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Relay node placement in wireless sensor networks for constrained environment is a critical task due to various unavoidable constraints. One of the most important constraints is unpredictable obstacles. Handling obstacles during relay node placement is complicated because of complexity involved to estimate the shape and size of obstacles. This paper presents an Obstacle-resistant relay node placement...
Ultrasonic technology has been using for years. Different Ultrasonic sensors are used in homes, shops, to navigate, object detection and for what is known as map building. The aim of this work is to build an ultrasonic device which is basically one kind of a radar system to get exact distance and approximate 2D shape for fixed objects placed around the device based on trigonometric rules. Its uses...
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target under influence of the dynamic and noisy environments. In our approach, the desired formations, which include the virtual nodes arranged into specific shapes, are first generated. Then, autonomous robots are controlled by the proposed artificial...
This method achieves efficient random explorations of open and dynamic environments. It relies on two main assumptions: (1) moveable object are interesting, (2) focus on visually salient areas first, that are not specific to a particular scenario or experimental setup.
Psychologists report that infants rely on shape rather than colour for object recognition, differentiation and generalisation for both verbal and non-verbal tasks. In this paper we propose a mechanism for object generalisation, based on inductive inference and differentiation using visual along with non-visual information obtained through the manipulation of various objects. Experiments are conducted...
We propose an active perception paradigm which combines actuation (control signals) and perception (sensor signals) to form concepts of shape using recurrent neural networks; this representation characterizes not only what the shape is, but also how it is created. The approach is based on the group theoretic wreath product which specifies a sequence of actions on a set of points which when completed...
To solve problems due to absence of force feedback and provide a better medical environment for surgeons, using haptic feedback is proposed. A precondition to apply the haptic feedback is to measure the force however it is inconvenient to attach sensors to the end-tip of surgical instrument. Sensors can't endure high temperature and high pressure while surgical instrument is being sterilized. As a...
In this paper we propose an approach to robot grasp prioritization based on a combined arm-and-hand metric. Most traditional approaches evaluate grasps based on hand-centric metrics such as force-closure, finger spread, contact surface area and similar measures. While these are certainly important factors to predict the robustness of a grasp, they do not carry information on the feasibility of the...
We propose a new emotional, huggable, mobile, and configurable robot (Teo), which can address some of the still open therapeutic needs in the treatment of Developmental Disability (DD). Teo has been designed in partnership with a team of DD specialists, and it is meant to be used as an efficient and easy-to-use tool for caregivers. Teo is integrated with virtual worlds shown on large displays or projections...
In this paper, two algorithms are proposed for a mobile robot with obstacle avoidance and plowing-walking pattern. The three wheels mobile robot, which is combined with four infrared (IR) sensors, and a microprocessor inside the control board are implemented and designed. The microprocessor receives distance data from IR sensors as an input for obstacle avoidance, and plowing-walking pattern. In the...
Shape sensing based on optical fiber-Bragg-grating technology is an important field of research that promises to bring a solution for the observation and tracking of flexible tubes. Currently for shape sensing, an optical fiber with integrated Bragg-gratings is attached to a flexible material, to measure the material strain caused by bending. In this paper, a new approach for shape sensing is presented...
In recent years, expression education that improves imagination and communication skills has been of increasing interest. Suitable support and evaluation for each student in expression education is necessary because students have different skill levels. However, many existing educational institutions educate learners in a one-to-many environment. This makes it difficult for teachers to support and...
Modern control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing observation of the current state of the system, sensors require resources such as energy, time and communication. We consider discrete models of such systems with non-deterministic control transitions and multiple observation modes that provide different information about the...
Muscle weakness is one of the major deficits after stroke but specific strength training is seldom included in robot-assisted rehabilitation. At the same time, the emergence of robotic devices for stroke therapy offers technical possibilities for strength training. We propose a control strategy for strength training that is based on a viscous force field shaped towards the patient's performance abilities...
Several approaches can be identified in the literature for area decomposition: Grid based methods, Cellular decomposition and Boustrophedon (or Morse) decomposition. This paper proposes a novel discretization method for the area based on computational geometry approaches. By using a Constrained Delaunay Triangulation, a complex area is segmented in cells which have the size of the projected field...
Fiber Bragg grating (FBG) sensors are a promising tool for real-time shape reconstruction of dexterous continuum manipulators (DCM). We have recently developed a novel FBG-based shape sensor which is capable of detecting a radius of curvature of 15 mm for a 35 mm length DCM. This paper aims to further evaluate the accuracy of this shape sensor during motion of the DCM. Different experiments were performed...
Folding clothes is a current trend in robotics. Previously to folding clothes, they have to be unfolded. It is not realistic to perform model-based unfolding, as every garment has a different shape, size, color, texture, etc. In this paper we present a garment-agnostic algorithm to unfold clothes that works using 3D sensor information. The depth information provided by the sensor is converted into...
This paper highlights on the development of a Ultrasonic Sensor Bank with sixteen pieces 40 kHz ultrasonic sensor (USB-16) mounted on hexadecagon-based plate on a mobile robot to perform real time 2D and 3D mapping. The purpose of this research is to evaluate the capability of USB-16 in providing an accurate map in terms of the walls perimeter and its shape, where the robot is located. Each wall will...
The aim of this project is to establish the communication between the hearing impaired people and non-sign-language-speaking people easier and to raise the awareness of the community about hearing impaired people. In this study, a subset of selected primitive hand shapes of Turkish Sign Language are recognized by a system based on Leap Motion device. The system was tested with selected participants...
Automatic batch manufacture is one of the most promising future direction in the field of computational robotics with the smart assembly system. In this paper design of improved vision sensing manipulator to recognize desired components in unstructured assembly system is presented. The proposed sensor based intelligent robotic manipulator can be used to solve high-dimensional problems manipulate and...
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