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Inertial Navigation System (INS) algorithm can be used for curve measuring system based on a single-axis Fiber Optic Gyroscope (FOG). The trajectory calculation is performed with an assumption of neglecting the length of the carrier employed in the measuring system. The limitation of this assumption will be explicit for particulars cases. A mathematical model is proposed to study the deviation caused...
As a result of computational and experimental study the regularities of wear of the grinding wheel working surfaces in the process of double disk grinding of bearing rings ends have been established. Adequacy of mathematical and computer models has been confirmed by a satisfactory agreement of computer simulation results and experimental data. The established regularities have laid the basis for a...
This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet...
In this paper, a new saturated synchronous controller is proposed for multiple nonholonomic wheeled mobile robots to perform a time-varying formation task. Each robot is controlled to track its desired trajectory, while synchronized its motion with the two neighboring robots. A novel dynamic model of the wheeled mobile robot is derived based on Lagrange method. The Lagrange multipliers of the robot...
Improvement on material handling systems is demanded as world mining production continuously increases. Additionally, the supply of iron ore grades close to customer demand is crucial especially due to the gradual decline, in recent times, of quality iron ore grades. Stockpiles play a major role in storing material and reducing grade variation among material. Contrary to the conventional approach...
This paper presents a study of approaches for selecting an eficient attack pose when loading piled materials with industrial construction vehicles. Automated handling of piled materials is a highly desired goal in many construction and mining applications. The main contributions of the paper are an experimental study of two novel approaches for selecting an attack pose from 3D data, compared to previously...
In this paper, we take a rather new approach to solving the motion planning problem for principally kinematic systems, that is, systems whose dynamics is completely specified by the right number of nonholonomic constraints. Given a planar curve in the Special Euclidean group, we analytically solve for the base variables that locomote the principally kinematic system along the specified curve.
A walking frame and wheelchair detection system that uses geometry constrained knowledge is proposed for health care centers. The system can early detect an accident occur when the elderly get on bed. Based on the space relative constrained, accurate results are obtained for wheelchair position detection. A tracking algorithm is utilized to track and predict wheelchair motion with orientation. The...
Mecanum wheels give vehicles and robots autonomous omni-directional capabilities, while regular wheels don't. The omni-directionality that such wheels provide makes the vehicle extremely maneuverable, which could be very helpful in different indoor and outdoor applications. However, current Mecanum wheel designs can only operate on flat hard surfaces, and perform very poorly on rough terrains. This...
Taking in mind that the lost of the passivity property under sampling reflects into the degradation of the stabilizing performances of emulated controllers, this paper is a first attempt to the sampled-data version of the interconnection and damping assignment-passivity based controllers (IDA-PBC). A sampled-data controller, preserving asymptotically the energetic behavior of a target dynamics and...
Although there are many studies about two wheels non-holonomic vehicles, in order to simplify the problem the planning and the following of trajectories or paths are generally considered two different phases. In this paper, two algorithms for the synergic working of trajectory planning with intelligent trajectory following are presented. The "trajectory shape" characteristics obtained in...
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