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Creating context-aware ad hoc collaborative systems remains to be one of the primary hurdles hampering the ubiquitous deployment of IT and communication services. Especially under mission-critical scenarios, these services must often adhere to strict timing deadlines. We believe empowering such realtime collaboration systems requires context-aware application platforms working in conjunction with...
Fuzzy predictive controllers have been applied to several applications with good control performance. However, this methodology often leads to nonconvex optimization problems, which are difficult to solve for fast processes, i.e. processes with small sampling times. This paper proposes a new methodology to apply a fuzzy predictive controller in real-time by using a neural network architecture, which...
This paper presents the design, development and implementation of a Hybrid Adaptive Fuzzy Controller (HAFC) suitable for real-time industrial applications. The developed HAFC consists of a weighted combination of the Direct Adaptive Fuzzy Controller (DAFC) and Indirect Adaptive Fuzzy Controller (IAFC) and a gradually activated supervisory controller. The unique feature of the HAFC is that no mathematical...
The goal of this paper is to present an approach of the multimodel control for a nonlinear system with a real-time implementation for a wrist of a robot. The objective of this method is to blend the control laws provided by several local controllers. The new idea is to have as a local controller, a fuzzy linearization with pole placement compensation. First, they are needed to be identified. We then...
We propose Coupled-clay, a bi-directional 3D collaborative interactive environment that supports the 3D modeling work between groups of users at remote locations. Coupled-clay consists of two network-connected workspaces, the Physical Interaction Space and the Virtual Interaction Space. The physical interaction space allows a user to directly manipulate a physical object whose shape and position are...
Among numerous medical devices that generate noise, music is gaining increasing importance in modern operating rooms. Many surgeons perceive music as concentration enhancing during surgery. In safety critical situations instead, e.g. when a medical device emits an alarm, the additional noise exposure induced by music is considered distracting. In this article we present a novel, modular device that...
Motion control is certainly a challenging task when faced with high speed and high precision control requirements. After the theoretical design, the motion controller should be evaluated by simulation, then refined on the real hardware, under the influence of unmodeled parameters, such as friction, update latency etc. For this purpose, we propose a hardware-in-the-loop (HIL) development and real-time...
The vision system of the mobile robot is a low-level function that provides the required target information of the current environment for the upper vision tasks. The real-time performance and robustness of object segmentation in cluttered environments is still a serious problem in robot visions. In this paper, a new real-time indoor scene segmentation method based on RGB-D image, is presented and...
The new open-source Matlab/Simulink toolbox called RT-MaG presented here generates reliable standalone robotic applications running on real-time embedded Linux targets such as tiny Computers On Module (e.g., Gumstix boards). This toolbox gives direct access from Simulink to the main communication drivers classically used in robotics: network interfaces (via UDP), asynchronous and synchronous serial...
PID (Proportional - Integral - Derivative) controllers are the most widely used closed loop controllers due to their simplicity, robustness, effectiveness and applicability for much kind of systems. With the rapid development of technology, implementation of PID controller has gone several steps from using analog components in hardware to using some software-based program to execute PID instructions...
Dynamic gesture recognition is one of the most interesting and challenging areas of Human-Robot-Interaction (HRI). Problems like image segmentation, temporal and spatial feature extraction and real time recognition are the most promising issues to name in this context. This work proposes a deep neural model to recognize dynamic gestures with minimal image preprocessing and real time recognition in...
The use of unmanned aerial vehicles (UAV) offers a unique possibility to capture visual information in areas which are hard to reach or dangerous for humans. For UAVs to become a standard tool in visual inspection, it is of utmost importance that the aerial robot can be operated efficiently by a non-expert UAV pilot and that the navigation system is robust enough to remain operational in rough, industrial...
Our goal is to develop robots that naturally engage people in social exchanges. In this paper, we focus on the problem of recognizing that a person is responsive to a robot's request for interaction. Inspired by human cognition, our approach is to treat this as a contingency detection problem. We present a simple discriminative Support Vector Machine (SVM) classifier to compare against previous generative...
A fuzzy color extractor is defined by fuzzy rules to extract certain colors based on a color pattern (color seed). In order to extract certain colors from images in real-time, this paper attempts to implement a fuzzy color extractor on NI myRIO embedded device, which features the Xilinx Zynq-7010 all-programmable system including a dual-core ARM® Cortex™-A9 real-time processor and an Artix-7 FPGA...
Bone drilling is an important and difficult process in orthopedic surgeries. To detect the drilling state of a Robotic Orthopedic Surgery System (ROSS) in real-time, a state recognition method based on audio signals, the Acoustic Emission (AE) signals generated in drilling process, is proposed in this paper. By an analysis via power spectral density of the AE signals, an appropriate frequency band...
There are several ways to instruct rehabilitation poses to patients in a remote area, such as phone calls using voice and video messaging using images. However, current methods do not allow the therapists to correct the patient's poses intuitively. Moreover, the patients have no way to know whether the pose they are making is correct or not. In this study, we propose a method for instructing rehabilitation...
Efforts are already underway to develop technology-derived solutions which automate aspects of conventional therapy. Ideally we would like to develop a human-like virtual therapist, in an attempt to enhance automated rehabilitation particularly in the home setting. One interesting skill of the experienced human therapist that we would like to model is the ability to recognize and manage behavior patterns...
Commercially available devices for Brain-Computer Interface (BCI)-controlled robotic stroke rehabilitation are prohibitively expensive for many researchers who are interested in the topic and physicians who would utilize such a device. Additionally, they are cumbersome and require a technician to operate, increasing the inaccessibility of such devices for home-based robotic stroke rehabilitation therapy...
In this paper, a switching type PID controller is proposed in order to eliminate the static error as the voltage of the battery goes low in a real UAV system. In the switching type PID controller, the Integration Control is put in based on the differential of height which means vertical speed. Simulation of conventional PID and switching type PID control is presented. Real-time experiments show that...
Iterative Learning Control (ILC) is a powerful intelligent tool for stabilization of repetitive-task systems. However, choosing and fixing the gains of ILC schemes is not an easy task due to the fact that information propagation is present in two independent directions. In this paper, we propose new sufficient linear matrix inequality conditions for the design of iterative learning trackers for a...
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