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Stereo vision is an active research topic in computer vision. Point Grey® Bumblebee® and digital single-lens reflex camera (DSLR) are normally found in the stereo vision research, they are robust but expensive. Open source electronic prototyping platforms such as Arduino and Raspberry Pi are interesting products, which allows students or researchers to custom made inexpensive experimental equipment...
In this study, steady-state visual evoked potential based brain computer interface design and implementation was being carried out. A portable and affordable EEG device was used to obtain brain signals. Computer monitor were preferred as visual stimuli source. In offline and online experiment, for detection of target visual stimulus selected by user, the amplitude of the EEG signal components, which...
This article describes algorithm which detects moving objects in video using the construction and analysis of a graph model. The comparison with the same method that is considered in the documentation for MATLAB is carried out. The efficiency and correctness of the algorithm is proved. Examination of the proposed solutions on test video image is done.
Recycling is the process of collecting waste materials and processing it into new products. Identification of recyclable waste is the first stage of recycling. The objective of this project is to design a robot (Recyclebot) that automatically segregates recyclable and non-recyclable waste and to create awareness among people about the benefits of recycling. The Recyclebot system comprises of different...
This paper presents a novel approach to autonomously navigate multiple Unmanned Aerial Vehicles (UAVs) of type Parrot AR Drone 2.0 inside a closed environment. The UAVs will be assigned to follow a set of way points. A multi-UAV control algorithm will be developed using MATLAB/ Simulink to materialize the concept of centralized formation flight. The experiment data will be analyzed further to develop...
In this work dynamic couplings were presented, which occur in the kinematic chains of branched positioning systems, e.g.: medical robots da Vinci. Replacing torque generated by driveline by gravity force allows authors to treat branched manipulators as a branched pendulum, in which interactions between the different branches occur. Basing on the methodology of mathematical modeling of robots' manipulators,...
Many people in this world are known to gestures, a powerful communication medium amongst humans. They say actions speak louder than words. Communicating with gestures is a powerful method. Industrial as well as robots used for home purpose are often controlled by remote controllers. The use of gestures as a way to control can help a lot providing ease and can be more useful for the handicapped. Gestures...
The aim of this paper is to present a practical method to land a Quadrotor MAV (Micro Arial Vehicle) on a landing pad or charger dock station. Nowadays Quadrotor MAVs are very popular but due to nonlinear dynamics and ground effects problems landing of a Quadrotor MAV is a control challenge specially in outdoor environments. For this purpose a high level fuzzy controler and a low level PID stablizer...
Robotics sector have achieved enormous founds in recent years due to its high demands in factories to carry out high-precision jobs like riveting and welding. They are also often applied in special situations that would be hazardous for humans such as disposing toxic wastes or defusing bombs. Mobile robots alone however have gained much focus from researches relating optimization of their motion path...
In this work the numerical considerations to arise when making a control system on FPGA are presented. It takes as study case the implementation of the position controller of a manipulator robot. The system is made using two numerical representations: integer and fixed-point. It shows the procedure to define the width in bits of the integer and fractional part of the fixed-point number. In addition,...
Double rigid bodies model of a free-falling cat's rotation has been widely accepted, through the further analysis of this model the paper designed a 3-DOF hinge joint in order to realize the rotation of a free-floating space robot under the condition of weightlessness. Based on the law of linear momentum and angular momentum conservation, general kinematics model of the space robot was established...
This paper presents a novel method for making an inexpensive, low resolution, wide angle gamma-ray camera using a single handheld inorganic scintillation detector. A lead aperture is used to create a directionally sensitive detector and craterisation points are measured and compiled into a pixel Ted spherical gamma-ray image. The gamma-ray image is separated into energy channels and overlaid on top...
A large part of Web traffic on e-commerce sites is generated not by human users but by Internet robots: search engine crawlers, shopping bots, hacking bots, etc. In practice, not all robots, especially the malicious ones, disclose their identities to a Web server and thus there is a need to develop methods for their detection and identification. This paper proposes the application of a Bayesian approach...
This paper deals with development of Robust Moving Object Detection method using Visible Spectrum and Thermal Imaging. If we fuse visible spectrum and Thermal imaging together, more information about the moving object can be obtained as both are inherently complementary to each other. The segmentation of moving objects in corresponding video frames involves ‘Background Subtraction’ method. Here each...
This paper proposes the use of UWSim (an underwater simulator) in combination with Simurv (a kinematic and dynamic library for Underwater Vehicle-Manipulator Systems control algorithms) and ROS (a well-known robotics framework) in order to simulate the dynamics of an Intervention Autonomous Underwater Vehicle and its application to the benchmarking of autonomous control algorithms in the field of...
Rapid-control-prototyping is an efficient mean of experimental study for control research. It is a challenge to exercise rapid-control-prototyping for iterative learning control (ILC) due to the finite time nature of ILC. This paper describes the construction of an ILC system based on MATLAB, Simulink, and Quanser WinCon. MATLAB/Simulink hybridprogramming is utilized to solve the complex task of rapid-prototyping...
In this paper the designing of a tracked robot's neural network control system is considered. The control system embodies a black line following algorithm, which is using two infrared reflector sensors for black line recognition. The neural network regulator is designed in Matlab/Simulink using the Real-Time Windows Target Toolbox. With the purpose of the neural network regulator training, course...
In this paper, the complex aspect of deburring of machined components while using a Selective Compliance Assembly Robot Arm (SCARA) robot is analyzed. There are two practices followed in robotic deburring, viz., the work piece is held by the robot's gripper while the deburring tool is external to the robot and the second mode, the deburring tool is held by the gripper with the work piece is held in...
In the research study the fully automated vehicles is one of the most important factor to navigate the vehicle by avoiding obstacles and to maintain specific path. The methodologies to achieve this could be researched on robots which rely on their ability to sense and interact. Laser sensors and Ultra-sonic sound sensors have been a traditional way to detect objects in the recent past but they were...
Multi-agent robots, working in a group and sharing intelligent information, have several advantages over a single agent robot such as simplicity in agent design, better performance, increased fault tolerance and spatially distributed sensing. Applications of such systems are abundant in various fields of engineering and sciences. Multi-agent robots using leader-follower formation comprises of a group...
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