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In a recent SIAM Journal on Control and Optimization article, our team analyzed the robustness of a class of adaptive three-dimensional curve tracking controls for free moving particles, using penalty functions and robustly forward invariant sets with maximum allowable perturbation bounds. This allowed us to track curves, identify unknown control gains, and provide predictable tolerance and safety...
The behavior analysis of animal has a key role in biology and robotics. In this paper, we choose the rat as analysis object. For understanding and grasping the behavior of rat, we set up an automatic motion tracking and data analysis system for a rat. This system includes three subsystems: inertial data acquisition, image tracking and real-time data analysis. The inertial subsystem uses one CC2530...
This paper proposes a novel dynamic control approach for a cable driven robot with high redundant actuation and cable tension limitations to perform tracking task while interacting with environment. In order for a cable-driven exoskeleton robot to execute the task smoothly and safely, it is necessary to consider the tracking motion performance as well as passivity when interacting with the environment...
Body orientation gives useful information on assessing a human's state and/or predicting his/her future actions. This paper presents a method of reliably estimating human body orientation using a LIDAR on a mobile robot by integrating shape and motion information. A shape database is constructed by collecting body section shape data from various viewpoints. The result of matching between an input...
In this paper, we design a human computer interaction (HCI) system for the locked-in syndrome (LIS) patients which combines the eye movement signals and Electroencephalogram (EEG) signals. The LIS describes patients who are faced with the quadriplegia, aphonia and facial paralysis problems. However, they are still conscious, have the ability to hear and give a hint with the blink or eye movements...
In large industrial plants, the inspection of production lines is a heavy and costly task that puts human inspectors at high risk. In order to overcome these challenges, we have developed an autonomous plant inspection system using a mobile tracked vehicle. In this paper, we propose an autonomous navigation method for tracked vehicles based on a contact force model that enables the robot to compensate...
This paper addresses the problem of localizing and tracking one intermittent, moving sound source using a microphone array on a mobile robot. Robot motion provides a solution for estimating the distance to the source and avoiding front-back ambiguity. We propose a mixture Kalman filter (MKF) framework in order to fuse the robot motion information and the measurements taken at different poses of the...
To operate in human environments, robots must be able to withstand external disturbances. Small disturbances can be stabilized through momentum regulation, but larger ones require steps to prevent falling. This work presents two new techniques for disturbance rejection. The first is an extension of divergent component of motion (DCM) and capture point tracking controllers that augments a PI feedback...
Neck pain is amongst the leading causes of disability across all health conditions globally, and technologies such as movement analysis could represent valuable tools for supporting the assessment and rehabilitation of people with neck pain. In recent years there has been a proliferation of software for head tracking but applications in rehabilitation engineering have so far been limited, possibly...
This paper presents an overview of various paradigms which were used in order to define and measure path tortuosity. The paper further explores various aspects from each measure in order to form a basis for a general set of rules and methodologies. These can then be utilized and compared in various tracking and monitoring applications. Through literature review, an overview of a number of applications...
Robotics is the field currently taking its place as a leading candidate for dramatic changes in everyday life. Advances in the past 10 years in sensing, actuator and power technologies have fuelled an explosion of opportunities in this exciting, and surprisingly affordable domain. Small Unmanned Aircraft Systems (drones) are being rapidly developed for research, public service, and commercial applications,...
Changing industrial, social, and legal situations cause a rethinking of novel production systems. One possible approach is to assist the human workers' power. By application of collaborating robots, weaknesses can be compensated by the strengths of the interacting partner using haptic shared control. To ensure acceptance and well-being on the human side, which can be seen as a condition for high performance,...
In the present study, the control of a bilateral teleoperation system using a fuzzy logic system which operates based on the sliding mode control theory has been considered. Because of intrinsic time delay and uncertainties of this system we choose sliding mode control theory as a robust controller to avoid mentioned side effects. Furthermore, the utilization of some fuzzy rules on the sliding manifold...
In this article, a method for kinematic configuration estimation of a structure similar to a human finger, is presented. The method is based on the EKF and a model reflecting kinematic constraints of a finger-like structure (2-DOF metacarpophalangeal joint, and one 1-DOF proximal interphalangeal rotational joint), using 3 low cost IMUs. During tests, the IMUs were attached to a 3D-printed setup equipped...
Multiple agents — sometimes referred to as swarm of agents — and their control have been seeking interest significantly over the course of recent years. Their ability to move in desired formations and perform synchronized tasks have been the key arena in their development. In this research work, design of the continuous sliding mode controller for the output regulation of a multi agent system is studied...
The steering characteristic of tracked robot was mastered by analysing its steering principle. Under certain road conditions, the experiments of accurate steering control were finished by modifying the velocity parameters of two tracks. The relationship is gained between the speed of robot's tracks and the steering motion of the robot through analysing robot's steering-kinematic principles. Under...
In robotic radiosurgery for extra cranial cancers such as lung cancer, respiration tracking is necessary to maintain the treatment accuracy. This paper presents the design of a human chest motion simulator as a platform for respiration tracking validation. The simulator imitates the relationship between motion of human chest and lung caused by respiration. A mechanical design is proposed to meet the...
This paper presents a method of path planning for skid-steer robots using an energy-based heuristic. A kinematic model of skid-steer motion utilizing the instantaneous centers of rotation (ICRs) between the tracks and the ground surface is used to predict vehicle motion. A model of skid-steer robot power usage, which also utilizes ICR estimates for slip velocity calculation, is implemented to generate...
Minimally invasive mitral valve (MV) repair surgery significantly reduces trauma compared to an open heart procedure, which enables fast recovery and treatment to high-risk patients. However, limited vision and dexterity of the instrument at the treatment location poses a challenge for minimally invasive surgery. Additionally, MV repair surgery performed without cardiopulmonary bypass often requires...
The diverse pipe installations used today include pipelines in chemical plants, water pipes, and gas pipes. Severe accidents at such pipe installations must be prevented by regular pipe inspection and repair. As described herein, a novel tracked crawler mechanism is proposed for pipe inspection. This simple and compact cylindrical elastic tracked crawler has multiple crawler belts in axial symmetry...
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