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Interaction with non-rigid objects poses a challenge for manufacturing systems. The dimensions, locations and physical properties of soft-tissue objects like fruit or meat are subject to considerable variation and uncertainty. Possible ways to accommodate this are to use a number of different types of sensors and actors. However, a control system physically located next to a manufacturing system is...
This paper proposes a novel architecture for control systems of modular reconfigurable robots that combines centralized and decentralized approaches to achieve the best ration between efficiency, fault-tolerance and cost-efficiency.
The importance of mobile robots for the nuclear disaster response has been realized after Fukushima Dai-ichi nuclear power plant accident. In this paper, we propose a tracked robot for rescue and search in nuclear environment. A gamma-ray irradiation test of the robot's control system is conducted, in order to evaluate the performance of the robot in nuclear environment. The parallel test method is...
Welding is an important operation in manufacturing processes and it can represent a highly relevant amount of production costs, depending on material workpieces and required weld quantity. In mechanised and robotised welding processes, robot's travel velocity is an important parameter, which requires a proper regulation to obtain a good quality for weld beam. Then, in this work, a nonlinear model...
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...
Levels of Autonomy (LoA) provide a method for describing authority granted to operators and autonomous system elements. Unfortunately, LoA does not provide the user interface designer a clear method to distinguish interface concepts which impose varying levels of operator workload or result in human or system performance changes. The current research suggests an alternate classification framework...
This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and...
The paper explores the features of functional modeling of the process of development of control and monitoring systems, using the example of the system of energy-saving control of technological objects.
India is primarily an agriculture-based country and its economy largely depends upon the agriculture. But, most of the crops grown by the farmer are affected by weeds. Weed identification and control remains one of the most challenging tasks in agriculture. The most widely used methods for weed control is manual spraying of herbicides. But, this method has several negative impacts. Since hand labor...
This paper presents the performance analysis of visual feedback leader-following pose synchronization, where the leader motion is supposed to contain stochastic factors. Then, the problem is reformulated in stochastic system form and stochastic stability analyses are provided. Here, time evolution of the control error system produced by the present visual feedback control is given by stochastic differential...
Cornea transplantation surgery needs a highly skilled ophthalmologist due to the requirement of precise positioning and the plasticity of a cornea. In this paper, we propose a cornea holding device, which fixes the relative position between a donor cornea and a patient cornea. The proposed device prevents the slipping or deformation of the corneas during transplantation surgery. The cornea holder...
Based on the working principle of the electrohydraulic proportional control system of the working device of the demolition robot, the co-simulation model of the system is established by means of ADAMS and MATLAB. The study of the dynamic characteristics of the system was done, with applying traditional PID control strategy and sliding mode variable structure control respectively, considering the change...
In this work, a surface skin electromyography(sEMG)-based control solution for elbow wearable assistive devices during load lifting tasks is presented. The goal of the controller consists in limiting the user's muscle activity during the task execution, in such a way that the assistive device can partially compensate the load-related biceps muscle effort. Since sEMG-driven control strategies based...
In this paper we introduce a robust multi-channel wearable sensor system for capturing user intent to control robotic hands. The interface is based on a fusion of inertial measurement and mechanomyography (MMG), which measures the vibrations of muscle fibres during motion. MMG is immune to issues such as sweat, skin impedance, and the need for a reference signal that is common to electromyography...
Using compliant joints and haptic feedback are two methods that could improve next-generation teleoperated systems, but both methods present challenges to traditional control systems. This paper describes the first experimental investigation of a new approach to real-time haptic control for teleoperated robots with compliant joints. One original aspect of the approach is using an auxiliary error,...
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...
In this work, we present the design of an integrated, low power single chip multi-channel Proportional-Integral-Derivative (PID) controller for emerging miniature robotics, that includes N inputs and N corresponding outputs thereby resulting in N parallel channels in the control system. It includes analog front-end (AFE) and analog PID controllers for PID parameter tuning based on Particle Swarm Optimisation...
The article focuses on modifications made on an existing gripper mounted on a teleoperated manipulator arm of the military mobile robotic system TAROS. The reason of these modifications was to allow handling of objects with a large range of weight and strength, which requires fully and precisely adjustable gripping force with feedback. The implemented solution uses a strain gauge applied to a selected...
In this research, a small humanoid robot and a bicycle of comparable size are constructed. Like the human rider, the robot is designed to pedal, balance and steer the bicycle. We particularly focus on the design of control system for the robot to balance and steer the bicycle using the handlebar. The control system is novel that it is capable of estimating the uncertain center of gravity of the robot-bicycle...
In this paper, an electric unicycle system is constructed. Moreover, a model-free adaptive fuzzy control method is proposed for an electric unicycle system real time control. By the control scheme, the electric unicycle system is controlled without accurate system information. The parameters of fuzzy membership functions are adjusted online using the dynamic gradient descent method. In the end, the...
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