In order to convey a sense of believability in social contexts, new interactive robots may be able to express dynamic expressive states and to adapt to different situations. This work presents an innovative adaptive c...
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ISBN:
(纸本)9781538666630
In order to convey a sense of believability in social contexts, new interactive robots may be able to express dynamic expressive states and to adapt to different situations. This work presents an innovative adaptive control system architecture for generating expressive motions in a robot arm. An adaptive Fuzzy controller to map environmental inputs such as temperature, humidity, luminosity and human proximity to values of the PAD emotional model (Pleasure, Arousal, and Dominance) is proposed. The PAD values are used to change the performance of the robot trajectories designed to express different features. These robot motions are commanded by the Robust Generalized Predictive controllers (RGPC) using convex optimization by Youla parametrization that involves the robot regulation with the adaptive motion. The proposed approach allows to generate personalized and dynamic behaviors for Human-Robot Interaction (HRI) in non-humanoid robots.
This paper is focused on the estimation for the multi-sensors alignment errors. There are two types of biases being discussed: sensor measurement (systemic) biases and attitude biases. An improved ECEF-KF algorithm is...
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ISBN:
(纸本)9781538666630
This paper is focused on the estimation for the multi-sensors alignment errors. There are two types of biases being discussed: sensor measurement (systemic) biases and attitude biases. An improved ECEF-KF algorithm is proposed for the estimation of 12-D error vector. Firstly, we develop the state models of fixed systemic biases and slowly time-varying attitude errors. Secondly, the measurements to public target are transformed from body frames into ECEF coordinate system, isolating the motion and rotation of platforms. Thirdly, a Kalman Filter based on linear pseudo-measured function is used to estimate the error state. Simulations demonstrate that the alignment errors can be exactly estimated and the accuracy of target tracking can be dramatically improved by error compensation.
A two-input two-output current-mode universal biquad employing only two voltage differencing transconductance amplifiers (VDTAs) and two grounded capacitors is introduced. By appropriately connecting the input and out...
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ISBN:
(纸本)9781538666630
A two-input two-output current-mode universal biquad employing only two voltage differencing transconductance amplifiers (VDTAs) and two grounded capacitors is introduced. By appropriately connecting the input and output terminals, the proposed circuit can realize lowpass, bandpass, highpass, bandstop and allpass current responses. It also exhibits an independent electronic control of the natural angular frequency (omega(o)) and the quality factor (Q) by properly setting the transconductance values of the VDTAs. No critical component matching choices are imposed for generating all the filter functions, and all incremental parameter sensitivities are low.
We present an accurate, real-time approach combined target pre-detection with robotic grasp based on deep Q-learning. Skilled robotic manipulation benefits from learning approach between target pre-detection and robot...
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ISBN:
(纸本)9781538695944
We present an accurate, real-time approach combined target pre-detection with robotic grasp based on deep Q-learning. Skilled robotic manipulation benefits from learning approach between target pre-detection and robotic grasp actions: target pre-detection recognizes the object and finds a good grasp rectangle in a single step;meanwhile, grasping can help displace objects to make target detection more accurate and disturbed-free. During grasping experiments in simulation scenarios, our approach rapidly learn complex actions amid challenging cases of clutter, especially achieves better grasping success rates and performs significantly better.
In order to augment human operation ability, a new type of wearable robot is developed, called supernumerary robotic limbs(SRLs). The SRLs have additional robotic limbs that can replace the function of human natural l...
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Studies on human visual perception are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual information from an environment. By means of this model s...
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Studies on human visual perception are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual information from an environment. By means of this model some other vision related concepts, such as visual attention and visual openness, are also mathematically defined. The theoretical considerations are implemented in three applications, namely scene description by perception, visual openness measurement for design, and perceptual robotics.
This paper introduces a fault-tolerant control strategy for delayed PDE-ODE coupled systems. By using a Lyapunov functional (LF), a fault-tolerant control design is developed by space-dependent linear matrix inequalit...
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The machining sector is increasingly making use of industrial robots to benefit from high flexibility and low investment costs in relation to the working area. However, low absolute accuracy as well as low stiffness p...
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ISBN:
(纸本)9781538666630
The machining sector is increasingly making use of industrial robots to benefit from high flexibility and low investment costs in relation to the working area. However, low absolute accuracy as well as low stiffness prevent the breakthrough in industry. This paper describes a concept, developed at the WZL Chair of Machine Tools, which enables robot model-based planning optimization by developing an expert system which represents robot process behavior in milling operations.
This manuscript describes the design methodology of a lower limb bipedal robot which was controlled to achieve a stable walking gait. The proposed design has 12 DOF to mimic human gait in the most daily living activit...
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ISBN:
(纸本)9781538695944
This manuscript describes the design methodology of a lower limb bipedal robot which was controlled to achieve a stable walking gait. The proposed design has 12 DOF to mimic human gait in the most daily living activities. The design process started by creating dynamically equivalent lower limb segments based on the human anthropometric data. A linear inverted pendulum model of human walking was developed to produce the trajectory of the robot center of mass (COM), and then generate the feet trajectories, as well as applying inverse kinematics model. An iterative optimization algorithm was used to find the angular correction. The system was simulated on MATLAB/SIMULINK simulation environment and the results were satisfactory.
Missed seeding during planting operation is a problem for pneumatic corn planters especially for locally developed designs in the Philippines. This study focused on providing a solution to prevent or reduce missed see...
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ISBN:
(纸本)9781538666630
Missed seeding during planting operation is a problem for pneumatic corn planters especially for locally developed designs in the Philippines. This study focused on providing a solution to prevent or reduce missed seeding by integrating a control system with machine vision and mechatronic elements to a modified design of a locally developed seed meter. The seed meter was fitted with a camera to monitor the seed plate, a microprocessor to analyze images, and a stepper motor to produce precise rotations for the meter's drive. The control system was designed to detect unfilled holes in the seed plate and adjust seeding rate accordingly to compensate any expected missing hill. Operation simulation revealed that the control system can operate between 2 kph to 6 kph of forward speed. This speed range was caused by the limitations in torque production of the mechatronic drive and the latency of image capture of the camera.
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