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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,...
In this paper, we introduce a coverage path planning algorithm for inspecting large structures optimized to generate highly accurate 3D models. Robotic inspection of structures such as aircrafts, bridges and buildings, is considered a critical task since missing any detail could affect the performance and integrity of the structures. Additionally, it is a time and resource intensive task that should...
Remotely Operated Vehicles (ROVs) are a proven tool for performing highly-capable marine operations ranging from science investigations to industrial applications. While industry-grade ROVs can support an impressive array of functions, they can be very expensive and complex. As such, they are often inappropriate for use in educational programs where functional requirements are limited but low-cost...
This paper addresses a three-dimensional (3D) reconstruction of a flooded open pit mine with an autonomous surface vehicle (ASV) and unmanned aerial vehicle (UAV). The ROAZ USV and the Otus UAV were used to provide the underwater bathymetric map and aerial 3D reconstruction based from image data. This work was performed within the context of the European research project VAMOS with the objective of...
We describe a system for ocean observatories which streams data from the seafloor to shore in near real-time without a cable or moored surface buoy. The system utilizes a Wave Glider® (Liquid Robotics, Inc.); an autonomous surfboard-sized maritime vehicle that harvests wave energy for propulsion and solar energy for electrical power. The Wave Glider acts as a communications gateway as it hovers on...
With being used of steam powered machines in manufacturing, first industry revolution launched. After that, industry has continued to develop with the aid of engineering education in universities. The developed industry brought along new searching topics and also new engineering areas. With the adaptation of industry and engineering education new revolutions occurred. Today, industry 4 is actualizing...
Obstacle detection and localization behaviours have shown to work robustly in 2D perceived environment. With the progress of proximity sensors, precisely the emergence of 3D vision techniques, it would be interesting to examine these motion controllers whether for 3D perceived environment. 2D basic algorithms for obstacle avoidance or robot location, needs reformulation in order to process data from...
Unmanned Aerial Vehicles are currently investigated as an important sub-domain of robotics, a fast growing and truly multidisciplinary research field. UAVs are increasingly deployed in real-world settings for missions in dangerous environments or in environments which are challenging to access. Combined with autonomous flying capabilities, many new possibilities, but also challenges, open up. To overcome...
Nowadays, crucial parts of modern Building Automation and Control Systems (BACS) are active control and monitoring functions. Many of research have been conducted to investigate the support of location-based services (LBS) for individuals in the BACS. Since microlocation technology could be used to enable reliable and precise indoor positioning and navigation, an indoor positioning system (IPS) has...
Search-and-rescue (SAR) team main objective is to quickly locate victims in post-disaster scenario. In such disaster scenario, images are usually complex containing highly cluttered background such as debris, soil, gravel, ruined building, and clothes, which are difficult to distinguish from the victims. Previous methods which only work on nearly uniform background taken from either indoor or yard...
Hand motion recognition based on surface electromyography (sEMG) has drawn much attention over last decades. Generally, sEMG can be non-invasively measured on the skin, and then different stable features directly relating to hand motion are extracted from the preprocessed sEMG. In order to improve computational efficiency, some dimension-reduction methods, such as PCA, LDA, are always employed to...
This paper proposes a novel dexterous robotic finger with sensing parallel and self-adaptive grasp, called S-PASA finger, which can perform parallel and self-adaptive hybrid grasping mode. The S-PASA finger consists of two phalanges, two joints, a four-link mechanism with a composite flexible link, one spring, four sensors, a control module, a drive module, and two servo motors. The S-PASA finger...
This paper addresses the problem of controlling an electric powered wheelchair in dynamic, crowded areas. Navigating the vehicle effectively in such environmental conditions requires two issues to be considered: Relatively long term prediction of pedestrians' motion and an influence of the vehicle motion on the people behaviour in its vicinity. The purpose of this study is to develop a method that...
The following article presents our attempt to design and build a simple, low-cost, impedance controlled, multifinger gripper having two phalanges in each finger. The paper discusses two different approaches of creating its mechanical construction, comparing the strengths and weaknesses of both solutions, as well as electronic design and software architecture of the controller. The results of basic...
The aim of this paper is to describe the design of a soft, wearable glove for power assisted and rehabilitation, based on pneumatic soft actuators. The extensor bending type of pneumatic soft actuators was used in this study, which proved these actuators are appropriate by examining their characteristics. A proposed solution for a release movement is presented. Experimental results show this solution...
In this paper, we first introduce several application domains for cyber-physical systems (CPS). The implementation of such applications is a challenging task since it does not only require the developer to consider distribution and concurrency— which are already error-prone aspects in distributed systems—but also real space and time. If motion of the usually heterogeneous executing components of the...
The paper proposes a learning from demonstration (LfD) framework which will enable children with motor disabilities to perform neuromotor rehabilitation exercises at home- and community- settings. LfD, a popular robot learning paradigm, has traditionally been used to teach embodied robots different skills through demonstrations by lay users. In this paper, we propose a novel application of LfD in...
In this paper, we have developed a motion capture method based on data collected by MYO armband. The method can be applied on any healthy operator wearing two MYO armbands on both upper and lower arms, respectively. The first MYO armband is worn near the centre of the operator's upper arm, the other is worn near the centre of the forearm. MYO armband has built-in eight bioelectrical sensors as well...
WearTec is an NSF funded project focused on activities related to wearable technologies. The goals of the project are to develop an intervention that focuses on solving real world problems and practicing the engineering design process while immersed in the innovative area of wearable technologies. Curriculum has been developed focused on youth in grades 4 to 6 to teach engineering design, computer...
One of the complicated issue in compliance control for rehabilitation and assistive robots is to predict right human's motion intention. In this paper, we have proposed an algorithm to estimate Desired Motion Intention (DMI) so that better compliance could be provided by the rehabilitation and assitive robots. Proposed algorithms is based on Extreme Learning Machine (ELM) and takes inputs from different...
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