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In this paper, we propose a force feedback scheme for Delta device to improve precision and stability in master-slave teleoperation. A simple and exact dynamical equation is created with principle of virtual work, which is easy to calculate in real-time. After analysing three items deep in dynamical equation, a reasonable strategy is designed to identify the mass of Delta mechanism. The identified...
The Pole Placement Control is a control strategy to reallocate poles of a system forcing a desired behaviour to it. The technique is established on states feedback backed by a gain matrix. States are estimated when they are not directly available. Then, in this work a pole placement control based on Discrete Kalman Filter, in discrete time, for feedback states was applied over a linear welding robot...
This paper describes the design and tuning of a sideslip estimator, based on data from an inertial measurement unit (IMU), a global positioning system (GPS), wheel encoders, and from the underlying dynamic model of a car. The estimates of position, velkocity, and rate gyro bias terms are also provided as by-products of the proposed methodology. A non-linear dynamic model of a car and realistic models...
This paper addresses the problem of localizing and tracking one intermittent, moving sound source using a microphone array on a mobile robot. Robot motion provides a solution for estimating the distance to the source and avoiding front-back ambiguity. We propose a mixture Kalman filter (MKF) framework in order to fuse the robot motion information and the measurements taken at different poses of the...
Pipelines have been used to convey products such as oil, gas, chemicals and water. It means that problems with pipelines would indicate money waste and environment damages. To avoid those problems, inspections are realised periodically. The technology improvement has made possible employing robots and mobile platforms to inspect pipes. The focus of this work is to implement a strategy to acquire the...
This paper presents a detailed study to demonstrate the online tuning dynamic neural network PID controller to improve a joint angle position output performance of 4-joint robotic arm. The proposed controller uses a new updating weight rule model of the neural network architecture using multi-loop calculation of the fusion of the gradient algorithm with the cubature Kalman filter (CKF) which can optimize...
This paper presents a method for the real-time determination of joint angles, velocities, accelerations and joint torques of a human. The proposed method is based on a constrained Extended Kalman Filter that combines stereophotogrammetric and dynamometric data. In addition to the joint variables, subject-specific segment lengths and inertial parameters are identified. Constraints are added to the...
A novel Kalman filter to estimate the center of mass (COM) of a Humanoid robot is proposed. In the conventional works, COM was estimated by some methods. First one is the kinematics computation based on the mass property of the robot and the global position and attitude of the body frame, but those errors degrade the estimation accuracy. Second is the double integral of COM acceleration computed by...
This paper discusses two algorithms of extended unbiased FIR (EFIR) filtering of nonlinear discrete-time state-space models used in tracking and state estimation. The basic algorithm employs the extended nonlinear state and observation equations. The modified algorithm utilizes the nonlinear-to-linear conversion of the observation equation which is provided using a batch EFIR filter having small memory...
In this paper, we consider the problem of tracking a reference trajectory for a simplified car model based on unicycle kinematics, whose position only is measured, and where the control input and the measurements are corrupted by independent Gaussian noises. To tackle this problem we devise a novel observer-controller: the invariant Linear Quadratic Gaussian controller (ILQG). It is based on the Linear...
A ground-truth environment for mobile robot localization is developed. The sequential update extended Kalman filter is employed to fuse data from a Sick Nav200 laser positioning system and multiple onboard sensors to provide highly accurate robot pose estimation. Results are suitable for validation of mapping, localization and kino-dynamic modeling. Experimental work presented covers odometry calibration...
Real-time monitoring of elderly movement can provide valuable information regarding an individual's degree of functional rehabilitation. Many laboratory-based studies have described various gait detection systems with different wearable inertial sensors, but only limited number of papers addressed the issues by using some non-wearable sensors. A practical method of gait information detection and gait...
Adaptive Kalman filter algorithm (AKF) is utilized to improve the performance of the robot's speed and heading angle, which can eliminate the system state noise and error, generated by the sudden change of formation in the multi-robot leader-follower system. The approach guarantees that the robots can reach the desired position quickly and accurately and keep a predetermined formation. The motion...
Many mechanical systems that suffer from non-holonomic constraints have attracted a lot of attention recently due to the theorem of Brockett. One such system is a wheeled mobile robot (WMR). Equipped with a proper sensors the robot has an advantage over a human since it can easily maneuver in dangerous environments, and could be rapidly modified or improved to fulfill any specific tasks. Thereby,...
This paper presents design considerations of a GPS-aided localization system for unmanned vehicles used in outdoor applications. The system proposed in this paper is based on Extended Kalman Filter (EKF) and also integrates Global Positioning System (GPS) measurements. Localization and navigation systems are base components of all unmanned vehicles since they give unmanned vehicles the ability of...
A method for using radio-frequency identification tag floor based localization (RFTL) for indoor mobile robot localization is proposed. This method does not suffer from illumination or line of sight impairment issue, and it is less affected by the environment than is conventional localization. However, it faces an inherent limitation, in terms of its low accuracy. To overcome this problem, an efficient...
In this paper, the interaction force between a surgical needle and soft tissue is studied. The force is modeled using a novel nonlinear dynamic model. Encouraged by the LuGre model for representing friction forces, the proposed model captures all stages of needle–tissue interaction, including puncture, cutting, and friction forces. An estimation algorithm for identifying the parameters of the model...
In this paper, we have proposed a quasi-static model of a multi-agent system as police agents with and without non-holonomic constraints for agents' motion. We also consider an active thief agent which has stochastic dynamic equation of motion. Our control purpose is that these police agents pursue the thief agent and the geometrical center of them aims the thief agent current position. Also in the...
We present a novel method for enforcing nonlinear inequality constraints in the estimation of a high degree of freedom robotic system within a Kalman filter. Our constrained Kalman filtering technique is based on a new concept, which we call uncertainty projection, that projects the portion of the uncertainty ellipsoid that does not satisfy the constraint onto the constraint surface. A new PDF is...
In this paper, we consider the problem of multi-centralized Cooperative Localization (CL) under severe communication constraints, i.e., when each robot can communicate only a single bit per real-valued (analog) measurement. Existing approaches, such as those based on the Sign-of-Innovation Kalman filter (SOI-KF) and its variants, require each robot to process quantized versions of both its local (i...
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