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This paper presents an approach to audio parameterization using properties of the peaks detected in the amplitude envelope. The proposed solution based on observation that abrupt changes in the envelope of signal are connected with type of audio signal. For this purpose we used the density properties of peaks to calculate the feature vectors. The extraction process exploits an amplitude envelope estimation...
The paper designs an appropriate iterative learning control(ILC) algorithm based on the trajectory characteristics of lower extremity exoskeleton robot, and the algorithm utilizes variable forgetting factor not only does not affect the system in the convergence speed, but also it can enhance the robustness of the system. Considering the lower extremity exoskeleton robot trajectory is periodic motion,...
In the input-output feedback linearization design, the time derivatives of the output function have to be taken successively for the presence of the control signal. Uncertainties in the system may appear in this process making the derivation infeasible. In this paper, the uncertainties are collected in each and every stage of the computation for the time derivatives. A transformation is then performed...
A novel robotic hand was developed to achieve high dexterity and robustness while using underactuation. For that purpose, the kinematics design method was based on the abstraction of functionalities provided from the human hand and the joints consist of rubber beams which provide lateral mobility and passive adaptability to the grasped objects. The hand is self-contained and human-sized with a reduced...
Nowadays, the technological and scientific research related to underwater perception is focused in developing more cost-effective tools to support activities related with the inspection, search and rescue of wreckages and site exploration: devices with higher autonomy, endurance and capabilities. Currently, specific tasks are already carried out by remotely-operated vehicles (ROV) and autonomous underwater...
Positioning and orientation precision of a multirotor aerial robot can be increased by using additional control loops for each of the driving units. As a result, one can eliminate lack of balance between true thrust forces. A control performance comparison of two proposed thrust controllers, namely robust controller designed with coefficient diagram method (CDM) and proportional, integral and derivative...
Communication delay between a master robot and a slave robot destabilizes a bilateral control system. And some recent researches show that an adaptive controller that dynamically determines the master's controller gain depending on a stiffness of a contact object is effective to improve stability. However few researches show an influence of time-varying communication delay in adaptive controller based...
One of the main recent research trends of the Italian Interuniversity Research Center on Integrated Systems for Marine Environment (ISME) is the use of marine cooperative teams of autonomous robots within the fields of security, prevention and management of emergencies at sea. Such fields are of worldwide interest for obvious reasons, but they have recently gained relevance in the current historical...
Traditionally, designers of integrated circuits (ICs) and systems focused primarily on ensuring correct functionality of an IC, while meeting timing, power and area targets. Robustness and resilience of the resulting designs was taken for granted, assuming that the ICs were used within their stated specification range. However, two questions typically remained open: firstly, how much margin an IC...
A modular robots is composed of many independent connected modules which are able to achieve common goals through communications. A modular self-reconfigurable robot can move and reorganize its modules to modify its shape. In this paper, we consider a modular self-reconfigurable robot made from cubic modules (blocks) that are able to slide along their faces. Sliding motions imply complex cooperations,...
A modular robots is composed of many independent connected modules which are able to achieve common goals through communications. A modular self-reconfigurable robot can move and reorganize its modules to modify its shape. In this paper, we consider a modular self-reconfigurable robot made from cubic modules (blocks) that are able to slide along their faces. Sliding motions imply complex cooperations,...
This paper presents a study of distributed cooperative formation control of a generic multiple agent robots which is applicable for underwater system application such as multiple-autonomous surface vehicles (ASV). The control objective of the group of ASV agent is to maintain a certain formation in a predefined geometric pattern, notably a symmetric formation shape. In addition, the centroid of this...
In this paper, a novel robust adaptive control scheme is proposed for a lower limb rehabilitation robot designed by our laboratory. The proposed control strategy is based on the radial basis function (RBF) neural networks and the parameters of the system dynamics are unknown. The weights of the RBF neural networks are updated by an adaptive law according to the Lyapunov stability analysis. The robustness...
Input shaping is a technique that reduces residual vibration by generating a self-canceling command signal. This technique is developed by N.C. Singer and W.P. Seering for flexible structures, and applied especially in aerospace field and robotics. Traditionally, input shaper has contained only positive impulses. However, negative valued impulses allow to decrease the shaper length. In previous works,...
We propose a new sampling-based path planning algorithm, the Optimal Minimum Risk Rapidly Exploring Random Tree (MR-RRT*), that plans minimum risk paths in accordance with primary and secondary cost criteria. The primary cost criterion is a user-defined measure of accumulated risk, which may represent proximity to obstacles, exposure to threats, or similar. Risk is only penalized in areas of the configuration...
In this paper, the convergence rate and time analysis of a fault-tolerant consensus algorithm that we proposed in [1] is carried out for asynchronous and synchronous partially connected networks with delay on communication paths. The results are also extended to the case of networks with time-varying underlying graph topology.
Laser range scanner is an important modality in robotics for the perception of an environment such as object classification, map generation, navigation, etc. In this paper, we first present a new method for calibration of Laser range scanner to generate the highly accurate 3D model of the environment. Later, we propose a robust segmentation method for objects and ground points separation of fused...
Object recognition via shape matching has been a fundamental topic in robot vision. More and more technologies are widely used in the field of robot and automation in recent years. The shape contour contains meaningful information for object characterization, therefore, an effective representation of shape contour is important for the capability of a shape matching method. In this work, we propose...
Acoustic perturbation due to reverberation and the changes in speaker position are detrimental to seamless human-robot speech-based communication. These cause a mismatch between the speech features at runtime condition and the acoustic model (training condition). Then the degradation of the Automatic Speech Recognition (ASR) and the Spoken Language Understanding (SLU) performances is imminent. As...
The combination of tendon driven robotic fingers and variable impedance actuation in the DLR hand arm system brings benefits in robustness and dynamics by enabling energy storage. Since the force measurement and motors are in the forearm the tendon path should have low friction for accurate movements and precise finger control. In this paper an enhanced generation of the Awiwi hand finger design is...
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