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This paper presents an Iterative Learning Control algorithm for direct-drive robots. The learning algorithm assumes linear dynamics, which is created using a nonlinear model-based compensator. The convergence criterion of the learning controller is derived in the frequency domain. Rules for designing the filters, used in the update law, are explained. The effectiveness of the algorithm is demonstrated...
In path planning design, potential fields can introduce force constraints to ensure curvature continuity of trajectories to facilitate path tracking design. The parametric thrift of fractional potentials permits continuous variation without modification of the geometric distribution of charge. We define here a normalized Weyl fractional potential field which allows continuous passage between these...
This paper describe about a new methodology to implement Artificial Intelligence, Cloud and Internet of Things in Robots. Now a days, Artificial Intelligence take a main part in the world into robotics. Almost all industries use robots for various works. They were using co-operative robots to make different kind of works. But there was some problem to make robot for multi tasks. So there is a need...
Virtual reality (VR) is a technology that has existed since the 1960s, but due to its high equipment cost, its use was limited. During the last decade, advancements in computers and reduction of technology costs made VR accessible and its applications widespread in various fields, including manufacturing. In this paper, a virtual environment for a robotic cell is developed, so that the layout design...
This paper outlines some of the design details of creating an automated Pan Flute player targeting the Solomon Island's Pan Flute in the Pacific Region. Hence, the system functionality will be discussed first through a block diagram. Then the design will be further elaborated through discussion of the hardware assembly and different system modules. Thereafter, the results with overview of the system...
This review includes a comparative survey of cleaning mechanisms for solar power plants, with a focus on their application in arid regions. In these regions, dust accumulation can have a severe and detrimental effect on the productivity of solar arrays. The primary concern of this study is to address the need for a commercially viable cleaning solution and present candidate technologies that show...
Researchers in the field of robotics have targeted mostly on the design automation and improvements of Robot's intelligence. The present paper emphasises on providing individuality and unique digital signature for robots using Watermarking In this technique we have used RGB uncompressed AVI video sequence in stationary wavelet transform (SWT) domain using singular value decomposition (SVD). The data...
This paper presents a proof of concept demonstration of a novel evolutionary robotic system where robots can self-reproduce. We construct and investigate a strongly embodied evolutionary system, where not only the controllers, but also the morphologies undergo evolution in an on-line fashion. Forced by the lack of available hardware we build this system in simulation. However, we use a high quality...
This paper explains certain key design details of the robotic automated pan flute player. Firstly, the overall system block diagram will be brought to light followed by detailed discussion on the assembly of the hardware. Thereafter three system modules, which are the stepper motor positioning system, the second order RC Filter and the click-to-calibrate (CTC) operation will be elaborated upon. This...
In the present work I would like to provide some examples of previous researches conducted in the field of Rehabilitation and Assistive Robotics. These two branches of the classical robotics have in common not only the technology but also the multidisciplinary aspect which ranges from neurosciences and biomechanics to actuation design and haptics. The use of customized high performance haptic displays...
For robotic applications, it is important that the power supply form factor to be slim and integrated. This paper present the design and development of inductor less DC/DC converter. This new design is much suitable for robotics application, as the converter can be made smaller and lighter. Firstly this paper present the new topology of the converter. Secondly, the control technology of this converter...
In the last decades, there have been an increasing interest among the researchers to develop robots or robot parts that have close functionally and appearance as human. This paper presents the development of a pair of anthropomorphic robotic hand to perform shoe-tying task to assist the elderly and handicapped, and also for prosthetics and humanoid robot applications. The robotic hand has a close...
Despite the rapid advances in technology relatively few are focused on special education, or the education for people with profound and multiple disabilities. One of the main causes for this to happen is that there is little incentive for companies to design and manufacture technology for a target group of customers without major buying power, or one that makes up a relatively small proportion of...
This paper presents an approach to open-loop motor control using Integrate and Fire (IF) neurons. The controller aims at mimicking motor control structures found in the brain and consists of three neuron populations implemented on different VLSI chips. The first population codes the distance to the target in a form of a firing rate (similarly to some class of cells found in Area 4 in the motor mammalian...
Garbage recycling and collection problem is an interesting problem that researchers are applying swarm intelligence algorithms to solve. Some previous approaches used particle swarm optimization, immune systems and ant colony optimization algorithms and achieved good results. Ant colony optimization is a well-known swarm intelligence algorithm that is normally used to solve computational problems...
Fish swimming demonstrates impressive speeds and exceptional characteristics in the fluid environment. The objective of this paper is to mimic undulatory swimming behaviour and its control in a body caudal fin (BCF) carangiform fish in a robotic counterpart. Based on fish biology a 2-level behavior based control scheme is proposed. High level control is modeled by robotic fish swimming behavior. It...
To support the development of self-organising systems with emergence, we re-situate such systems and approaches from a software architecture point of view and explain and rationalise an important architectural strategy: designing the solution by following the problem organisation. We extract the architectural advantages of such a strategy and show how it is well coherent with existing methodological...
In this paper we present the new version of the LSMaker Robot, an educational platform designed by La Salle — Ramon Llull University to be used as facilitator of acquisition of concepts in all engineering curricula and, at the same time, a new companion as a robotic classmate. The new version of the LSMaker, named LSMaker EV1, changes from a full customized to an open source Arduino-based hardware...
Caudal fin plays significant role in the swimming of bony fishes. It has often been considered as a simple two-dimensional propulsive surface that generates forces in the horizontal plane. However, fish caudal fin has complex origami structures, and is able to produce multiple three-dimensional (3D) kinematics. Based on the biological data from Lauder lab at Harvard University, we developed a multi-material...
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