning and human motion intention estimation. The least square method is used in human impedance identification, and the robot can adjust its impedance parameters according to human impedance model for guaranteeing compliant collaboration. Neural networks (NNs) are employed...
Localization method based on position fingerprint can effectively solve the problems such as high dependence of model and low positioning accuracy in robot auditory system. However, this method requires a large number of reference points to achieve high precision positioning. To solve the problem of low precision under low fingerprint density, a position fingerprint localization method based on linear...
Humanoid robot can be similar to human in structure, behavior and thinking theoretically. However, the design and development of humanoid robot is extremely complex, and it needs a breakthrough in the algorithm. This paper, based on the practical design of ART robot, puts forward the structure design, control system, sensor selection and simulation environment design method of the full-size humanoid...
The servo motion system plays an important role in the position accuracy of the Cartesian picking robot. During the automatic picking process, the nonlinearity of friction will affect position tracking accuracy. In order to improve the position accuracy of Cartesian robot, a mechanical model considering friction is established. Furthermore, fuzzy logic controller based on PID is used to control the...
Biomimetic robotic fish has potential applications in underwater tasks. To control its swimming, Center Pattern Generator (CPG) models are widely used in its locomotion controllers. The CPG model can generate multiple swimming patterns with the same CPG network. However, there are many parameters to be tuned in a CPG model. In this paper, a parameter optimization method based on particle swarm optimization...
Service robots are gradually accessing to our daily life, and playing an increasingly important role in family, medical, office and other fields. Now, most robots provide services according to the receiving task instructions, so the provided services are single and inactive. However, people put a higher demand on the quality of robot services, and they hope robots can actively provide intelligent...
This paper focuses on presenting a human-in-the-loop reinforcement learning theory framework and foreseeing its application to driving decision making. Currently, the technologies in human-vehicle collaborative driving face great challenges, and do not consider the Human-in-the-loop learning framework and Driving Decision-Maker optimization under the complex road conditions. The main content of this...
In the modern industry, human-robot collaboration is becoming more and more important. With the quick development of the small production, the demand of flexibility is growing heavily. Gesture recognition is important for the collaborative work of humans and robots. In industrial applications, the performance of such systems affects the safety of human workers and their manufacturing efficiency. In...
In bridge buildings, concrete is widely used because its materials are considerably low-cost and it has high plasticity. However, some drawbacks exist in this kind of bridges, and crack is the most common ones. In order to avoid the cracks in bridge buildings becoming worse, it is necessary to periodically perform the inspection for it. Thus, a bridge inspection robot system with machine vision is...
To meet the higher requirements of human-machine interface technology, the quadruped robot with human recognition capability is discussed in this paper. We present a marker tracking system which uses laser scanner and pan-tilt to allow a particular user to designate himself as the robot's leader. Optimal motion curve of pan-tilt is planned so as 3D point clouds can be returned by a rotating 2D laser...
The design employs direct drive torque motor to achieve a robot single joint with active compliance based on the impedance model. In order to maximize the torque density, transmission transparency and backdrivability, the joint employs a quasi-direct actuator that a single-stage planetary gear is mounted on the motor's rotor. When robot interacts with environments, it's inevitable to change the stiffness...
A method of correcting the pointer reading of a deflection pointer instrument is put forward, which realized the correction of the deflection circular pointer meter reading in the substation. Firstly, digital image processing technology is used to preprocess the instrument image. Secondly, the five point method is used to fit the ellipse, locate the dial area and the center of the dial, and the distance...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
In view of the shortcomings of the previous genetic algorithm in solving the problem of path planning of robot, this paper has improved it on the basis of the traditional genetic algorithm. The environment model is built by the grids and the fixed length serial number coding is used to encode. The random search method and the ascending order method are combined to generate the initial population....
Pedestrians evacuation is key to improve the traffic efficiency and guarantee the safety of pedestrians in high density area, which have been widely concerned by scholars. This paper establishes a macroscopic model for T-shaped channel consisting of some corridors and nodes, which is very common in real traffic system. Then, with the goal of avoiding congestion and maximizing the pedestrian flow of...
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