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The ACC will offer workshops addressing current and future topics in automatic control from experts in academia, national laboratories, and industry. The workshops at ACC 2017 will take place prior to the conference on Monday, May 22 and Tuesday, May 23, 2017.
In the scope of the study, it was aimed to discover a closed multi-storey environment with autonomous air robots and produce a three dimensional map. In order to reduce the complexity of the three-dimensional exploration algorithm, we have developed Target Elimination Method that can calculate the result by narrowing the problem space. The Target Elimination Method ensures that the exploration algorithm...
Millennials are arriving to university sometimes uncomfortable with the methods of some courses. Ideas that worked with previous generations of students begin to fail when digital natives receive paper and pencil as tools. Courses must update from old paper-based methods to hands-on and computerized versions. The present work discusses about this update and comments on one implementation in the course...
In this study, Electrooculogram (EOG) based Human-Machine Interface (HMI) application is proposed for partial or completely paralyzed and physically limited people as Amyotrophic Lateral Sclerosis (ALS) patients. In the designed system, EOG signals consisted of vertical and horizontal eye movements are detected by using 6 Ag-AgCl electrodes which placed around the eye. Then, by applying amplifying...
In this paper, we propose a technique for UGV robot's localization using map data of an UAV(Unmanned Aerial Vehicle) with RGB-D camera. UGV has a large loading capacity and a long battery life, but it has limited movement. On the other hand, UAV is free to move but has a small loading capacity and a short battery life. In case of UAV SLAM(Simultaneous Localization And Mapping), location recognition...
Facial expression recognition (FER) has been applied for human-robot interaction (HRI). An assistant robot having a close interaction with human being should be able to recognize human facial expression. FER is a non-trivial problem because each individual has his own way to reveal his emotion and the facial expressions of two different persons may not be totally identical. Facial expression can be...
Human-robot teams can incorporate advanced technology such as distributed mobile sensor networks, integrated communications, visualization technology, and other means to acquire and assess information. These factors can greatly affect mission effectiveness, safety, and survivability, by providing critical information and suggesting courses of action. However, information overload can result. Tactical...
Unmanned systems are increasing in number, while their manning requirements remain the same. To decrease manpower demands, machine learning techniques and autonomy are gaining traction and visibility. One barrier is human perception and understanding of autonomy. Machine learning techniques can result in “black box” algorithms that may yield high fitness, but poor comprehension by operators. However,...
We are all people who have a definite location, but our intuitions about people and their locations are not always correct. Fortunately, researchers have been looking at how people behave with respect to location, and they have discovered surprising facts that do not necessarily match our assumptions. For example, as technologists, we tend to assume that people have strong concerns about their location...
This paper presents the development of the electrical simulator for the space station manipulator to support the design of the space manipulator's controller and the data communication verification between the space station and the manipulator. The assembly of the space manipulator model consists of the joint controller model, the joint dynamics model and the serial manipulator model. Besides, the...
Environment perception is a key technology for robot control and moving. Image information has the advantage of low-cost to perceive the indoor environment. Stitching multiple images is helpful to realize the full range of global view of indoor environment. Our research devotes to showing a large field of view by dynamic image stitching when there is a moving object in the environment. The images...
This paper studies the configuration of a planar cable-driven parallel robot to reduce the vibration of an end-effector. Since cables are more flexible than rigid links, external disturbances may cause a significant vibration during operation. The characteristics of the vibration are closely related to the natural frequency of the end-effector. And, we consider that the shapes of the frame and the...
Wheel-legged rescue robot can replace rescue workers to carry out on-site search and rescue, and it can adapt to the complex environment. So it has broad application prospects. In order to improve the rigidity and carrying capacity of the robot, and reduce the control difficulty, a novel wheel-legged rescue robot is designed in this paper, which includes four-bar wheel-legged structure, auxiliary...
With the advent of robot technic, robotic-assisted minimally invasive surgery has improved the precision of surgery. The performance of the instrument has a large influence on the surgery quality. Researchers have developed a variety of surgical instruments for minimally invasive surgery in clinical applications. However, very few of these are flexible surgical instrument products. In this paper,...
This paper presents a 3D path following control scheme for a class of torpedo-type autonomous underwater vehicles (AUVs) with uncertainty terms in their dynamics. For this kind of torpedo-type AUVs, there are only three control inputs, surge force, pitch and yaw moments, available for the vehicles' 6DOF 3D underwater motions. Therefore, it's a typical underactuated system. To tackle the 3D path following...
In order to achieve high safety of the surgery robot, this paper presents a vibration signal acquiring and processing method to estimate the tool position during bone milling process. The dynamic of surgical milling is analyzed theoretically, and then it is proved that the vibration magnitude of the milling device decreases when the burr is close to the bone boundary. During the real milling operation,...
A new kind of non-pneumatic tire with spring for attenuating vibration is introduced. The constituent material of tire is selected by polyurethane and the structure of tire is chosen as honeycomb. This article is mainly focusing on parameters affecting natural frequency of non-pneumatic tire with spring, which plays an important role in attenuating vibration. The structural parameters of honeycomb...
In this paper, we proposed an improved PCA fault detection strategy for two wheel inverted pendulum robot with center of gravity self-adjusting mechanism. The two wheel inverted pendulum robot has its inherent advantages in mobile performance. However, the instability is also a weakness of the robot and it limits the robot application scenarios. To improve the safety and reliability of the robot,...
in this paper the sparse A* algorithm (SAS) has been studied from the aspect of handling local traps. Firstly, SAS is briefly introduced and differences between the standard A* algorithm and SAS has been analyzed. The comparison shows that SAS is serious deficient in dealing with local traps, however it is very important for SAS to work in practical applications. Thirdly, a method to measure local...
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