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Marine aquaculture is deeply rooted in Norwegian national economics and traditions, especially in the M⊘re og Romsdal region. This paper presents the development of a novel ROV for aquaculture inspection in marine application to provide first-hand information in fishery nets. The ROV is a part of so called “Sea Farm” project. When the ROV doesnot work, it will be carried by a floating platform. A...
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...
A simulator was designed to be used for small AUVs that are vulnerable to external disturbances like waves or current. Using cubic Hermite interpolation and Line-Of-Sight (LOS) guidance law, an efficient path is generated whenever waypoints are randomly given. Also, the simulator includes proportional-integral-derivative (PID) controller to maneuver the Autonomous underwater vehicles (AUVs) with desired...
Stroke is one of the main cause of upper limb dysfunction. The number of individuals who lost upper limb function due to stroke is increasing day by day and is projected to continue increasing at an alarming rate in United States. Repetitive movement therapy has been the main method to regain lost mobility. We have designed 3 degrees of freedom (DOF) wearable robotic assistive device to provide passive...
This paper demonstrates a novel motion control approach for biomimetic underwater vehicles with pitching fins. Even though these vehicles are highly maneuverable, the actuation of their different degrees of freedom (DOFs) is strongly coupled. To address this problem, we propose to use smooth DOF prioritization depending on which maneuver the vehicle is about to do. DOF prioritization has allowed us...
Over the past decade, pneumatic muscle actuator (PMA) has been in the limelight and receiving much attention not only in the field of industrial application as well as in prominent research areas such as robotics and biomedical engineering. The uprising can be accorded to the many advantages that PMA offers such as inherent compliant safety, low maintenance and powerful. However, PMA has yet to emerge...
Automated bin-picking and manipulation of irregularly shaped objects remains a challenge for robotics. A class of irregular objects with articulated components that have motions with scales that are several orders of magnitude larger than each component's localized deformations is considered. Biomaterials with internal skeletal structures (such as bird carcasses in the poultry industry) fall into...
In this paper, a concept design for a robotic exoskeleton for the neurological rehabilitation of temporomandibular disorder (TMD) is presented. The proposed system presents a lightweight, portable solution aimed at promoting user engagement in the rehabilitation process. A literature review into temporomandibular joint (TMJ) disorders and existing therapeutic devices has been undertaken, characterizing...
In this paper, a filling control strategy is proposed for robotic welding of thick materials which requires multipass welding. The multi-pass welding process is formulated as a closed-loop control design problem. A PI controller is used in the baseline loop for regulating the seam boundary error in the current pass; a non-causal feedforward controller is designed using the H∞ loop shaping technique...
This paper presents a design of speech recognition interface for a robotic endoscope holder for abdominal Minimally Invasive Surgery(MIS). A set of seven voice commands are used to control 3 degree of freedom(DOF) robotic arm with remote center of motion(RCM). Speech recognition algorithm was implemented on Ubuntu OS using Pocket Sphinx and achieved 90% success rate. Command signal was delivered to...
This paper presents an analysis of the relation between effort and gravitational stiffness, two physical measures that depend on the configuration of the robot. It is shown that whenever the gravitational stiffness is maximized, the effort is indirectly minimized. A minimum effort attractor that controls the gravitational stiffness is presented. This attractor together with an attractor to zero joint...
This paper presents a new adaptive sliding mode control (ASMC) scheme using time-delay estimation (TDE) technique and then applies it to robot manipulators. The proposed ASMC employs a new adaptive law to achieve good tracking performance with small chattering effect. The new adaptive law considers an arbitrarily small vicinity of the sliding manifold, where the derivatives of its adaptive gains are...
In this paper, a method to implement the input shaping control in Mechatrolink-III motion system is introduced. Firstly, the underdamped system is theoretically built by modeling. Then, the motion controller of Mechatrolink-III network is designed to apply the input shaper for reducing residual vibration in manufacturing machine. Later, the experimental beam is set-up to verify the effective performance...
For the first arm of a GTRC-15 Demolition Robot, this paper uses a sliding mode variable structure controller to control the movement of the working device based on the exponential reaching law. The simulation results show that under the unit step signal, the steady-state error and stability of the system based on the exponential reaching law are better than these performances based on the traditional...
This paper proposes an adaptive motion control system for a linear motor single-axis robot, which is mainly composed of a linear induction motor (LIM). On the basis of indirect field-oriented control mechanism, the dynamics of linear motor robot is investigated for considering the time-varying uncertainties that exist in the LIM drive. Next, a backstepping controller is designed for the objective...
In this paper, a two-degree-of-freedom-control concept for a flexible single-link robot is considered offering trajectory tracking as well as vibration damping. The robot — a flexible link with tip mass attached to a moving cart — is modeled as distributed parameter system including structural damping. The proposed forward controller is designed based on the exact modal approximation of the system...
The Generalized Bernstein Problems (GBP) is a class of optimization problem with redundancy resolution. The control of robot motion has a large number of redundant degrees of freedom if only the task objective is given. A universal criterion should be introduced instead of giving an artificial criterion function for task by task. In this work, using “easiness” as such a criterion easiness-based motion...
This paper describes improvement of a human-portable underwater robot for use in soil core sampling. We developed the soil sampling robot in our previous work. However, the efficiency of translational motion of that robot was low because of high drag force attributable to its shape. In addition, an operator had to control all motions of the robot manually using a controller. To overcome such shortcomings...
Variable compliant actuators play a key role in the development of efficient biomechatronic systems since energy can be stored in the compliant element thus leading to consumption reduction. In this paper, experimental results comparing passivity-based control (PBC) and feedback linearization (FL) for motion control of an actuator with variable torsional stiffness (VTS) aiming at applications like...
The rising use of wireless endoscopy capsules for the medical examination of the digestive tube has brought about an innovative step of medical experience. However, proceeding only by means of gravity and visceral peristalsis greatly restricts its clinical application, since their location, posture, and velocity cannot be controlled. The technology described in this paper uses an external magnetic...
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