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Effective and stable execution of a remote manipulation task in an uncertain environment requires that the task force and position trajectories of the slave robot be appropriately commanded. To achieve this goal, in teleimpedance control, a reference command which consists of the stiffness and position profiles of the master is computed and realized by the compliant slave robot in real-time. This...
Lack of dexterous control over the position of a catheter's distal tip and not having any feedback from the quality of tip - tissue contact are among the factors that make the conventional catheter-based method of performing cardiac ablation very challenging. To resolve these issues, in this paper, we present a robotic catheter manipulation system that accommodates a conventional ablation catheter,...
This paper presents a trajectory tracking control strategy based on the subspace stabilization approach to accurately manipulate an under-actuated flying robot from a known initial state to the desired terminal state. To facilitate the development of this tracking strategy, the dynamical model of the quadrotor is firstly proposed. Subsequently, an optimal trajectory generation algorithm is adopted...
Image processing algorithms in today electronics market pose the need for increasing computation capabilities at a limited power budget. Modern applications in the robotics and cyber-physical systems domains require image acquisition, analysis and information extraction to be executed on embedded low-power, portable and autonomous devices, requiring novel architecture solutions to be studied and implemented...
To improve the effectiveness of multiple heterogeneous unmanned aerial vehicles (UAVs) cooperative with each other as a team to search and prosecute targets in unknown environment, a novel coalition formation method is presented in this paper. First, the coalition formation model is established based on minimizing the target prosecution delay and the size of the coalition with the constraint of required...
Modern mechatronic systems present exponential evolution due to available high-end technology progress. More intelligent and more reliable systems are built, capable of sensing working environments, processing data and of autonomous decision making. Proposed Cognitive Robotic System Architecture CORBYS focuses on systems where a human is present in the robot working space and close human-robot interaction...
This paper presents the architecture of system that has been developed for practical verification of the real-time control algorithms performance intended for servicing mobile platform. The system has been implemented using the hardwaresoftware framework developed within RobREx project. This framework is a composition of a well integrated software tools and hardware devices dedicated for developing...
Deep vein thrombosis (DVT) is a severe medical condition that can affect patients who are long-term bed-ridden, due to diseases such as stroke. Current prevention methods for DVT focus on either pharmacological prophylaxis or mechanical prophylaxis, where current mechanical prophylaxis systems that target prevention of DVT have limited success rates as patients are still susceptible to occurrences...
In this paper, we develop an receding horizon control (RHC) law for controlling the pursuers in a pursuit-evasion problem arising in a harbor defense scenario and describe its real-time implementation that we apply experimentally to a robotic testbed. Our implementation of the RHC law makes use of a min-max formulation of the underlying optimal problem that must be solved at each sample time, which...
This paper presents a framework for classifying sit-to-stand and stand-to-sit from just two channel EMG signals taken from the left leg. Our proposed framework uses linear discriminant analysis (LDA) as the classifier and a multi-window feature extraction approach termed Consecutive Time-Windowed Feature Extraction (CTFE). We present the prelimnary results from 2 healthy subjects as a proof of concept...
A novel 4 Degree-of-freedom (4D) robotic system was developed to correct both translational and rotational head motion deviations during image-guided stereotactic radiosurgery procedures. The correction was non-invasive, and was performed in real-time with high positioning accuracy. An optical system was used for real-time 6D head position tracking, and a decoupling control law was designed to control...
This work presents the design aspects of TRAVEE, a neuromotor rehabilitation system. The TRAVEE system relies on innovative concepts for improving the rehabilitation process and increasing the patient recovery rate. One such concept is to present the patient an augmented feedback as part of a learning process based on neuroplasticity. Most of the rehabilitation exercises are based on visual feedback...
The aim of this study is to improve the modeling of physiotherapist behaviors on therapy. In order to contribute to a more consistent therapy of the rehabilitation robots used for lower limb, it was aimed that the rehabilitation applications would be made by considering also patient physical information. At this point, the control algorithm of the therapy by means of impedance control has been extended...
This paper presents a method for shared control where real-time bursts of optimal control assistance are applied by an observer on-demand to aid a simulated figure in maintaining balance. The proposed Assistive Controller (AC) calculates the optimal burst control fast, in real time, while accounting for nonlinearities of the dynamic model. The short duration of the AC signals allows a rapid transfer...
Many attempts have been made by researchers and scholars to make people feel more conversant to robots. One such example is the dance performance of an Entertainment Robot. In most cases, the challenge to program dance motions for a robot and synchronize them has been too heavy. In addition, pre-programmed dance moves and synchronization information are useful only for a specific music track and are...
The interest of this paper is to evaluate the cycle time of a Flexible Manufacturing System (FMS) containing shared resources. Thus, we propose a comparative study between the heaps of pieces theory based approach and the net of conflicting timed event graphs (NCTEG) in (max, +) algebra based approach. The general idea of the first method is to pile up pieces considered in a heap automaton according...
Over last ten years Mobile & Marine Robotics Research Centre (MMRRC), University of Limerick, Ireland have developed OceanRINGS — a suite of smart technologies for subsea operations, designed to be integrated with any ROV — ship combination. It includes advanced control solutions for full range of ROVS — from mini ROVs used for remote monitoring & inspection to full-size work-class ROVs. Remotely...
Rapid-control-prototyping is an efficient mean of experimental study for control research. It is a challenge to exercise rapid-control-prototyping for iterative learning control (ILC) due to the finite time nature of ILC. This paper describes the construction of an ILC system based on MATLAB, Simulink, and Quanser WinCon. MATLAB/Simulink hybridprogramming is utilized to solve the complex task of rapid-prototyping...
Arduino [1] is an open source platform that offers a clear and simple environment for physical computing. It is now widely used in modern robotics and Internet-of-Things (IoT) applications, due in part to its low-cost, ease of programming, and rapid prototyping capabilities. Sensors and actuators can easily be connected to the analog and digital I/O pins of an Arduino device, which features an on-board...
Existing production systems are short of real-time performance status of production process active perception, resulting in the production abnormal conditions processed lag, leading to the frequency problems of deviations in production tasks execution and planning. To address this problem, in this research, an advanced identification technology is extended to the manufacturing field to acquire the...
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