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A novel approach to loop transfer recovery design is presented, that is applicable in the scope of TFL/LTR (Target Feedback Loop / Loop Transfer Recovery) controller design, whose best known variant is LQG/LTR (Linear Quadratic Gaussian / Loop Transfer Recovery) design. The proposed method requires solely the adjustment of two scalar parameters, which must satisfy an inequality that depends on the...
The purpose of this paper is to present the investigation of impact pressure acting on the hemisphere cylinder when it hits the water. In this paper, a two-dimensional hemisphere cylinder is built to simulate the water-entry problem. The model enters into the calm water verticals with initial velocity in y-direction at 10m/s. The transient flow simulation is carried out using Fluent k-£ turbulent...
Robots moving in an unknown environment are made to face many obstacles while navigating in a planned or unplanned trajectory to reach their destination. But, no information is available regarding the failure of leader robot of a group in both unknown and uncertain environments and the subsequent course of action by the follower robots. The leader robot might fail due to internal and external disturbances...
Biopsy of zona pellucida is a necessary step prior to pre-implantation genetic diagnosis (PGD). Besides traversing zona pellucida by applying laser or acidified medium (e.g Tyrode's solution), mechanical means is another safe approach. Traditional mechanical zona cutting requires highly skilled embryologist. It is very difficult to make the process automatic due to its complexity. The process can...
Visual tracking, when regarded as a classification problem, usually need sufficient amount of data for online learning. Current approaches usually employ multiple binary labeled samples to train or update the appearance model at each frame. However, most positive samples collected by perturbation of the target location are equally treated as the estimated target when used for updating. The exact target...
Current legged robots are brittle and fragile when performing a wide range of locomotion tasks. This can be the case during the execution of dynamic locomotion trajectories such as jumping or hopping where impact forces can significantly increase and reach levels of an order of magnitude higher than the gravitational/weight forces of the robot. Legged robots like humanoids with rigid and heavy feet...
In this paper, we present a new image preprocessing method which is based on Wavelet Transform. Before we extract expression texture information, Wavelet transform will be applied to remove partial high frequency information. And then Gabor Transform will be used to extract expression information. At last we chose the Support Vector Machine to classify facial expressions. Experiments on the Japanese...
Map fusion is an essential and challenging issue in multi-robot simultaneous localization and mapping (SLAM), especially for 3D SLAM applications. In this paper, we propose an efficient pose-graph based approach to fuse several 3D maps built by distributed mobile robotic system. Several robots, each equipped with a Kinect sensor, cooperate to map the operated environment; each of them just scans a...
Flying robots have many applications in constrained environments. But they are facing difficulties when they cannot take off again without human intervention if they are not in upright position after a fall. This paper presents a method to design a self-recovery mechanism for the quadrotor to protect itself and recover autonomously after accidental falls. The presented quadrotor with a self-recovery...
This paper concentrates on the gait transition of a quadruped robot. Animals move with different gaits to adapt to the change of terrains or just to save energy. A biomimetic robot should achieve this process in a smooth, continuous and energy efficient way. We propose a gait transition controller that can achieve needed phase difference between every two legs based on the Hopf oscillator. The quadruped...
Unmanned Aerial Vehicles (UAVs) play vital role in a number of application domains including search and rescue, traffic monitoring, border control, to name a few. A robust computer vision system for detecting and tracking moving targets is essential to enable UAVs operate autonomously against challenges such as occlusions and abrupt camera motion. This paper presents a robust system that can handle...
To perform search and rescue missions in multi-terrains after natural disasters, the amphibious robot we designed is equipped with four eccentric paddle modules. The module is based on the epicyclic gear mechanism, and by changing the paddle shaft's location we can achieve various gaits adapting amphibious environment. Regarding experimental results with the first generation prototype, named ePaddle-EGM,...
Snake-like robots are developed for searching and rescuing applications. The digital cameras are commonly installed on the head of the snake-like robots which are used to provide a visual feedback for the operators. However, the swing motion of the head has great impacts on the visual feedback when the snake-like robots perform lateral undulating locomotion. To solve this problem, a control method...
Driver assistance is one of the major tasks on smart wheelchair development. However, human following is also necessary in real application. In this paper, a control system of driver assistance and human following for smart wheelchair is presented. Driver assistance can keep the wheelchair from stairs falling and obstacle collision when the user is driving the wheelchair in complex environments with...
In recent years, a rehabilitation method in which a quadriplegic person can perform training without a therapist has been proposed, and studies that use functional electrical stimulation (FES) have been promoted. However, FES induces muscle contractions that tend to be stronger than voluntary contractions, and hence increases the muscle load too easily. Accordingly, the resultant excessive contractions...
Considering the network restrictions such as multiple time-varying delays, Markov random switching topology, average-consensus sufficient conditions for the multi-agent network systems with time-delay are proposed. Firstly, by using the idea of state decomposition, consensus problem is converted into analysis system stability. And then, by using orthogonal transformation techniques, the original system...
We investigate a model based fault diagnosis method for a four wheel skid steering mobile robot (SSMR). Through this study we use a technique based on structural analysis that allows generating residuals. The research goal is to provide early fault diagnosis. To achieve this we use the kinematic model of the mobile robot that helps to the design of the structural model. The main contribution of this...
Based on the recent research and statistics by Symantec, significant amount of all global web traffic and email traffic is marked as spam. Spambot is basically a robot that maliciously traverses the World Wide Web (WWW), and gathers information, email addresses, etc. For the spammer. The increasing growth of spam bot sophistication advances in the introduction of Spam 2.0, which infiltrate legitimate...
Nowadays, there is a widespread demand for applying the robot system into the various fields. Especially, robot can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. We are developing the dual arm robot which can be adapted to the rescue robot with tracked mobile platform. Therefore, it has to be designed to have the protection mechanism...
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