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In this paper is presented a hardware and software solution for controlling an electric-powered wheelchair for persons with disabilities. It was implemented an odometric system using two encoders and the programmable environment Matlab/Simulink, also it has been design an PI controller for the DC motors. It is also presented an obstacle avoidance system using an laser sensor. To verify the effectiveness...
Precision in practical life plays an important role in smooth functioning of all the developed integrated systems. Moving towards the intelligent robotics, accuracy of the results and simplicity of the design proves the efficiency and the applicability of proposed models and algorithms applied. This developed robot works on a much simpler algorithm to estimate the distance of an object by using one...
Robot Raconteur is a new distributed communication architecture and library designed for robotic and automation systems with distributed resources, including data and program modules. The motivation for this architecture is based on the need to rapidly connect sensors and actuators distributed across a network together in a development environment, such as MATLAB, without time consuming development...
Binocular stereo vision motion platform with 3-DOF is designed by UG soft in this paper, the structure and control system of the platform is simulated by using ADAMS and MATLAB in order to verify the rationality and kinematical accuracy.
Robotic grinding for workpiece with complex surface is a new processing method. The theory and implementation of path planning is the key of this method. To solve time-consuming problem of path planning with demonstration system, we established a complete set of process for griding path planning. The relation of the coordinates transformation was analyzed in this method. And the method to access the...
Machines performance and its availability in the factory are essential to the production unit. Therefore the technical staffs have to monitor the equipment to ensure everything is in good condition. However, the technical staffs including engineers are underutilized. This is due to they have to check the machines at different places by following the schedule. This research aims to assist technical...
One of the major difficulties with an autonomous reverse parallel parking is how to find a trajectory of travel from start to goal without any collision. In this paper, a bidirectional search is suggested to find the shortest pathway from an initial vertex to a goal vertex in a directed graph, implying that the initial and goal states must be known in advance. In each step for searching, there are...
This is a study of a disturbance observer design that minimizes vibration and misaim that occurs when firing at a moving object from a gun installed on a robot which is attached to a vehicle. We effectively reduce 15Hz/sec vibrations and examine a control system required in high speed and high precision tracking. The firearm robot was modeled using the multi-object dynamic software, ADAMS. The deduced...
Background subtraction is usually used as a technique to find moving objects. In this study, by the combination of background subtraction and motion detection techniques, we constructed a system that could be used to automatically make a facial image album. This system automatically takes a picture of a person when they appear in front of a camera and stand still. We built the system using a USB camera...
This paper presents the algorithm of an optimization route for collaborative 2 swarm robots. The target is to pick up four blocks at given points randomly and bring them to the target places which are certainly assigned. The problem space is divided into two areas; inner and outer. The inner is defined as a square matrix of 6 × 6, whereas the outer is outside that area. The robots are started at inner...
Fuzzy control has recently found extensive application for a wide variety of industrial systems and consumer products and has attracted the attention of many control researchers due to its model-free approach. In this paper, a reinforcement adaptive fuzzy control system based on Matlab's graphical user interface(GUI) is developed. In addition the reinforcement algorithm is presented, the binary reinforcement...
Bicycle robots are such a kind of mobile robots subjected to nonholonomic constraints and under-actuated degree of freedom (DOF) simultaneously, and it is a common scenario for these robots to climb a slope. The research in this paper is focused on dynamic modeling and dynamic characteristics analysis of a front-wheel drive bicycle robot under the state of slope-climbing. The concepts of critical...
In this paper, a robust neural network based controller is proposed to steer the joint angles of rigid-link robot manipulators to track the desired trajectories asymptotically. The developed control scheme makes use of a two-layer neural network to learn the behaviors of unknown dynamics of robot. Both the estimation error and external disturbances can be effectively counteracted by employing smooth...
In iterative learning control, several times iterative learning are needed to make the system tracking error converge, and before the system tracking error converge, tracking precision is not very high, especially in the first learning period of “inexperience”. In order to solve that problem, integrating with fuzzy control, a fuzzy iterative learning control is proposed, and fuzzy control is used...
Inverted pendulum is a control system, with the feature of high order, muti-variable, non-linearity and unstable naturally. It is quite important for us to study its balance and stability in control engineering field. In this paper, a flywheel inverted pendulum, as an object to be controlled, the dynamic model has been established, and the mathematical model which established has been certificated...
In this paper, study virtual prototyping environment of parallel machine. After analyzing and studying development and actuality about virtual prototyping environment of parallel machine currently, system project of it is propounded. Analyzing and computing in matlab6.5, three-dimensional modeling in UG, virtual prototyping environment of parallel machine is established. Key technology and problems...
This paper presents the development of graphical user interface (GUI) for Humanoid Head Robot Amir-II. The GUI serves as a monitoring tool for the robot operation which includes the visual input from a webcam as its eye and the positioning of the Dynamixel AX-12 robot actuators. Matlab Graphical User Interface Development Environment (Matlab GUIDE) is used in developing the GUI which enables Matlab...
Welding robots are seldom entirely autonomous, mainly because a robotic arm, integrated in an assembly line, produces better results. There are, however, situations, such as welding inside pipes, or in shipyards, where autonomous welding robots are really helpful. This paper presents integral and proportional integral sliding mode control techniques for controlling the speed of DC motors. Results...
Signal acquisition based on multiple sensors is widely used in many applications, especially in robot with binaural auditory system. This paper provides one recording procedure with dual-caching and multi-thread technologies for unlimited time and synchronized sound signal collecting. Besides, in order to solve time delay in multiple recording, timer must be taken in system procedure. Furthermore,...
This paper describes the design and development of an image processing based automatic storage system for library. The prototype system comprises of a cartesian robot, two infrared sensors, a four channel motor interface board, a web camera and a PC. After the book has been detected by the infrared sensors, camera captures the image of front cover of the book. The title of the book is extracted and...
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