this paper describes the generation of expressive gestures on a robotic puppet controlled using behavior-based method. Recent findings on biological motion mechanisms provide an inspiring model for controlling high di...
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ISBN:
(纸本)9810483643
this paper describes the generation of expressive gestures on a robotic puppet controlled using behavior-based method. Recent findings on biological motion mechanisms provide an inspiring model for controlling high dimensional robot with motor primitives. the modular features of primitives make them the building blocks for constructing complex behaviors. the inborn similarity between gesture and speech enable us to study behavior withthose methods for language. We designed a motor controller using a small set of primitives. the effectiveness of this method is validated on the robotic puppet with different expressive gestures generated by superimposing and sequencing the primitives.
the motivation behind this project is flexible learning for students in a safe manner with optimal utilisation of resources. Previously students were only permitted to access the robotics Laboratory during supervised ...
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ISBN:
(纸本)9810483643
the motivation behind this project is flexible learning for students in a safe manner with optimal utilisation of resources. Previously students were only permitted to access the robotics Laboratory during supervised periods as specified in the universities Occupation Health and Safety Policy. the web facility generated provides an on-line laboratory in which the students are free to complete their practical work any time the equipment is available. this paper describes how direct control of mechatronic devices is achieved through development of a web-based platform capable of connection to many different devices. In this instance connections have been developed to an Adept robot and a Fanuc 6 axis robot. the connections permit manual control in the different co-ordinate systems through a teach pendant applet, and programming and execution via telenet.
this paper describes the performance evaluation of an SIMD system on a commonly encountered Standard Linear Equation problem. We introduce a prototype SIMD system, called the Systola 1024, whose parallel architecture ...
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ISBN:
(纸本)9810474806
this paper describes the performance evaluation of an SIMD system on a commonly encountered Standard Linear Equation problem. We introduce a prototype SIMD system, called the Systola 1024, whose parallel architecture is based upon the Instruction Systolic Array concept. To evaluate the performance of this architecture we have implemented an in-cache problem to measure its MFLOP by solving the Gaussian Elimination problem to obtain the LU factorization. We also examine the effects of increasing the array processors by a certain factor.
this paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bound...
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ISBN:
(纸本)9810474806
this paper presents the development of a Proportional-Integral sliding mode controller to control a class of uncertain systems. It is assumed that the plant to be controlled can be represented by its nominal and bounded parametric uncertainties. A robust sliding mode controller is newly derived so that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. the Proportional-Integral sliding mode is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. the controller is applied to the control of a two-link planar robot manipulator.
this study deals with group robots forming a mechanical structure. In this paper, we address the concrete motion mechanisms of the robots. Each robot has a cubic shape with pneumatic actuators. It rotates with a comer...
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ISBN:
(纸本)9810474806
this study deals with group robots forming a mechanical structure. In this paper, we address the concrete motion mechanisms of the robots. Each robot has a cubic shape with pneumatic actuators. It rotates with a comer of the robot as an axis. To realize the movement, we propose two kinds of mechanical devices. One is a stabilization mechanism that the pneumatic actuator stably forms an arched shape. the other one is a rotary selective valve for minimizing pneumatic elements. this paper also reports a demonstration of the pneumatic robots in hardware.
automation of manufacturing workcell relies heavily on sensors and logic control systems to ensure smooth process flow through its devices. Commonly, such logic control systems (e.g. Programmable Logic controller) are...
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ISBN:
(纸本)9810474806
automation of manufacturing workcell relies heavily on sensors and logic control systems to ensure smooth process flow through its devices. Commonly, such logic control systems (e.g. Programmable Logic controller) are setup for controlling workcells for a specific process flow. these systems require extensive restructuring of its control logic and re-wiring of the communication cables (e.g. feedback from sensors, relays to actuators) whenever there is need for the workcells to change their configuration for different process flow. these requirements result in loss of the production time and incur additional costs. In this paper a different approach, which has the potential of rapid configuration of logical control, is demonstrated on a modular robotic workcell. the approach uses computer network as the communication media and the control logic is developed using the supervisory controltheory.
In this paper, we present a new foraging algorithm applied to multi-robot system. the algorithm classifies robots into two groups;one group is engaged in navigating, while the other in collecting. Due to different dut...
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ISBN:
(纸本)9810474806
In this paper, we present a new foraging algorithm applied to multi-robot system. the algorithm classifies robots into two groups;one group is engaged in navigating, while the other in collecting. Due to different duties of robots in foraging, the robots team displays diversity during the foraging process. the results of simulation show that the team of greater diversity would be more efficient than the team without diversity in accomplishing the foraging task. Under the consideration of such factors as the robot team's size and the density of attractors in environment, the relationship between the duty-based diversity and the performance of multi-robot system is discussed based on simulation results.
Digital communications started replacing analogue signal transmissions when smart transmitters were implemented through the HART protocol. Since then the drive for Open Systems Interconnectivity has brought about the ...
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ISBN:
(纸本)9810474806
Digital communications started replacing analogue signal transmissions when smart transmitters were implemented through the HART protocol. Since then the drive for Open Systems Interconnectivity has brought about the Fieldbus Technology which is deemed to herald a new era in signal communications. this paper addresses the two applications of this new technology in the area of communications and a means of harnessing the data that can be made available from such devices.
"15 seconds off ame" is aninter activeart installation whiche levates the face of a randomly selected gallery visitor for 15 seconds intoa" workofart". the installation was inspired by Andy Warhol&...
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ISBN:
(纸本)9810483643
"15 seconds off ame" is aninter activeart installation whiche levates the face of a randomly selected gallery visitor for 15 seconds intoa" workofart". the installation was inspired by Andy Warhol's statement that " In the future every body will be world famous for fifteen minutes" as well as by the pop-art style of his works. the installation consists of acomputer with a flat-panel monitor, adigital camera and proprietary software that can detect human faces in images and graphically transformthem. In this paper we present the technical background of the installation, inparticular, how computer vision techniques were applied in this art installation.
this article deals with specific aspects concerning the visual perception process of a humanoid walking machine. An active vision system provides the information about the environment necessary for autonomous goal-ori...
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ISBN:
(纸本)0780372727
this article deals with specific aspects concerning the visual perception process of a humanoid walking machine. An active vision system provides the information about the environment necessary for autonomous goal-oriented locomotion. Due to errors in each stage of the perception process, ideal environment reconstruction is not possible. By modeling these errors, stochastic components can be compensated using a hybrid Extended Kalman Filter approach with an alternating reference frame, thus reflecting the discontinuous character of biped walking. the perception results improved by filtering can be used, for the autonomous locomotion of the robot. Experiments withthe walking machine BARt-UH1 demonstrate the validity of our approach.
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