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In this paper, the static stiffness of cable-driven wrist robotic rehabilitor (CDWRR) in its whole workspace is analyzed. A total stiffness matrix of this device consists of the exoskeleton stiffness model and the human arm stiffness model, which is obtained by using an equivalent stiffness model of exoskeleton and assuming a series of simplification of human arm. The analysis on stiffness was made...
A finite time stability procedure is proposed for a networked robotic system, where it appears a disruptive time delay impact during the communication between system agents. Then, a distributed SMC algorithm in the presence of a delayed information exchange is discussed. The algorithm, which is derived from the cross coupling design and consensus theory, enables cooperative robots to accomplish a...
In smart environments, the extraction of relevant information in large volumes of data collected from intelligent devices is a crucial issue. The extracted information can assist in automation of user activities and on daily chores, either suggesting or even changing the state of devices based on his/her routine. In this work, we propose a prediction architecture which combines an innovative preprocessing...
Vibrotactile display has been investigated to support driver's monitoring of traffic situation when auto driving. A vibrotactile display was assumed to contribute to driver trust in automation since driver can know the spatial awareness of an automated system to predict or understand the action selection for driving. The display provided the spatial information of close traffic objects with haptic...
One of the methods for discrete-time approximation of fractional order systems consists in an indirect approach in which a continuous-time rational transfer function is firstly derived. Then, using different mapping techniques, the s plane transfer function is converted to the z plane. In this paper a new mapping technique is proposed. The tuning parameter of this continuous-to-discrete-time mapping...
To improve the positioning accuracy in indoor environments, we use the Inertial Navigation System (INS) algorithm to perform the pedestrian tracking, and the measurements consist of two parts: the velocity error and the heading error. The velocity error can be gotten from the navigation result. Meanwhile, we get the heading error in two ways. First, taking the magnetometer as the heading resource,...
Cardinality balanced multi-target multi-Bernoulli (CBMeMBer) filter has been proved as a promising method in the context of multi-target tracking with an unknown number of targets, clutter and false alarms. For tracking maneuvering targets, the CBMeMBer filter has been extended by using jump Markov models (JMM). However, the standard particle implementation of the multiple model CBMeMBer (MM-CBMeMBer)...
This paper presents an integrated DC-DC buck converter with variable output voltage (from 1.2 V up to 5 V) and capability for delivering a wide range of output currents. The converter is optimized for achieving high efficiency, which is in range from 88% to 94.4% for output voltages from 1.2 V to 3.1V and output currents from 0.4 A to 1.2 A. Also, an overview of the converter losses is given, especially...
In distributed fusion architecture, processed information in the form of tracked object data is available instead of raw sensor data. Ignoring the cross-correlation in distributed systems by employing Kalman filter in general leads to inconsistent results. Covariance intersection, on the other hand provide conservative results by overestimating the intersection of individual covariances. In this paper,...
Traditional graph based sentence ranking approaches modeled the documents as a text graph where vertices represent sentences and edges represent pairwise similarity relationships between two sentences. Such modeling cannot capture complex group relationships shared among multiple sentences which can be useful for sentence ranking. In this paper, we propose two different group relationships (sentence-topic...
Operator based robust two loop nonlinear free vibration control of a flexible plate is considered in this paper. A model of the flexible plate taking into account the hysteresis from the piezoelectric actuators of the plate is given. Robust two loop nonlinear free vibration control scheme is proposed for the plate using operator theory, also, the tracking problem is shown. The effectiveness of the...
In underwater vehicles controlled by thrusters and fins, effect of the AUV depth control could be seriously affected because of dead zone nonlinearity in steering gear transmission system. This paper takes a certain AUV as an example. In this paper, a nonlinear pid controller is desired in considering of the actuator being saturated; response speed of the actuator is improved through tracking differentiator;...
The present paper addresses the design of an optimal online scheduler for a robotized packaging system. The task of the plant is to pick incoming products from a conveyor belt and pack them into boxes with multiple capacity. Specifically, the goal of the proposed control technique is to lose as less products as possible. To design a suitable controller for this type of plants, an optimization problem...
Simulation optimization is often applied to solve large-scale complex systems problems in which high-fidelity simulation models are usually complex and time-consuming to run. As a result, the number of objective function evaluations is often very limited and presents a major hurdle for optimization. Recently, a new multi-fidelity optimization framework referred to as ordinal transformation was proposed...
Additive manufacturing (AM) provides an opportunity to a new design concept in which the manufacturing constrain is released. The engineering design and optimization can include part building parameters to take the advantages of additive manufacturing or 3D printing technology. This paper presents a robotic additive manufacturing process simulation method which pushes one step further in the direction...
This paper presents a novel adaptive control strategy for the tracking control of a class of uncertain nonlinear systems with external disturbances as well as for placing arbitrary user-defined time-varying constraints on the system state. As such, our contribution is a step forward beyond the usual stabilization result to show that the states of the plant not only converge asymptotically, but also...
Path planning is an important part in Mobile robot researches. For the characteristics of mobile environment, it builds two kind of environment models including obstacle environment and barrier free environment. On the basis of the model, TSP model is a traditional template for path planning with kinds of intelligence algorithm. This paper introduces an improved colony algorithm and it performs well...
In order to better study and reveal the discharge mechanism and evolution of the dielectric barrier plasma generator, in this paper, the discharge in atmospheric argon is simulated by 2D numerical method. From the discharge particle chemical reaction of Ar and Ars electronic, it can be obtained that the relationship between the particle concentration change process and the electric field distribution...
In this work, a dynamic model of an AHU(air handling units) was studied for the purpose of energy saving and system analysis. First, based on the process flow of an AHU system, the system model which consists of a zone, heating coil, cooling and dehumidifying coil, humidifier was established by the mechanism analysis. Then, the opening of cold water valve, the mass flow rate, the rate of fresh air...
Constant physical work is the leading cause of low back pain (LBP) in nurses, which affects their well-being and working efficiency. With this study, we aimed to explore the features of lumbar muscles including multifidi (MF) and musculus transversus abdominis (MTA) of nurses with LBP suffering from lumbar disc herniation (LDH). We estimated the degree of lumbar muscle strain by comparing the lumbar...
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