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In this paper, we proposed an improved PCA fault detection strategy for two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. The two wheel inverted pendulum robot has its inherent advantages in mobile performance. However, the instability is also a weakness of the robot and it limits the robot application scenarios. To improve the safety and reliability of the robot,...
in this paper the sparse A* algorithm (SAS) has been studied from the aspect of handling local traps. Firstly, SAS is briefly introduced and differences between the standard A* algorithm and SAS has been analyzed. The comparison shows that SAS is serious deficient in dealing with local traps, however it is very important for SAS to work in practical applications. Thirdly, a method to measure local...
In recent years, wearable assistance robots and gait trainers with weight bearing facility have been developed to enable elderly people to walk autonomously. However, the effectiveness of these devices in walking assistance has not been investigated. In this study, the effectiveness of a newly developed rollator having a chest pad equipped with a one-degree-of-freedom rotational mechanism, was evaluated...
In this paper propose a 3D mapping system using Quadrotor using the LRF and the sinusoidal trajectory algorithm. Instead of the expensive and bulky 3D-laser scanner, the LRF can be utilized and installed on the Quadrotor for the map building and the autonomous navigation. The high frequency noise caused by a Quadrotor moving in real time, was filtered using a hybrid median filter. By using a sine...
This paper proposes an educational model for groups of investigation in technological programs based upon the concepts of self-learning and self-management. The aim of this model is the definition by levels of learning and the definition of some tasks needed in order to that the knowledge will be acquired by the students in formation on investigation, allowing to these generate new knowledge that...
In order to improve the DC-bus voltage control performance and suppress the transient fluctuation of DC-bus voltage, a nonlinear disturbance observer (NDO) based DC-bus controller is proposed in this paper. The feed-forward compensation of active power disturbance is achieved by the proposed controller to reject the influence of parameter variations and the mismatched disturbance from the output terminals...
Millions of people suffer a stroke each year. One of the problems after stroke is hemiplegic hand. In previous studies a lot of robotic based devices has been suggested for rehabilitation of hemiplegic hand. Actuators using for force transmitting in previous devices have some disadvantages. One of them is misalignment on the centre of rotation between joints used in devices and joints of the hand...
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...
In this paper, we describe the development of a spoken dialogue system based on PRINTEPS architecture. This spoken dialogue system is composed of five modules (speech recognition, language understanding, dialogue management, response generation, speech synthesis). In PRINTEPS, when calling the spoken dialogue system, system developers specify the small-scale dialogue goal. The system performs a dialogue...
Over the past decade, pneumatic muscle actuator (PMA) has been in the limelight and receiving much attention not only in the field of industrial application as well as in prominent research areas such as robotics and biomedical engineering. The uprising can be accorded to the many advantages that PMA offers such as inherent compliant safety, low maintenance and powerful. However, PMA has yet to emerge...
Multi-robot systems (MRS) working in open and dynamic environments are expected to deal with uncertain arrival of new tasks and environment changes, by repeatedly adapting the current task allocation and schedule, in order to maintain its performance (e.g., total utility, balance, etc.). This paper presents an adaptive approach to multi-robot task allocation (MRTA), which combines two adaptive measures...
This paper addresses the motion planning problem for two autonomous robots (the defender and the attacker) with competitive objectives, which are involved in a reach-avoid scenario. This adversarial aspect of the game makes the problem complex with high computational cost. To address this problem, we propose a novel symbolic approach for the robot motion planning and control of the robots, which can...
Effectiveness of the locomotion of an Anguilliform-inspired robot depends upon the selection of various controller parameters such as amplitude, frequency, offset and low level controller gains. Manual tuning of the aforementioned parameters can be cumbersome. Automated controller parameter tuning requires repetitive experimental tests with non-optimal parameters leading to a rapid wear and tear of...
This paper proposes a novel hierarchical behavior planner with a multi-layered confabulation based behavior selection structure for robots to perform tasks. The proposed planner integrates a STRIPS based behavior selection approach and cogent confabulation approach. The STRIPS based behavior selection approach is a goal tree search that induces goal-oriented sequences of behaviors, while the cogent...
This paper proposes a novel scheme of integrating episodic memory into semantic memory based task planner. Task planners have taken an important role in AI research along with semantic memory to better perform tasks for robots. Episodic memory memorizes and retrieves temporal sequence of situated behaviors by which temporal relationship between behaviors can be defined. None of any research, however,...
While autonomous capabilities have proliferated across a wide range of commercial and domestic applications, some tasks require intermittent aid from a human operator. Guaranteeing the safety of these intermittently-teleoperated systems requires stability guarantees that hold in the presence of switching. In this paper, we consider the problem of controlling a robotic vehicle using both a human controller...
Programmable matter i.e. matter that can change its physical properties, more likely its shape according to an internal or an external action is a good example of a cybermatics component. As it links a cyberized shape to real matter, it is a straight example of cyber-physical conjugation. But, this interaction between virtual and real worlds needs two elements. The first one is to find a way to represent...
In order to assist the daily life motion of physically weak persons such as elderly persons, many kinds of power-assist robot have been developed. In the case of physically weak persons, perception ability to perceive the surrounding environment is often deteriorated also. A method of perception-assist has been proposed to assist not only the user's motion but also interaction of the user with his/her...
The paper deals with human-computer interaction in which the cooperation leads to solve a difficult issue of discrete optimization. Considered jobs scheduling problem in a robotic cell consisting of two machines and a robotic operator. Only one of two machines can work at a time and there are setup times between successive operations on a machine. The goal is to determine a schedule — permutation...
Recommender systems help users to find interesting items when there are many possibilities. They have been used in many domains such as movies, music, news articles, books etc. Recently there has been an increasing interest in using recommender systems in educational systems where the goal of the recommender system is to help users to find the most relevant and interesting learning resources based...
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