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Currently, research on a jumping robot has been actively conducted in the Robotics field. In this paper, we propose a linkage structure of the jumping robot leg. The trajectory and take-off angle are simulated by using a free software, LINKAGE program. Also, we introduced the two types of the propulsion structure.
Several national and international computing and engineering organizations are in the process of developing a new curricular document tentatively titled 'Computing Curricula 2020' (CC2020). This curricular project, based on its predecessor CC2005, intends to reflect the state-of-the-art in computing education and practice as well as the future of the computing educational field for the 2020s. This...
This paper aims to develop the motion loading system taking into account the variable control impedance and human reactions. In the motion saving phase, a four channel bilateral controller with a micro-vibration is utilized for the purpose of obtaining not only position and force responses to human motion but also the human impedance. In the motion loading phase, the hybrid angle and the human impedance...
In order to solve the problem of energy supply for wearable and portable electronic equipment and exoskeleton, a direct energy recovery mechanism based on hydraulic transmission principle was designed. Firstly, according to the particularity of human body structure and function, establish a theoretical model can reflect the state of human body by Lagrange modeling method. Based on the established...
As the air bearing flying height (a few nanometer levels) and the deformation of suspensions (micro-or millimeter level) run at two different scales, a dual-scale model for head disk interface (HDIs) has been proposed to analyze the unloading behavior of a subambient pressure slider. With the scheme developed, the unloading process can be simulated efficiently. The nonlinear vibrations of the air...
Power consumption is one of the key optimization objectives for modern integrated circuit designs. More than 40% of the total power consumption is contributed by clock trees due to their high frequency of switching and high capacitance. In the traditional physical design flow, placement is done before clock tree synthesis (CTS). CTS constructs a tree to connect the clock source with all the registers...
Limited mobility severely impacts the quality of life of persons with lower-limb amputations. Therefore, it is imperative to develop proper rehabilitation techniques to prevent falls and injuries. A vibrotactile device was developed as a training tool to enhance the rehabilitation of persons with recent lower-limb amputations. Stimuli provided by the device trains the user to sense discrete perturbations...
Pedestrian trajectory prediction is important in various applications such as driverless vehicles, social robots, intelligent tracking systems and space planning. Existing methods focus on analysing the influence of neighbours but ignore the effect of the intended destinations of pedestrians which also plays a key role in route planning. In this paper, we propose a novel two- stage trajectory prediction...
There will always have a greater residual stress in the processing process of the micromechanical gyroscopes straight elastic-beam. affecting the performance of micromechanical gyroscopes. According to the principle of stiffness equivalence, the original elastic-beam of the micromechanical gyroscope is improved to the beam of drive as the U-beam and sense as the carb-leg beam by the combination of...
There is an increasing number of people with traumatic injury related to hand amputations. The amputees experience many problems, especially dealing with activities of daily living (ADLs). Hence, the prosthetic hand is designed to help amputees to perform daily activities. Customized prosthetic hand with high performance is very costly and use heavy DC motors for actuation. This paper presents a low-cost...
In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human by considering impedance learning and human motion intention estimation. The least square method is used in human impedance identification, and the robot can adjust its impedance parameters according to human impedance model for guaranteeing compliant collaboration. Neural networks (NNs) are employed...
Dexterous object manipulation requires suitable control of grip force, load force and digit positions. To keep an object stable in the air, force magnitude, force direction and digit positions should be coordinated, producing compensatory torque that could balance the external torque and maintain a minimal object roll. Six males and 6 females enrolled in the study. In the experiment, subjects were...
Compliance control using tactile sensor for robotic hands have been one of the major research topics. Most researchers use a variety of multi-dimensional force sensors with compliance control. In this paper, we replace traditional multidimensional force/torque sensor with one-dimensional pressure sensor. In order to achieve the effect of multi-dimensional sensor, we also propose a vector decomposer...
Due to the great performance in complex and narrow spaces, snake-like robots, especially snake arm robots, have gained increasing attention in recent years. In this paper, a novel cable-driven snake arm robot is proposed. For greater flexibility, the snake arm not only has multiple two-degree-of-freedom joints, but also has telescopic modules that have one degree of freedom. The kinematics and statics...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
A detection method of short-time double-Duffing chaotic oscillator array with variable amplitude coefficients (VASTD-Duffing) is proposed for the problem of Duffing chaotic oscillator system's miss detection generated by envelope fluctuation and distribution information in the time domain of the signals. A short-time characteristic window approach and periodic extension method to envelope fluctuation...
In order to accurately simulate vehicles' running states of lane changing and more effectively reflect its characteristics, based on the driving experience, this paper introduced three changing rules and their corresponding lane changing benefits and safety factors, and summarized the lateral and longitudinal motion of vehicles as the interaction result between lane changing benefits and safety factors...
In this paper we presented the functional analysis of intelligent wheelchair, and proposed system configuration program. The working principle of the ultrasonic sensor system is expounded. We researched the method of path planning and random avoidance, and achieve environment modeling and path planning. Link Graph method is used for modeling whole environment and Dijkstra arithmetic is used to established...
The collision avoidance problem of autonomous ships is analyzed in this paper. Firstly, the background and the difficulties are reviewed. Then an improved artificial potential field method is designed to solve the collision avoidance problem of unmanned ships, and the system characteristics are investigated. Finally, simulation results demonstrate the ship's control effectiveness in the obstacle environment.
Very large-scale Deep Neural Networks (DNNs) have achieved remarkable successes in a large variety of computer vision tasks. However, the high computation intensity of DNNs makes it challenging to deploy these models on resource-limited systems. Some studies used low-rank approaches that approximate the filters by low-rank basis to accelerate the testing. Those works directly decomposed the pre-trained...
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