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An new environment monitoring system of household security robot is proposed based on wireless sensor networks, which is composed of the robot node and the sensor nodes for monitoring temperature and humidity, gas leaking, fire and housebreaking in family. A robot centering on network topology structure is presented and realized. all of the sensor nodes information in the network will be sent to the...
The Robot, named as TRAIN WALL BOT, is designed to navigate on smooth vertical surfaces with the capability to avoid obstacles and overcome if the height is about 1 cm. The design is inspired from train steel wheel movement that contains two actuated legs with rotary motion provided by a DC motor. The Robot uses pneumatic system and the suction force is supplied by an air compressor that turns on...
The height of the transverse machine of the straw-checkerboard sand barriers paving robot affects the paving quality heavily. A height servo system based on multi-sensor data fusion and fuzzy control is proposed. The servo system includes ten ultrasonic telemeters, a single chip and a programmable logic controller. The ultrasonic telemeters get the height of the transverse machine from different position,...
Based on the BW-eLabs platform, the goal of the NETLABS is the development of a ubiquitous software portal, allowing researchers to move backward and forward between interlinked experimental superstructures and simulations in a 3D knowledge space. Robotics - as one of the most important key technologies of the 21st century - is in a special need of “virtual infrastructure support” because of its cost-intenseness...
Simulation environment is very useful as it provides ground to virtually embody robots in the designing stage. There will be applied Player/Stage, one of the robot simulation and control environments, to Roboid Studio which is a component-based framework. Here, robots are controlled based on simulacrum. Several issues will be discussed to get Player/Stage to work as a component for Roboid Studio.
The number of persons age 65 and older will increase dramatically in the next 2 decades and by 2030 this group will comprise 20% of the U.S. population. Since the incidence of disability increases with age, there will be an increased need for robotic assistive devices. The design process for robotic assistive devices differs significantly from the design of autonomous robots. This paper reviews the...
In this paper, a central controller for position/force hybrid control over network is proposed. In the proposed method, the central controller receives position and force information from each plant. Then, the central controller generates acceleration references for each plant by using a hybrid controller and a dead time compensator. As an application, bilateral control with communication delay is...
In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope...
In this paper, we propose a new internal model control based controller for sensorless force control. Simplification of the proposed controller is discussed, and stability of the controller is proved theoretically. Two controllers based on internal model control are applied to sensorless grasping control on a myoelectric robotic hand. Effectiveness of the proposed controllers is verified by comparative...
This paper deals with construction of a robot for Minisumo competitions. In the individual chapters there is described the process of the construction of the robot from the mechanical design to the design of the electronic parts and software.
This paper presents a novel approach to artificial energy homeostasis in self-reconfigurable modular robots. Using self-monitoring and self-sufficiency principles, energy harvesting in a system of distributed energy sources is proposed. In conjunction with this, we propose an artificial immune system that incorporates on-board power management system for adaptive real time detection of errors which...
Rat hippocampal neurons were cultured on a dish with 64 micro planer electrodes. We found that the silent and reproducible period lasting for 1 sec immediately after the activity evoked in advance. In addition, the repetitive stimuli suppress the spontaneously occurring bursting activity in frequency. These results suggest that distinct internal state of the neuronal circuit was triggered by an electrical...
Symbiotic robotics is a discipline within collective robotics that is concerned with artificial multi-cellular robot-organisms that define their morphological structure by aggregation through self-assembling and they are also able to disaggregate afterwards. This contribution is concerned to the description of evolutionary and cognitive principles that governs such a symbiotic cycle to build artificial...
This paper proposes a common platform called automatic robot toolkit (ART), which offers a message stream dispatch mechanism and system development toolkit for robots. Composing a robotic system requires several heterogeneous components that are different hardware, algorithms and software. Each component is integrated into a well designed robotic system. Those systems are designed based on a particular...
This paper describes two industrial applications of robot direct teaching, in which a human operator generates robotic paths by handling a robot physically. The induction hardening and the curtain-wall glass assembly have been investigated. The direct teaching tools are designed for the applications in contact with hard surface. The tools are easy to detect operator's teaching force and reaction force...
Although research on localization of sound sources using microphone arrays has been carried out for years, providing such capabilities on robots is rather new. Artificial audition systems on robots currently exist, but no evaluation of the methods used to localize sound sources has yet been conducted. This paper presents an evaluation of various real-time audio localization algorithms using a medium-sized...
Hybrid deliberative-reactive control architectures are a popular and effective approach to the control of robotic navigation applications. However, the design of said architectures is difficult, due to the fundamental differences in the design of the reactive and deliberative layers of the architecture. We propose a novel approach to improving system-level performance of said architectures, by improving...
We study a simple algorithm inspired by the Brazil nut effect for achieving segregation in a swarm of mobile robots. The algorithm lets each robot mimic a particle of a certain size and broadcast this information locally. The motion of each particle is controlled by three reactive behaviors: random walk, taxis, and repulsion by other particles. The segregation task requires the swarm to self-organize...
With the growing emergence of ubiquitous computing and networked systems, ubiquitous robotics is becoming an active research domain. The issue of services composition to offer seamless access to a variety of complex services has received widespread attention in recent years. The majority of the proposed approaches have been inspired from the research undertaken jointly on Workflow and AI-based classical...
Tool-body assimilation is one of the intelligent human abilities. Through trial and experience, humans are capable of using tools as if they are part of their own bodies. This paper presents a method to apply a robot's active sensing experience for creating the tool-body assimilation model. The model is composed of a feature extraction module, dynamics learning module, and a tool recognition module...
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