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Unmanned Aerial Vehicles (UAVs) have seen increased use in indoor operation with applications to disaster recovery, inspection in manufacturing industry, and in health care system. For this reason, it is necessary to develop an obstacle avoidance scheme for UAVs flying under limited altitude. This work is focused on multi obstacle avoidance for quadcopter type UAV. A collision-free margin was modeled...
Resulted from the complex interactions among the muscle actuation, body's properties and surrounding fluid, tincaeus fish has great capability to propel itself fast and efficiently. In this study, swimming tincaeus was modeled as a multi-joint dynamic mechanism to explore body's mechanical property. It was actuated at only one joint, and several passive joints were followed with almost arbitrary stiffness...
The annual International Mechatronics Educational Project (IMEP) was set up as a cooperation between three European universities from The Netherlands, Germany and Belgium in 2013 and was held for the 3rd time in Spring 2015. IMEP 2015 started with a kick-off meeting in February and ended 17 weeks later with an assessment including a demonstration of the students' work. During the fifth and tenth week...
Work in Progress: This paper reports the study on how peer review instruments based on existing e-learning tools can affect the quality of peer review process and how this type of tools can benefit the reviewers. The study starts from a pilot study on constructing peer assessment instruments for an assignment in a Master course by using PeerMark and Moodle workshop. A comparison of these two tools...
Adaptive, model-free control of Type 1 Diabetes Mellitus (T1DM) is a lack in the field of diabetes control, since, most of the applied control strategies are model-based ones. The main problem is that difficult to formulate exact mathematical models to replicate the physiological processes, not just because of their behavior, rather then these processes are changing patient-by-patient. Furthermore,...
Recently, more educational-support robots, which support learning, are paid attention to. However, the problem of these robots is that a user loses his/her interest in them. To solve this problem, some studies which focus on emotional expression models have been reported in Human-Agent-Interaction. The model of emotional expressions is defined as the agent expressing its emotions autonomously. Although...
This paper introduces a novel Human Machine Interface (HMI) that allows users to interact with a fleet of Automated Guided Vehicles (AGVs) used for logistics operations in industrial environments. The interface is developed for providing operators with information regarding the fleet of AGVs, and the status of the industrial environment. Information is provided in an intuitive manner, utilizing a...
One of the main problems in minimum invasive robotic surgery is effective control of the tracking error due to hand tremor. In this paper we review issues of hand tremor using surgical robot and propose a novel technique using wavelet transform with minimum coefficients to get a tremor free signal. In the parameter learning phase the error is minimized with minimum wavelet compression and as time...
A master and slave robot act in a teleoperation system. The master and slave angular position and velocities are sampled at integer multiples of a time step and the resulting difference errors at different sampling times are fed back both at the master and salve end after introducing appropriate feedback weights for each error sample. During the process of reading the master variables at the slave...
This article presents a study on the benefits offered by Coloured Petri Nets in capturing and separating permanent and temporary behavioural information and on the systematic support they hereby provide to model-based design and testing of cyber-physical systems. In particular, it illustrates the application of CPN modelling to capture the behaviour of cooperative mobile robots and highlights their...
This paper describes the position and force control of a novel two-finger gripper using force control technology, a master-slave force control strategy is deveoped for making the force track the desired force quickly with lower overshoot. PID controller is adapted to the position system for the master finger, and force control is used to the slave finger with grey GM(1,1) model, the prediction models...
In this paper, an optimal control method to non-prehensile manipulation control by two cooperative arms is proposed. In details, based on the dynamic model of the two-rigid-link object, an approximate model is derived. According to the obtained model, an optimal regulator is designed to realize the holding motion of two cooperative arms which is used to keep the two-rigid-link object stable on the...
The main goal of this study is to present preliminary results on the effects of combined transcranial direct current stimulation and wrist robot-assisted therapy in subacute stroke patients. Twelve subacute stroke patients participated in the study and were randomly assigned to the experimental (real stimulation on the affected hemisphere) or control group (sham stimulation). Clinical scales were...
In order to help patients achieve effective and coordinating multi-joints movement easily, the paper presents an active training method of a lower limb rehabilitation robot based on constrained trajectory. The realization process of the method is as follows. The patient's movement intention is recognized by analyzing the signals from torque sensors installed in rehabilitation robot joints, and the...
A fuzzy controller is established for the wire feeder of the invasive vascular interventional surgery robot in this paper. First of all, the mechanism of the wire feeder is introduced, and the axial motion is analyzed. Second, the dynamic model of the wire feeder is established. Next, the fuzzy PID controller is established to improve the positional accuracy and dynamic performance. At last, the controller...
This paper describes the results of a month-long case study of a stroke patient training with the anklebot conducted at the MIT Newman Laboratory for Biomechanics. The study provides promising evidence for reducing paretic impairment using the anklebot in stroke patients. We found a statistically significant increase in the paretic soleus and tibialis anterior EMG levels following anklebot training.
We propose the use of an Extended Kalman Filter (EKF) for reliable state estimation in order to permit advanced control of the tip of a flying inverted pendulum while maintaining safety. We demonstrate the capabilities of an EKF in tandem with an accurate model to overcome bad or false data from a multiple camera motion capture system used for positioning.
This paper presents a novel approach to control or navigate mobile platforms in a GPS denied environment, using natural human gestures. Gesture based interfaces and visual computing techniques are used to develop systems that can be used in Unmanned Aerial Vehicle (UAV) navigation using body postures. This approach will easily marginalize the complexity in Human-Computer interaction (HCI), making...
The international interdisciplinary field training of marine robotics and applications 'Breaking the Surface BtS started in 2009 as one of the two flagship dissemination activities of the EU-funded FP7 Capacities REGPOT-2008-1 project ‘De-veloping the Croatian Underwater Robotics Research Potential — CURE’. Three BtS field-trainings were organized as CURE activities (BtS2009, BtS2010 and BtS2011)...
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