With the maturity of the application technology of USV and underwater towed vehicle, the Shenyang Institute of automation Chinese Academy of Sciences proposed a mode of operation that uses USV to autonomously launch, ...
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The investment attractiveness is characterized by a certain number of factors that distinguish the region from others and fully determine its investment climate. Assessment of various factors influencing investment po...
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The growing demand of industrial, automotive and service robots presents a challenge to the centralized Cloud robotics model in terms of privacy, security, latency, bandwidth, and reliability. Especially, mobile robot...
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ISBN:
(纸本)9781450372886
The growing demand of industrial, automotive and service robots presents a challenge to the centralized Cloud robotics model in terms of privacy, security, latency, bandwidth, and reliability. Especially, mobile robots have limited on-board computational power which restricts their mission planning in autonomous applications. With the evolution of Fog computing, computations may be offloaded to Fog devices and/or smart gateway devices which together form a distributed computing platform in close proximity to the mobile robot. In this work, we demonstrate the application of Fog computing for mobile robots with a specific case study of color-based object detection, tracking and mapping in a confined area. The computations required for image processing are offloaded to the Fog devices via Fog nodes and the results are acquired back in real-time. The control algorithms for tracking predefined paths and mapping a pre- defined area are validated using a controlled mobile robot with an on-board camera and processing unit. Also, the effects of improvement in latency due to fog environment as compared to on-board computation on the mobile robot is demonstrated.
New proposals for prosthetic hands fabricated by means of 3D printing are either body-powered for partial hand amputees or myoelectric powered prostheses for transradial amputees. There are no current studies to devel...
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ISBN:
(纸本)9781509060887
New proposals for prosthetic hands fabricated by means of 3D printing are either body-powered for partial hand amputees or myoelectric powered prostheses for transradial amputees. There are no current studies to develop powered 3D printed prostheses for transmetacarpal, probably because at this level of amputation there is little space to fit actuators and their associated electronics. In this work, a design of a 3Dprinted hand prosthesis for transmetacarpal amputees and powered by DC micro motors is presented. Four-bar linkage mechanisms were used for the index, middle, ring and little fingers flexion movements, while a mechanism of cylindrical gears and worm drive were used for the thumb. Additionally, a method for customizing prosthetic fingers to match a user specific anthropometry is proposed. Sensors and actuators' selection is explained, and a position control algorithm was developed for each local controller by modeling the DC motors and transmission mechanisms. Finally, a basic control scheme was tested on the prototype for velocity and force evaluation.
This paper presents the results of data mining to improve the efficiency of quality management of working out detailed design documentation. The main role in quality management of working out detailed design documenta...
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sliding mode control is proposed for second-order systems with unknown time-varying control direction. A nonsingular terminal sliding mode controller is firstly developed for nominal system. Based on Lyapunov function...
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ISBN:
(纸本)9781538666630
sliding mode control is proposed for second-order systems with unknown time-varying control direction. A nonsingular terminal sliding mode controller is firstly developed for nominal system. Based on Lyapunov function, the convergence condition is derived for systems with different control directions, and then a switching scheme for sliding mode controller is designed without identifying the sign changes. Scenarios against different initial control directions are simulated to demonstrate the effectiveness of the proposed approach. In this paper, a Lyapunov function based switching
This paper presents a new adaptive multivariable twisting sliding mode control for uncertain systems. A Lyapunov function based approach is utilized to show the finite-time convergence of the control system in the pre...
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ISBN:
(纸本)9781538666630
This paper presents a new adaptive multivariable twisting sliding mode control for uncertain systems. A Lyapunov function based approach is utilized to show the finite-time convergence of the control system in the presence of a class of disturbance. Overestimation of control gains is avoided via the proposed adaptation mechanism. The application to the attitude control law design for reusable launch vehicle (RLV) validates the proposed approach.
This paper describes an undergraduate research project exploring techniques of swarm robotics using Roomba. The objective of this paper is to analyze each individual Roomba and successfully acquire communication betwe...
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ISBN:
(纸本)9781538604854
This paper describes an undergraduate research project exploring techniques of swarm robotics using Roomba. The objective of this paper is to analyze each individual Roomba and successfully acquire communication between them. The Creative Inquiry undergraduate research group identify the most effective method of communication. The program that gives the best result is initialized in the IDE(Integrated Development Environment) and executed in the microcontroller called, Arduino.
A new fault adaptive control methodology against the actuator failure is proposed. The actuator failure modeling are introduced to denote the actuator healthy Coefficients (AHCs) and the Unscented Kalman Filter (UKF) ...
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In this work, we present a nonlinear Model Predictive control (NMPC) scheme for tracking a ground target using a multirotor with a cable-suspended load. The NMPC framework relies on the dynamic model of the UAV with t...
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ISBN:
(纸本)9798350384581;9798350384574
In this work, we present a nonlinear Model Predictive control (NMPC) scheme for tracking a ground target using a multirotor with a cable-suspended load. The NMPC framework relies on the dynamic model of the UAV with the suspended load and, hence, an estimate of the load state is obtained by fusing the measurements of a downward-facing camera and a load cell with an Unscented Kalman Filter (UKF). Additionally, since the NMPC relies on the future behavior of the system, the trajectory of the ground target throughout the predicted time horizon of the NMPC, is required. Towards this direction, Bezier curves are employed in order to predict the future trajectory of the target, which moves in an arbitrary way. The ultimate goal of the proposed framework is to release the suspended load to the ground target and, consequently, a condition is checked at each time instant that triggers the opening of a gripper, located at the lower edge of the cable. The performance of the proposed control scheme is experimentally validated using an octorotor.
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