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This paper aims to develop the motion loading system taking into account the variable control impedance and human reactions. In the motion saving phase, a four channel bilateral controller with a micro-vibration is utilized for the purpose of obtaining not only position and force responses to human motion but also the human impedance. In the motion loading phase, the hybrid angle and the human impedance...
Handling of deformable objects with industrial robots holds many unresolved challenges. Especially, describing and predicting the deformed state is computationally expensive and therefore difficult under the requirements of manufacturing environments. A concept for a simulation-based approach towards bin picking of deformable objects, is presented in this paper. The emphasis of the approach lies on...
An Improved A∗ algorithm based on time window is proposed to solve conflict-free path planning problem for the Automated Guided Vehicles (AGV) in flexible manufacturing systems. Based on the planned AGV paths, conflict-free routing was received by utilizing the improved A∗ algorithm in the next AGV routing. The algorithm of improving evaluation function to introduce the turning factors not only avoids...
This paper aims to realize sensorless motion transmission for haptic teleoperation between remote places. Sensorless systems are endurable against operations under harsh environments. This is a great advantage suitable for teleoperation systems. To achieve this purpose, two types of voltage compensation are proposed for torque transmission and velocity synchronization. These two targets are known...
In this paper, a new adaptive fuzzy controller is proposed for the dynamic positioning system of vessels with unknown time-varying dynamic model parameters and environmental disturbances. This controller comprises of an adaptive fuzzy logic and the dynamic surface control (DSC) technique. The adaptive fuzzy system is used to estimate the uncertainties induced by unknown dynamic model parameters and...
Stixel-based segmentation is specifically designed towards obstacle detection which combines road surface estimation in traffic scenes, stixel calculations, and stixel clustering. Stixels are defined by observed height above road surface. Road surfaces (ground manifolds) are represented by using an occupancy grid map. Stixel-based segmentation may improve the accuracy of real-time obstacle detection,...
Investigating the interaction of teeth and food materials is beneficial for both oral health and the food industry. This paper presents the concept of in-vitro study of the interaction between the teeth and the food bolus through simulation of chewing process by means of a four-degree-of-freedom redundantly actuated parallel robot (RAPR). The required steps to address this research aim are presented,...
Consumer-grade RGB-D cameras capture RGB images along with per-pixel depth information, and because of their limited cost and ability to measure distances at a high frame rate, have been used in robotics and computer vision application. However, drawbacks include the repeatability and accuracy of RGB-D cameras for object detection and localization. This paper investigates and compares RGB-D cameras'...
The world's population has doubled in the past three decades and continues to grow. Intensive farming practices have so far met the increasing demand for food, but they have had a significant, negative environmental impact. Precision agriculture uses technology to increase efficiency and reduce the environmental impacts of farming. A novel sensor concept has been designed for measuring spatial and...
During the recent years, there have been many studies implemented on the automatic diagnosis of Alzheimer's Disease (AD) using different methods. The focus of most of these studies has relied upon the detection of AD from neu-roimaging data. However, recognizing symptoms early as much as possible(Pre-detection) is crucial as disease modifying drugs will be most effective if administered early in the...
With the increasing concentrations of the air pollution and reduction of fossil fuels the electric buses with carbon-reduction and energy-conservation technology have been extensively encouraged. The battery technology as the significant determinant will directly affect the practical utilization of the buses. The Lithium Titanium Oxide (LTO) battery is becoming increasingly popular as the battery...
The inertial navigation system (INS) has been widely used in many areas, however, the readings of the inertia measurement unit (IMU) in the system usually contain noises. In this paper, an artificial multiple-layer neural network is adopted for filtering noises in the acceleration signals from an IMU. The target dataset for the artificial neural network (ANN) is built from the encoder readings of...
A high dimensional shape space is formed by the continuous shape sequence sub space, and the deformation between these shape profiles can be expressed as a linear combination of the low dimensional sub shape space. In order to meet the demand of quantitative description and analysis of shape sequence deformation, Firstly, we proposed a deformation factor of shape sequence based on graphics regularization...
There are many commercially available rheometric instruments that link bolus formulation and flow characteristics to quantitative engineering metrics. However, the exploration of these relationships does not necessarily capture the macroscale of bolus transport or arguably the most important interaction: what pressure the alimentary tract imparts on a bolus during swallowing, and to what end is viscosity...
This study describes a method for using a camera to automatically recognize the speed limits on speed-limit signs. This method consists of the following three processes: first (1) a method of detecting the speed-limit signs with a machine learning method utilizing the local binary pattern (LBP) feature quantities as information helpful for identification, then (2) an image processing method using...
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