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This work studied three-dimensional path planning of rotary-wing flying robot in free flight model. Path planning algorithm combining artificial potential field with ant colony algorithm was proposed for the complex problem in three-dimensional environment. These two algorithms were integrated and optimized for three-dimensional environment with advantages and disadvantages of these two algorithm...
Pose estimation is an important step towards spacecraft docking with the space station, as it can make the spacecraft react to the pose change in real time and better accomplish the tracking mission. However, it is difficult to conduct the real rendezvous and docking practice due to the limitations of research conditions and the expenses. In order to facilitate the validation of the pose estimation...
The 3D-object modeling has become one hottopic in robot vision field for robots locating, grabbing and dropping operation. In this paper, we propose an efficient method of object modeling based RGB-D camera (Kinect) that can help the robot to carry out operation task. Our method is divided into three stage: firstly, point clouds of scene containing object are captured from the camera and plane-segmentation...
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...
In this paper, we propose a modularized architecture for a robot arm object fetching system integrated with 3D CAD-model based object recognition system that can cope with objects in random types and poses. The interface and the core functionality of each module in the architecture are discussed in detail. Implementation of each module is also conducted. Furthermore, the assumptions and the working...
The design, modeling and control of a 5 degrees-of-freedom light-weight robot manipulator is presented in this paper. The proposed robot arm, named Prisma Ultra-Lightweight 5 ARm (PUL5AR), is employed to execute manipulation tasks equipped on board of a vertical take-off and landing unmanned aerial vehicle. The arm is compact and light-weight. Its mechanics is designed such that it can fold on itself...
The work presented in this paper is part of the autonomous planning architecture of a team of aerial robots equipped with on-board robotic arms. The mission of the team is the construction of structures in places where the access is difficult by conventional means, which is the scenario considered in the framework of the ARCAS European Project. This paper presents three automatic planners in this...
In this paper we propose to track online computed force trajectories to control the energy of various types of pendulum-like objects. The considered pendulum-like objects can be controlled by multiple agents and swing in different oscillation degrees of freedom. Our goal is to excite one specific oscillation, the intended oscillation, while damping all other disturbance oscillations. By approximating...
In this paper we introduce the design of a light-weight novel flexible-joint arm for light-weight unmanned aerial vehicles (UAVs), which can be used both for safe physical interaction with the environment and it represents also a preliminary step in the direction of performing quick motions for tasks such as hammering or throwing. The actuator consists of an active pulley driven by a rotational servo...
Handling complexity is a major challenge for the development of product systems, especially in the field of autonomous robots. Considering the production system of such an autonomous robot, which is more and more realized by collaborative System of Systems (SoS), increases the complexity. To manage this complexity, a systematic approach is necessary. The following paper describes an approach to analyze...
In this paper, we present algorithms for self-reconfiguration of modular robots that move by pivoting. The modules are cubes that can pivot about their edges along the x̂, ŷ, or ẑ axes to move on a 3-dimensional substrate. This is a different model from prior work, which usually considers modules that slide along their faces. We analyze the pivoting cube model and give sufficient conditions for...
In tele-robotics, time delay is a significant problem. When video feedback is delayed, operators adopt inefficient move-wait strategies, so system performance decreases. Predictive display (PD) is an effective solution to compensate for delays by graphics rendering of predicted visual feedback. Using advanced computer vision technology, we implemented a PD system based-on online real-time 3D reconstruction...
As the popularization of 3D print technology, in the future cloud manufacturing environment, it makes the customization of personalized product with low cost to be possible. The design in the customization of personalized product is particularly important. And the key issues are the expression and understanding of design intentions from designers with different backgrounds in collaborative CAD which...
We present an unsupervised framework for simultaneous appearance-based object discovery, detection, tracking and reconstruction using RGBD cameras and a robot manipulator. The system performs dense 3D simultaneous localization and mapping concurrently with unsupervised object discovery. Putative objects that are spatially and visually coherent are manipulated by the robot to gain additional motion-cues...
The involvement of multiple stakeholders in the design of complex engineered system presents many challenges. One of the challenge is that the overlapping stakeholder concerns leads to semantic relationships appearing between models. From an inconsistency management perspective, it is critical to investigate how these relationships appear and what are their types. Based on a decision-theoretic foundation,...
This work considers Virtual Reality (VR) applications dealing with objects manipulation (such as industrial product assembly, disassembly or maintenance simulation). For such applications, the operator performing the simulation can be assisted by path planning techniques from the robotics research field. A novel automatic path planner involving geometrical, topological and semantic information of...
Motion-copying system (MCS) enables to preserve and reproduce the human motion faithfully, and various studies about MCS have been accomplished. Thereby, the concept of the motion database is created, and it is considered that preservation and reproduction of the motion data will spread in the various field including the industry, art and medical care. Then, The demand for processing the saved motion...
Virtual reality (VR) is a technology that has existed since the 1960s, but due to its high equipment cost, its use was limited. During the last decade, advancements in computers and reduction of technology costs made VR accessible and its applications widespread in various fields, including manufacturing. In this paper, a virtual environment for a robotic cell is developed, so that the layout design...
This paper presents an interaction system for haptic based remote palpation and in general remote examination. In particular the proposed approach combines 3D representation of the remote environment with encountered haptic feedback aiming at high transparency and natureleness of interaction. The paradigm is described as interaction design and system implementation.
This article is devoted to the development of reconfigurable antennas (RA) design model, built on Petri nets, for mobile robotic systems (MRTS) design system. Developed model enables to analyze the dynamics of design process and reliability of the corresponding component of MRTS design system. Main prerogative in choosing antennas of this class as the main communication organ of MRTS is their adaptability...
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