Serwis Infona wykorzystuje pliki cookies (ciasteczka). Są to wartości tekstowe, zapamiętywane przez przeglądarkę na urządzeniu użytkownika. Nasz serwis ma dostęp do tych wartości oraz wykorzystuje je do zapamiętania danych dotyczących użytkownika, takich jak np. ustawienia (typu widok ekranu, wybór języka interfejsu), zapamiętanie zalogowania. Korzystanie z serwisu Infona oznacza zgodę na zapis informacji i ich wykorzystanie dla celów korzytania z serwisu. Więcej informacji można znaleźć w Polityce prywatności oraz Regulaminie serwisu. Zamknięcie tego okienka potwierdza zapoznanie się z informacją o plikach cookies, akceptację polityki prywatności i regulaminu oraz sposobu wykorzystywania plików cookies w serwisie. Możesz zmienić ustawienia obsługi cookies w swojej przeglądarce.
A planning and control methodology for manipulating passive objects using orbital servicers in zero gravity has been developed by the authors. In this work, a parametric sensitivity analysis of the proposed model-based control for the motion of the passive object, in terms of parametric uncertainties, is presented. A linearization methodology is used to provide a scheme with which the controller robust...
In this paper we apply a policy improvement algorithm called Policy Improvement with Path Integrals (PI2) to generate goal-directed locomotion of a complex snake-like robot with screw-drive units. PI2 is numerically simple and has an ability to deal with high dimensional systems. Here, this approach is used to find proper locomotion control parameters, like joint angles and screw-drive velocities,...
Increasing safety and efficiency of autonomous vessels also requires advanced navigation strategies. For the marine systems the task is even more complex than, e.g. for field robots, since hydrodynamic effects should be taken into account also. It is becoming even more challenging for underactuated vessels. Indeed, utilizing the virtual holonomic constraints approach we illustrate that regardless...
Some results of a new tracking control method investigation using an autonomous underwater vehicle (AUV) is considered in this paper. This method involves additional loops for automatic program signals generation in AUV control system (CS). The work of these additional loops provides the AUV motion along the desired spatial trajectory with high velocity and desired accuracy. The features of the proposed...
Modern smart phones are equipped with a wide variety of sensors including GPS, accelerometer, gyroscope, or even biometric sensor. Many intelligent context-aware applications are thus also become popular. In particular, by using GPS data, many Location Based Services (LBSs) have been developed and deployed. In the literature, analysis based on the collection of GPS data from a large amount of users...
Applying MPC in the case of rapid sampling, complicated process dynamics lead us to poorly numerically conditioned solutions and heavy computational load. Furthermore, there is always mismatch in a model that describes a real process. Therefore, in this paper in order to prevail over the mentioned difficulties, we design a MPC using Laguerre orthonormal basis functions based on ARMAX models. More...
This paper proposes a novel method for assessment of muscle imbalance based on muscle synergy hypothesis and equilibrium point (EP) hypothesis of motor control. We explain in detail the method for extracting muscle synergies under the concept of agonist-antagonist (AA) muscle pairs and for estimating EP trajectories and endpoint stiffness of human upper limbs in a horizontal plane using an electromyogram...
This paper presents a monocular camera (MC) and inertial measurement unit (IMU) integrated approach for indoor position estimation. Unlike the traditional estimation methods, we fix the monocular camera downward to the floor and collect successive frames where textures are orderly distributed and feature points robustly detected, rather than using forward oriented camera in sampling unknown and disordered...
Day to day variability and non-stationarity caused by changes in subject motivation, learning and behavior pose a challenge in using local field potentials (LFP) for practical Brain Computer Interfaces. Pattern recognition algorithms require that the features possess little to no variation from the training to test data. As such models developed on one day fail to represent the characteristics on...
This paper extends the work of inertial sensor based upper limb motion tracking by introducing a simple calibration method to automatically construct a global reference frame and estimate arm length. The method has effectively eliminated the requirement of manually aligning the sensors' local reference frames when multiple sensors are used to track the movements of the individual arm segments. The...
This paper describes a novel method for the identification of time-varying ankle joint dynamic stiffness during large passive movements. The method estimates a linear parameter varying parallel-cascade (LPV-PC) model of joint stiffness consisting of two pathways: (a) an LPV impulse response function (IRF) for intrinsic mechanics and (b) an LPV Hammerstein cascade with time-varying static nonlinearity...
Kinect has been increasingly applied in rehabilitation as a motion capture device. However, the inherent limitations significantly hinder its further development in this important area. Although a number of Kinect fusion approaches have been proposed, only a few of them was actually considered for rehabilitation. In this paper, we propose to fuse information from multiple Kinects to achieve this....
This paper proposes a Takagi-Sugeno-Kang (TSK) fuzzy controller design using scaling gain adaptation. The proposed adaptation law for the TSK fuzzy controller resulting from the direct adaptive approach is used to appropriately determine the control signal of the controller. In this study, we first organize the TSK fuzzy controller without any specific experience information about the controlled system...
The acceptance of artificial devices like prostheses or other wearable robots requires their integration into the body schemas of the users. Different factors induce, influence and support the integration and acceptance of the device that substitutes or augments a part of the body. Previous studies have shown that the inducing and maintaining factors are visual, tactile and proprioceptive informations...
There is a saying that 95% of communication is body language, but few robot systems today make effective use of that ubiquitous channel. Motion is an essential area of social communication that will enable robots and people to collaborate naturally, develop rapport, and seamlessly share environments. The proposed work presents a principled set of motion features based on the Laban Effort system, a...
A novel method of doing co-ordinate transformation for LC/van der pol(vdp) oscillator is proposed. It allows vdp to be solved as a conservative system by applying Hamiltonian formulation using calculus of variation. The procedure is developed to calculate the constant of integration, a generalized concept of energy. Such constant of integration, which is different from energy, has implication on the...
In industry, the four-bar mechanism is popularly applied in the trajectory generation. Different types of trajectories are generated by the chosen of the ratio of links. However, the five-bar mechanism is more flexible to generate a specific path due to it has two degrees of freedom. The geared five-bar mechanism is then commonly used by reducing the degree of freedom of the mechanism into one by...
This paper presents Barrier Lyapunov Based Control of a dual-arm exoskeleton system by using the relative Jacobian technique. Two upper exoskeletons operates in a constrained region of the operational space, whose end-effector motions are defined by the relative motion between the two end effectors. Barrier composite energy function (BCEF) scheme with a novel Barrier Lyapunov Function is developed...
Gesture recognition is an important task in Human-Robot Interaction (HRI) and the research effort towards robust and high-performance recognition algorithms is increasing. In this work, we present a neural network approach for learning an arbitrary number of labeled training gestures to be recognized in real time. The representation of gestures is hand-independent and gestures with both hands are...
We propose a method for classifying actions involving people interacting with objects. Our method combines motion and appearance information into a unified framework. Here, we explore the video's sparse component as provided by robust principal-component analysis for the extraction of motion information in the form of trajectories. While we use motion as the main clue for classification, we also incorporate...
Podaj zakres dat dla filtrowania wyświetlonych wyników. Możesz podać datę początkową, końcową lub obie daty. Daty możesz wpisać ręcznie lub wybrać za pomocą kalendarza.