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In this paper we present an artificial neural network based motion and path planning system of a wheeled mobile robot navigating among stationary and moving obstacles. The neural network is aware of its distance sensor readings and its relative position from the target. The neural network is used in this system as a controller, and it is trained using a previously proposed extension of the backpropagation...
A micro robot contains several essences in various technical fields such as MEMS, Micro Assembling, Actuators, Sensors and Micro Computer. Therefore, it has become one of the most important key technologies in the current society. International Micro Robot Maze Contest was established in order to promote the related technique in 1993. Since then, various robots have exhibited their performance and...
We are developing a Semi-Autonomous Remote Maintenance Robot for power distribution line maintenance tasks. The system is operated by task instructions; for examples, “Peeling electric cable cover”, “Remove the insulator” and so on. When the system receives a task instruction it measures the task object position; modifies the arm positions in the move commands; and then performs the task. In this...
This paper deals with an adaptive multi-robot task planning. When a desired goal state of the task environment is given, backward task planning from the goal state and forward search form the initial condition such as currently available robot and functions and displacement of objects etc., are interactively executed to find a feasible state transition. Nontrivial multi-robot cooperation formation...
In this paper, a full 3D reconstruction pipeline is presented to realize the navigation of an autonomous robot. The system utilizes the existing algorithms for multi-view stereo and develops them into an automated system where the input is a video (or random images) obtained by the robot and the output is the model of the reconstructed environment containing the path of the robot exploring it. We...
This article describes the computer analysis and experimental result of building up jellyfish robot from cardiomyocytes gel consisting of rat cardiomyocytes and collagen gel. Previous studies show the cardiomyocyte gel has some unique abilities such as autonomous pulsation, shape-controllable by mold or driven by chemical energy. We thought that the pulsation of gels could be utilized as mobility...
This paper presents interaction between a user and a smart electric wheelchair. We proposed a personal mobility tool (PMT) which integrates mobile robot navigation with intuitive and non-continuous input from a user. An input interface to enable a user to specify a direction in which he/she wants to go is proposed. Also, to help a user interpret robot behaviors, an output interface to realize informative...
Supporting technology is really useful in control education. In fact, virtual instrumentation is one of these technologies that can offer new possibilities in education process. In this paper, we describe how designing, modeling, analyzing, and prototyping can be done using LabVIEW on intelligent control systems. For this, we report the projects actually developed at ITESM university in Mexico and...
Living muscle tissue and cells have been attracted as an actuator candidate. In particular, an insect dorsal vessel (DV) tissue is well suited for an actuator since it is capable of contracting spontaneously and more environmentally robust under culturing conditions compared with mammalian tissue and cells. Here we demonstrate a temperature-tolerant microrobot powered by insect DV tissue. A polypod...
Recently, various types of robots have been researched and developed for supporting our life. Also, the perceptual system for the robot is researched. Visual perception includes a lot of valuable information and it is useful for all intelligent robot system. In this paper, we discuss intelligent robot vision in order to active sensing and information structuring for human-robot collaboration system...
To develop a quick detection algorithm for the image-based autonomous vehicle (AV) or computer assisted driving system, this paper proposes a real-time object detection method using two coordinated cameras. The mapping between two simultaneous images from the two cameras and coordination of the virtual sensitive areas can be resolved using parameters like the camera shot angle, the camera focal length,...
With the partial or global target positions unknown, mobile robot detects the environment information by laser radar when it can not feel infrared of some frequency. The combination of the resolution-changed time-varying potential field algorithm and the traditional method of fuzzy logic control makes the robot quickly get out of the local environment. Having felt the infrared from outside, the robot...
This paper presents a cost-effective approach to design an embedded autopilot system for a 4-rotor aerial vehicle. The system is targeted for autonomous control research, and it consists of an onboard system and a ground station. The onboard system interfaces with the vehicle and provides data link for sensor measurements and control data. The ground station provides a user-friendly interface for...
The objective of this paper is to develop a localization system for cooperative multiple mobile robots, in which each robot is assumed to observe a set of known landmarks and equipped with an omnidirectional camera. If only a limited number of landmarks are available, it suffers from law accuracy. In this paper, it is assumed that a robot can detect other robots by using the omnidirectional camera...
This paper discusses a perceptual system for intelligent robots. Robots should be able to perceive environments flexibly enough to realize intelligent behavior. We focus on a perceptual system based on the perceiving-acting cycle discussed in ecological psychology. The perceptual system we have proposed consists of a retinal model and a spiking-neural network realizing the perceiving-acting cycle...
A lower limbs rehabilitative training robot was designed to improve walking ability of patients who suffer from impairment in locomotion after neurology injuries or aged persons who lack walking capability. The robot was fixed with four omni-directional wheels which can move within any radius in any direction. When the robot is running, some undetected uncertainty disturbances change its running trajectory,...
This paper designed a wall-climbing robot for painting the hull surface. The robot walked with caterpillar, permanent adsorption and driven by AC servo motor, the paint system was controlled by solenoid valve and pressure pump. Control system uses the supervisory computer and lower computer of two-stage distributional control mode. And the robot itself is equipped with a visual system to observe the...
This paper analyzes the principle and characteristics of the AP10 system, and then presents a solution of controlling indoor airship. AP10 is a kind of autopilot which is proved to be highly stable through market being used on UAV. After restructuring AP10, using the integrated navigation guidance method in it and UWB positioning technique it can be used for indoor airship. The test proved to achieve...
Because traditional approaches for solving the simultaneous localization and map building (SLAM) problem have the limitation of computational complexity, imprecision of filter algorithm and fragile data association, soft computing technique has been used to solve the problem. In this paper, we reviewed the state of the art of the application of evolutionary algorithm, fuzzy logic and neural networks...
In this paper, taking mobile robot as the research object, the embedded control system is designed adopting PC/104 as host controller, which achieves the link among the expand boards, power module, motor driving module, perception modules, the HCI interface modules and so on; Wireless communication technology in mobile robots is investigated deeply, and then wireless remote control and wireless serial...
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