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Researchers at the Georgia Tech Research Institute and the University of Georgia recently concluded an experiment studying animal reaction to robotic systems. The purpose of this study was to determine if the operation of robots in a poultry grow-out house environment is feasible from an animal behavior perspective. To determine this, an experiment was conducted operating both an aerial and a ground...
As the sliding parameter of track is hard-to-measure when Agricultural Tracked Robot (ATR) is moving in complicated farmland environment, an estimation method for sliding parameters of ATR based on UKF is proposed. A kinematics equation and a measurement equation of ATR are deduced by kinematics principle, and then the precision position parameters of ATR is calculated. Sliding parameters which cannot...
For the use of sports simulators, there is a need for the implementation of proper functions for the realistic movement mechanism, the relative riding content, and the effective personalized training. In this paper, we present a posture analysis system for a rider on a sports simulator. The proposed system provides a personalized postural training function suited to the user based on their logging...
This paper describes a new radiotherapy robot system to identify in real time the cancer location of the tumor using multiple articulated robot arms. A radiotherapy robot system has been designed to solve the problems of current radiotherapy systems in terms of a long radiotherapy time and weak safety margin of the patient. The major technology and process of radiation therapy using a robot are proposed...
Microtubule gliding assays can be used to analyze the dynamics of microtubules driven by molecular motors on the glass surface from the viewpoint of soft matters and molecular robotics. Microtubule tracking requires methods of image processing, microtubule shape extraction and motion path search through the video frames of the gliding assays. A translation from a bit image to a mathematical image...
The first 72 hours is critical in saving human lives after a disaster occurred. Mobilizing many disaster rescuer team to many different places can be a daunting task. In this work, we propose a mobile-devices-based application which can be used to track the rescuer movement. The tracking records, which are displayed in a map, can be used by decision makers in command center to distribute rescuer team...
Predicting the motions of rigid objects under contacts is a necessary precursor to planning of robot manipulation of objects. On the one hand physics based rigid body simulations are used, and on the other learning approaches are being developed. The advantage of physics simulations is that because they explicitly perform collision checking they respect kinematic constraints, producing physically...
To successfully manipulate in unknown environments, a robot must be able to perceive degrees of freedom of objects in its environment. Based on the resulting kinematic model and joint configurations, the robot is able to select and adapt actions, recognize their successful completion and detect failure. We present an RGB-D-based online algorithm for the interactive perception of articulated objects...
In this paper we address the problem of accurate trajectory tracking while ensuring compliant robotic behaviour for periodic tasks. We propose an approach for on-line learning of task-specific dynamics, i.e. task specific movement trajectories and corresponding force/torque profiles. The proposed control framework is a multi-step process, where in the first step a human tutor shows how to perform...
A planning and control methodology for manipulating passive objects using orbital servicers in zero gravity has been developed by the authors. In this work, a parametric sensitivity analysis of the proposed model-based control for the motion of the passive object, in terms of parametric uncertainties, is presented. A linearization methodology is used to provide a scheme with which the controller robust...
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...
The objective of this paper is to present an online trajectory tracking based on model predictive control for service robot. The key point of model predictive control (MPC) algorithm is to consider an on-line optimization problem so as to obtain the optimal control input sequence in a specific time period. The main characteristics of MPC are only the first element of the control sequence is implemented...
Nonlinear equations of motion for fish-robot have been derived based on two basic behaviors, swimming and orientating. By incorporating the fish-tail mechanism and autonomous underwater vehicle-like dynamics model, the fish robot motion and maneuverability are developed in earth-fixed frame motion. A nonlinear H∞ robust controller for swimming, orientating, and tracking control of the fish robot is...
In this paper, an operator based multivariable tracking control design for a robot arm with human-simulated motion mechanism based on human multi-joint viscoelastic properties is proposed by using robust right coprime factorization approach. That is, first, considering the uncertainties of dynamic model consist of measurement error and disturbances, an operator based nonlinear robust stable control...
In this study, a reproduction of a swing-up and a giant swing motion of the Acrobot based on behaviors of the horizontal bar gymnast is discussed with focusing on an Equivalent Center of Mass(ECM) of the Acrobot and the gymnast At first, the behaviors of the Equivalent Center of Mass of the gymnast(ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the...
Performance of constrained movements in multiple directions of a workspace simultaneously and in presence of uncertainty is a great challenge for robots. Achieving such tasks by employing control policies which are fully determined a priori and do not take into account the system uncertainty can cause undesired stress on the robot end-effector or the environment and result in poor performance. Instead,...
Beating-heart surgery is not currently possible for most surgical procedures as it requires superhuman skill to manually track the heart's motion while performing a surgical task. However, if a surgical tool could track the motion of the point of interest (POI) on the heart, then, with respect to the surgical tool tip the POI would appear stationary. Such a system can be created with a teleoperated...
This paper presents a novel intuitive multi-modal force feedback interface for teleoperation of mobile robotic vehicles. Two different force feedback interfaces are considered: a force feedback joystick and a novel force feedback trackball. The joystick considered is based on the admittance user interface developed by the authors in earlier work and is configured to servo velocity of the vehicle....
Conventional control interfaces such as joystick, keyboard, and mouse are widely used in teleoperation. However, they are not operated by some users such as who have disabled hands. This paper proposed an eye gaze tracking system for teleoperation. The eye gaze tracking system is based on non-intrusive, visible light, iris center corneal reflection (ICCR) and 2-D mapping-based gaze estimation. In...
In this study a new approach that is used for plotting raster based image files, is proposed. Proposed method is tested on the prototype plotter which is designed as a Cartesian-robot architecture. Work list is produced by the proposed edge tracking algorithm on the canny edge detector based images. Outputs are generated from the work list as a converted atomic move commands which can be interpreted...
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