the development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. this paper de...
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ISBN:
(纸本)9789898111319
the development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. this paper describes the integration of a robotic simulator with our intelligent wheelchair shared control and planning modules. An adapted version of the free Cyber-Mouse robotic simulator was used to simulate the movement of the intelligent wheelchair in a hospital environment. Adaptations of the subsumption architecture, Strips Planning and A* Algorithms were employed and integrated to allow wheelchair intelligent behavior. the experimental results have demonstrated the success of the integration of these algorithms in our simulator allowing very safe motion of the intelligent wheelchair in the simulated hospital environment. Also, the adapted Cyber-Mouse simulator proved its capability and robustness in simulating the hospital environment and wheelchair physic characteristics.
During the last three decades, there are many notable approaches were proposed in the field of motion planning, such as Bug Algorithms, Cell Decomposition, Roadmap, Potential Field, Sampling-based motion planning and ...
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ISBN:
(纸本)9780738133119
During the last three decades, there are many notable approaches were proposed in the field of motion planning, such as Bug Algorithms, Cell Decomposition, Roadmap, Potential Field, Sampling-based motion planning and so on. Even though, Kinodyamic moton planning is still an open challenging for robotics regarding dynamic constraints, for the purpose of completeness, safety, or efficiency.
the design engineers need to use high level formalisms to facilitate the development, maintenance, and documentation of the industrial control systems. these formalisms must permit the modeling, formal validation, and...
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ISBN:
(纸本)9781424408504
the design engineers need to use high level formalisms to facilitate the development, maintenance, and documentation of the industrial control systems. these formalisms must permit the modeling, formal validation, and code generation to PLC. this paper discusses statechart for modeling of industrial systems, and presents a case study that simulates the general schema of the industrial automation process, based in PLC. the case study was implemented with java technologies, and was simulated using the execution environment developed by the Jakarta Project Commons SCXML.
Over the past few years, soft continuum manipulators gained popularity in advanced robotic systems due to its compliance and ability to execute different complicated tasks in an unstructured environment that are not p...
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ISBN:
(纸本)9781728133263
Over the past few years, soft continuum manipulators gained popularity in advanced robotic systems due to its compliance and ability to execute different complicated tasks in an unstructured environment that are not possible with hard manipulators. In this field of soft robotics, series of experiments and revisions are usually performed first to come up with a nearly perfect hardware prototype. Only after these validations will simulations and kinematic modeling be performed. Recent advancement in the research field includes simulation using the combination of finite element analysis and a mathematical soft-ware for performing numerical iterations. this paper presents a kinematic modeling of a single link constant curvature continuum manipulator based on finite element analysis. the approach aims to demonstrate the capability of finite element analysis to do a "specific" modeling of soft continuum manipulator, i.e., pressure and actuator's length relationship. the result allows us to do complete simulation and modeling of forward and inverse kinematics even if a hardware prototype has not been constructed yet.
Robotic systems are used within a great variety of medical disciplines. A handheld robot promises a number of advantages compared to conventional (medical) robots but this approach leads to strict specifications regar...
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ISBN:
(纸本)9789898111319
Robotic systems are used within a great variety of medical disciplines. A handheld robot promises a number of advantages compared to conventional (medical) robots but this approach leads to strict specifications regarding size, weight and dynamic properties. A new hybrid kinematics - the Epizactor - seems to be advantageous and is compared to two well-known parallel kinematics regarding the ratio of workspace and volume the number of kinematic elements, the cost of computation, the stiffness the effects of clearance, actuation (weight), and accuracy using a well-described industrial method for comparison. It becomes clear that the Epizactor has advantages concerning the ratio of workspace and volume, needs a smaller number of kinematic elements and fewer computations, and has less than half the mass than the parallel kinematics. Its accuracy, stiffness and the effects of clearance are comparable. the advantages of this new kinematic set-up lead to a first deployment within the field of medical robotics.
作者：
Kulakov, FMRobotics Laboratory
St. Petersburg Institute for Informatics and Automation of Russian Academy of Science 39 14th Line St. Petersburg 199178 Russia
this paper presents advanced research works on robotics carried out in Russia. It covers research works on space robot-manipulators, planet revers, the system of the supervisory robots, legged robots, resonance manipu...
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this paper presents advanced research works on robotics carried out in Russia. It covers research works on space robot-manipulators, planet revers, the system of the supervisory robots, legged robots, resonance manipulators, artificial muscle, system of robot control for untraditional using of robot for physical simulation of the bodies motion in weightlessness conditions and for measuring mass and inertia of bodies, the generalization of the theory of force/torque robot control and realization of it in the elastic robot, mobile robots on wheels and caterpillars for special task.
As part of this research, software for multimodal biometric authentication using neural networks is developed to improve the efficiency of information system user authorization. the architectures of artificial neural ...
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this book includes extended and revised versions of a set of selected papers from the Ninthinternationalconference on informatics in control automation and robotics (ICINCO 2012), held in Rome, Italy, from 28 to 31 ...
ISBN:
(数字)9783319035000
ISBN:
(纸本)9783319034997
this book includes extended and revised versions of a set of selected papers from the Ninthinternationalconference on informatics in control automation and robotics (ICINCO 2012), held in Rome, Italy, from 28 to 31 July 2012. the conference was organized in four simultaneous tracks: Intelligent control Systems and Optimization, robotics and automation, Systems Modeling, Signal Processing and control and Industrial Engineering, Production and Management. ICINCO 2012 received 360 paper submissions, from 58 countries in all continents. From these, after a blind review process, only 40 were accepted as full papers, of which 20 were selected for inclusion in this book, based on the classifications provided by the Program Committee. the selected papers reflect the interdisciplinary nature of the conference as well as the logic equilibrium between the four abovementioned tracks. the diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and technological trends.
Flexibility, throughput, maintainability, scalability, reliability and low cost: that are the main optimization criteria of material flow systems (MFS). the most of this criteria are diametrical and so hardly to impro...
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ISBN:
(纸本)9789896740009
Flexibility, throughput, maintainability, scalability, reliability and low cost: that are the main optimization criteria of material flow systems (MFS). the most of this criteria are diametrical and so hardly to improve considerably with today's existing transportation devices and their static control structures. Hence a new approach of a transportation systems with cooperating robotic units and a novel cognitive environment will be presented. this approach will combine different research areas like robotics and wireless sensor networks to achieve a higher degree of flexibility.
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