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Organic and polymer-based resistive memory cell sandwiched between two vertically aligned electrodes constitute crossbar memory arrays in which the building blocks, referred to as bit cells, possess two or multiple stable resistance states.1 They are promising circuit elements due to their good scalability and processability, high possibility of molecular design through chemical synthesis, high storage...
This paper presents a repetitive hopping control of biped robots, which has the following properties: 1) It can initiate or cease hopping at any time, 2) The peak altitude can be freely altered during hopping, and 3) The impact at touchdown is suppressed. Hopping motions accompany frequent changes of contact conditions with the environment and lead the discontinuity of dynamics they are governed,...
Kinesthetic teaching is a promising approach to acquire robot skills in an intuitive way. This paper focuses on learning skills that do not solely rely on kinematics but also need to take into account interaction forces. We present three novel concepts towards learning such force interaction skills. Firstly, we determine segments from a small number of continuous kinesthetic demonstrations using contact...
In order to lower the cost, the switched-flux linear motor (SFLM) is proposed by combining both PMs and armature windings in short mover, which avoids long armature or long PMs as normal PMLMs. Moreover, SFLM combines the merits of linear motor and rotatory switched-flux motor, so they exhibit the advantages of bipolar flux-linkage and high thrust force density. It is more appropriate to be applied...
Force sensing and control are of paramount importance in robotic micromanipulation. A contact force regulator capable of accurately applying mechanical stimuli to a live Drosophila larva could greatly facilitate mechanobiology research on Drosophila and may eventually lead to novel discoveries in mechanotransduction of neuron circuitry. In this paper, we present a novel contact force scheme implemented...
As the expansion of the field of robotics has continued, the physical interaction between robots and humans has become an increasingly important area of study. Many of these physical interactions can be seen as a cooperative task conducted by both the robot and the human. Often, when two humans are interacting, one of them will act as the leader of some aspect of the task and the other will act as...
This paper presents a novel method to generate surface dynamometer cards of a sucker rod pump by applying torque and rotational speed estimates of a variable speed induction motor drive and a pumping process identification run.
Encounter-type devices have been introduced to solve one of the main drawbacks of common haptic interfaces i.e. their limited transparency in free space and their restricted ability to render realistic transitions between free space and contact. Advantageously, encounter-type interfaces collide with fingers and display interaction forces only if a contact occurs in the virtual environment. In free...
Variable stiffness actuators (VSA) are fostered in robotics for their capability to address physical interaction with a physically adjustable compliance, being advantageous in terms of efficiency, safety and adaptability to unknown environments. Here we introduce the concept of a switching VSA (sVSA), in which a single actuator is used to control the position or the stiffness of a robotic joint according...
Exosuits represent a new approach for applying assistive forces to an individual, using soft textiles to interface to the wearer and transmit forces through specified load paths. In this paper we present a body-worn, multi-joint soft exosuit that assists both ankle plantar flexion and hip flexion through a multiarticular load path, and hip extension through a separate load path, at walking speeds...
Switched-reluctance technology is appealing to the automotive industry due to its cost efficiency. Conventional research focuses on the two main issues torque ripple and acoustic noise. However, control schemes usually only address one of these two issues at a time. This paper unifies the approaches of direct instantaneous torque control and direct instantaneous force control to simultaneously tackle...
For active control of the vehicle's lateral and longitudinal dynamics with hydraulic brake systems, the brake pressure in the wheel brake cylinders is modulated with electro-magnetic actuators (fast switching solenoid valves). A malfunction of these, e.g. a blocked armature (the armature does not move in spite of electrical excitation), may lead to highly dangerous driving situations. To increase...
Recent developments in microgrids place strict constraints on the underlying state estimation technology, including the need for a dynamic and distributed approach. Since the problem is reminiscent of classical information fusion [2], the paper explores the application of a fusion-based reduced order, distributed unscented particle filter (FR/DUPF) for dynamic state estimation in microgrids. By partitioning...
A control method of adjusting the stiffness of suspension is proposed for magnetic suspension systems whose bias flux is provided by permanent magnets. In such magnetic suspension systems, zero-power control has often been applied. Since the zero-power magnetic suspension system behaves as if it has negative stiffness, it has been applied to vibration isolation system. However, the amplitude of negative...
Mode Switching Control (MSC) is a control method which switches from one control mode to another according to switching conditions. MSC has been widely used in robots and hard disk drives. Considering thrust limitations, however, the switching condition is generally conservative since there are not any clear criteria to switch the control modes. Therefore, this paper proposes a new index of switching...
The paper analyses the actions needed to be taken before the sea trials of a wave energy converter. In particular, the mechanical and electrical tests of the complete Power Take-Off are described, mainly these tests related toh the electric linear generator, the power electronics and its control. This work is developed in the frame of an application project consisting of sea trials of a Wave Energy...
A multi-tooth switched-flux linear motor (MTSFLM), with a novel armature structure, is proposed. In its armature the height of permanent magnets (PMs) is not the same as that of iron cores, which is different with conventional switched-flux motor (SFM). Firstly, a MTSFLM with the same tooth-slot parameters as the corresponding rotatory motor is showed, pointing out that its coil areas is much smaller...
This paper presents a novel method of manipulating objects floating on the free surface of dielectric fluids by combining “Cheerios effect” with di-electrowetting. Cheerios effect is a common phenomenon in which small floating objects are either attracted or repelled by the sidewall via capillary effects. The wettability of the sidewall surface is known to be a key parameter for this phenomenon. By...
This paper is concerned with the formation method for multi-robot systems with obstacles. Consensus formation cannot avoid obstacles in the process of movement, and algorithms based on relative distances are not applicable to the situations requiring rigid topology. An algorithm has been designed combining consensus protocols and the modified artificial potential field method for the second-order...
We propose an approach that combines human demonstrated posture-control skill defined by the motion in the lower limb joints with an inverse kinematics solution of an arbitrary hand motion. The posture-control skill for humanoid robot was obtained through the human-in-the-loop teaching approach. The collected data during the teaching phase was used to approximate functional relation between the state...
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