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This paper establishes the nonlinear model of the planar inverted pendulum system by using Lagrange equation, then decouples the model around the system's equilibrium position with Taylor series expansion, gets the same linear model in the direction of and. According to the linear optimal control theory, designs a LQR controller, its base cart positioning prior to the pendulum stabilization. Finally,...
The technical advances of positioning technologies enable us to track animal movements at finer spatial and temporal scales, and further help to discover a variety of complex interactive relationships. In this paper, considering the loose gathering characteristics of the real-life groups' members during the movements, we propose two kinds of loose group movement patterns and corresponding discovery...
The autonomous motor skill learning is crucial for the humanoid robot to adapt to various tasks in complex environments and develop human-like behaviors. In this paper a method of autonomously learning arm movements for target reaching is proposed. To model the dynamics of arm joint trajectories during reaching, the dynamical movement primitives (DMP) model is employed. Based on the DMP representation,...
Using manipulators to draw artistic figures is a benchmark problem in robotics. In this paper we describe a 3-link planar manipulator which draws artistic shapes or geometric shapes on a canvas. We first take a snapshot of the shape to draw from the camera and process it for finding the outer boundary or edges. The edges are mapped onto the drawing canvas. The edges are converted from Cartesian coordinate...
The forward scatter radar (FSR) operation is investigated in this work considering for the first time the significant effects on the signal detection related to the distances between target and Tx/Rx antennas. Referring to a typical FSR scenario (a movable target crossing the baseline), specific attention is paid to the characterization of the forward-scatter cross-section (FS-CS). Based on a suitable...
Robust and precise control of piezoelectric actuators is quite challenging due to the existence of strong hysteresis nonlinearities. In this paper, a control strategy is proposed based on the uncertainty and disturbance estimator (UDE) to improve the performance of the positioning control of piezoelectric actuators. Compared to the existing hysteresis inversion based or other robust control strategies,...
This paper is a tutorial for a path generation method during merging maneuver of automobile using a model predictive control scheme. Lanes of a motor way are approximated with proposed smooth lines. Assuming that the main lane vehicles run on the centerline of the main lane, an appropriate path of the merging vehicle can be simply designed and modified according to the motion of the main lane vehicles...
This paper presents implementation of a novel guidance logic for multi-agent fixed-wing unmanned aerial systems using a moving mesh method. The moving mesh method is originally designed for use in the adaptive numerical solution of partial differential equations where a high proportion of mesh points are placed in the regions of large solution variation and few points in the rest of the domain. In...
In recent years, special interest has been paid to the solution of sector design problem. The airspace is partitioned into sectors, each of them being controlled by a group of controllers. Airspace sectors should be designed cautiously, ensuring that no sector would be overloaded during the day. The objective of an airspace design process is to adapt the airspace according to the evolution of the...
Sign language is crucial for communicating with hearing-impaired people. This study intended to develop a new interactive Taiwan sign language learning system. The Microsoft Kinect was used as an input device, with which the color image, depth image, and skeleton points of hands and body were collected. We developed algorithms for extraction and classification of hand location, hand shape, and hand...
We have performed a psychophysical experiment to investigate differences in perceived object size when exploring the inside or outside of objects. The experiment consisted of five conditions, in which ten blindfolded subjects compared the size of circular disks and holes using either the index finger, two different probes, the finger-span method, or an infinitesimal virtual probe. The result showed...
First Person Vision (Egocentric) video analysis stands nowadays as one of the emerging fields in computer vision. The availability of wearable devices recording exactly what the user is looking at is ineluctable and the opportunities and challenges carried by this kind of devices are broad. Particularly, for the first time a device is so intimate with the user to be able to record the movements of...
This study investigates tracking a table-tennis ball rapidly from video captured using low-cost equipment for umpiring purposes. A number of highly efficient algorithms have been developed for this purpose. The proposed system was tested using sequences capture from real match scenes. The preliminary results of experiments show that accurate and rapid tracking can be achieved even under challenging...
Self-folding robot is usually modeled as rigid origami, a class of origami whose entire surface remains rigid during folding except at crease lines. In this work, we focus on finding valid folding motion that brings the origami from the unfolded state continuously to the folded state. Although recent computational methods allow rapid simulation of folding process of certain rigid origami, these methods...
Successful deployment of a snake robot in search and rescue tasks requires the capability of generating controls which can adapt to unknown environments in real-time. However, available motion generation techniques can be computationally expensive and lack the ability to adapt to the surroundings. This work considers modeling the rolling motion of a snake robot by applying the Bellows model with computation...
We approach a problem of motion planning and stabilization for a benchmark example, known as the “Butterfly” robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilateral contact is derived. The recently proposed methodologies, known as virtual-holonomic-constraints-based...
Recent work [1], [2], [3] has shown promising results in learning from demonstrations for the manipulation of deformable objects. Their approach finds a non-rigid registration between points in the demonstration scene and points in the test scene. This registration is then extrapolated and applied to the gripper motions in the demonstration scene to obtain the gripper motions for the test scene. If...
Drawing inspiration from flight behavior in biological settings (e.g. territorial battles in dragonflies, and flocking in starlings), this paper demonstrates two strategies for coverage and flocking. Using earlier theoretical studies on mutual motion camouflage, an appropriate steering control law for area coverage has been implemented in a laboratory test-bed equipped with wheeled mobile robots and...
This paper presents an overview and comparison of minimal and complete rigid body motion trajectory descriptors, usable in applications like motion recognition and programming by demonstration. Motion trajectory descriptors are able to deal with potentially unwanted variations acting on the motion trajectory such as changes in the execution time, the motion's starting position, or the viewpoint from...
Stopping the motion of industrial robots in response to warnings or unexpected sensor data is a special case of trajectory generation. In contrast to emergency stops, here the robot has to satisfy the limits of the acceleration and the jerk. In addition, during the deceleration the robot must follow the path accurately, i.e., the shape of the original path may not be left. This is usually done by...
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