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This paper presents a lightweight, immune-inspired system for the diagnosis of faults. We adapt the dendritic cell algorithm, to develop the Diagnostic Dendritic Cell Algorithm (D-DCA) to afford on-line diagnosis of stuck-at-fault conditions. Our work shows that the D-DCA is capable of successfully diagnosing simple faults within an acceptable time frame, with an acceptable accuracy.
This paper presents a fuzzy parameter assignment method for Brain Emotional Learning Based Intelligent Controller (BELBIC). In the proposed methodology, a Sugeno fuzzy inference system (FIS) is applied to tune the parameters dynamically during the control procedure considering main characteristics of plant like error and its derivative. Human knowledge and experiences is used to extract fuzzy rules...
In recent years world aging population is increasing always more and more. Consequently power assist devices such as electro mechanical suits and electric wheelchair are growing in importance. A key aspect in the control of power assist robots is the knowledge of the force that the user applies on the device. Force sensors are often used even though they are generally expensive, heavy, and can measure...
The Kuka light weight robot offers unique features to researchers. Besides its 7 Degrees of Freedom (DOF), also torque sensing in every joint and a variety of compliance modes make the robot a good choice for robotic research. Unfortunately the interface to control the robot externally has its restrictions. In this paper, we present an open source solution (OpenKC) that will allow the control of the...
The human action recognition problem, for real time implementation have always been part of the research interest in the iSpace. Different techniques have been used in approaching a real time sensing and processing of the information to be able to deliver feedback to the user as well to monitoring systems. In this paper we apply wavelet processing techniques to solve the problem of real time processing,...
Groups of robots collaboration system is an important issue in the field of groups of robotics research. In this paper, On the basis of Game theory and ant colony algorithms swarm intelligence, discussed the basic principles of group robot cooperative system; established a group of robot cooperative system structure and received its control strategy. We use experimental system in collaboration with...
This paper proposes a set of techniques for predictive collision avoidance, which ensure robust operation of robot applications. Implementation issues for applying the techniques to state-of-art robots are presented, including integration with manual and automatic operation modes.
Wireless sensor networks are designed based on cluster robots in this paper, the wireless network location technology are researched, the methods of wireless network localization that based on trilateral localization method, ultrasonic ranging technology and RSSI ranging technology; The experiments show that accuracy of RSSI ranging localization is not very high, It can be used estimilate roughly...
We wish to exploit the complementary characteristics of marine sensor networks and autonomous vehicles through interaction and cooperation to achieve tasks that neither can accomplish alone - large-scale, long duration perception of the environment and response to changes in that environment. We outline and experimentally evaluate a new programming and communications framework that supports the integration...
This paper presents an autonomous self-replicating robot consisting of four low-complexity modules. The entire system is composed of a parent robot, four unassembled modules provided as resources, and an environment where the self-replication takes place. The parent robot grows itself by attaching the resource modules onto itself until it doubles its physical size, and then splits in the middle thereby...
Insects rely on sensory cues-tactile, hygrometric, thermal, olfactory-gathered with a pair of head-mounted antennae to perform a wide variety of sensory guided tasks. Many questions regarding the potential impact of specific mechanical design features on antennal performance can be directly and thoroughly assessed using an artificial robotic model of an antenna. Here we describe a highly tunable,...
The adoption of robots for service tasks in natural environments calls for the use of sensors to allow manipulation of objects under imperfect environment knowledge and the use of knowledge transfer from humans. This paper addresses these challenges by proposing a new abstraction architecture for embodiment independent sensor-based control of manipulation. The aim is to address three specific challenges:...
Robotic Sensor Networks (RSNs) find increasing use in environmental monitoring as RSNs can collect data from obscure, hard-to-reach places over long periods of time. This work reports progress in building a network of small, light-weight robotic rafts which will be used to monitor common carp tagged with radio transmitters across Minnesota lakes. We describe the design and architecture of the robotic...
This work presents and experimentally evaluates novel POSFET (Piezoelectric Oxide Semiconductor Field Effect Transistor) devices based tactile sensing arrays. The arrays, primarily developed for the robotic applications, consist of 5 × 5 POSFET touch sensing devices or taxels. The POSFET touch sensing devices are developed by spin coating piezoelectric polymer P(VDF-TrFE) film on the gate area of...
When robots cooperate with humans it is necessary for robots to move safely on sudden impact. Joint torque sensing is vital for robots to realize safe behavior and enhance physical performance. Firstly, this paper describes a new torque sensor with linear encoders which demonstrates electro magnetic noise immunity and is unaffected temperature changes. Secondly, we propose a friction compensation...
Software component techniques have been widely used for enhancement and the cost reduction of software development. We herein introduce a component system with a real-time operating system (RTOS). A case study of a two-wheeled inverted pendulum balancing robot with the component system is presented. The component system can deal with RTOS resources, such as tasks and semaphores, as components. Moreover,...
The efficiency of distributed sensor networks depends on an optimal trade-off between the usage of resources and data quality. The work in this paper addresses the problem of optimizing this trade-off in a self-configured distributed robotic sensor network, with respect to a user-defined objective function. We investigate a quadtree network topology and implement a fully distributed threshold-based...
This paper introduces a Bayesian filter that is specifically designed for counting targets that move outside of the field of view while performing a sensor sweep. Information space concepts are used to dramatically reduce the filter complexity so that information is processed only when the shadow region (all points invisible to the sensors) changes combinatorially or targets pass in and out of view...
Inspired by the simplicity of how nature solves its problems, we implement a bacteria controller on a physical platform that would enable the localisation and subsequent mapping of environmental pollution. We investigate the effects of each parameter in the controller on the localisation and exploration ability of the platform used. We also present how we can tune the controller for a given environmental...
It is well known that the number of students that arrives to engineering studies decreases every year, due to the difficulty that these studies present, when compared to other studies, in a society that tends to be more social oriented than in the past. In order to increase the interest of the students this paper presents a Project Based Learning (PBL) that involves hardware and software using the...
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