the increasing demand of high performance applications in industrial environments calls for improved control strategies for nonlinear mechanical systems. Common flatness based approaches, effectively linearizing a hig...
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ISBN:
(纸本)9789898425010
the increasing demand of high performance applications in industrial environments calls for improved control strategies for nonlinear mechanical systems. Common flatness based approaches, effectively linearizing a highly nonlinear system, are available and ready for deployment. this contribution focuses on evaluating these strategies in a modern and widely used industrial setup.
Retrieval of near-duplicate image fragments is one of the most challenging problems is CBIR (content-based image retrieval). the objective is to identify almost the same fragments in random images of unpredictable con...
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the proceedings contain 20 papers. the topics discussed include: distributed technology for global control;dealing with uncertainty in the hybrid world;adaptive fuzzy controller for output power maximization of induct...
ISBN:
(纸本)9783642002700
the proceedings contain 20 papers. the topics discussed include: distributed technology for global control;dealing with uncertainty in the hybrid world;adaptive fuzzy controller for output power maximization of induction generators;architectural approach for the implementation of a position control system for a boat-like inspection robot;dynamic-based simulation for humanoid robot walking using walking support system;people tracking and identification using laser features and color distributions;robotic wheelchair trajectory control considering user comfort;calibration and comparison of visual tracking on the ground for multi camera tracking;mobile robot teleoperation via wireless multihop networks - parameter tuning of protocols and real world application scenarios;safe test flights for small rotorcrafts;and particle filter with temporal smoothing for mobile robot vision-based localization.
Head motion naturally occurs in synchrony with speech and may carry paralinguistic information, such as intention, attitude and emotion, in dialogue communication. Withthe aim of verifying the relationship between he...
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In order to set up well-structured multitasking robot application programs careful planning is required. Robot programming languages (e.g. Karel, RAPID, Melfa, SimPro, etc.) vary from robot to robot constructor. Gener...
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ISBN:
(纸本)9783908451884
In order to set up well-structured multitasking robot application programs careful planning is required. Robot programming languages (e.g. Karel, RAPID, Melfa, SimPro, etc.) vary from robot to robot constructor. General planning tools used in software development (e.g. UML, IDEF, etc.) require adequate professional skills and a special way of thinking such that robot programmers to apply and adapt them to the specificity of each robot programming language. Customized and intuitive planning tools of robot applications with regard to each particular programming language seem to be preferred by ordinary robot programmers and operators when facing withthe development of complex robot tasks. this paper introduces such a tool in relation to the RAPID (TM) programming language, specific to ABB robot models. Its effectiveness is revealed in a case study.
this article presents our current work on studying energy efficient locomotion on crawling snake-like robots. the aim of this work is to use existing biological inspired methods to demonstrate lateral undulation plana...
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ISBN:
(纸本)9789898425010
this article presents our current work on studying energy efficient locomotion on crawling snake-like robots. the aim of this work is to use existing biological inspired methods to demonstrate lateral undulation planar gaits for efficiently controlling high-speed motion as a function of the terrain surface. A multilink non-wheeled snake-like robot is being developed for experimentation and analysis of efficient serpentine locomotion based on simulation results.
the wheeled mobile robot is a nonlinear system. the trajectory tracking problem is solved using the sliding mode control. In this paper an optimization technique is investigated in order to obtain the best values for ...
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ISBN:
(纸本)9789898425010
the wheeled mobile robot is a nonlinear system. the trajectory tracking problem is solved using the sliding mode control. In this paper an optimization technique is investigated in order to obtain the best values for the sliding mode control law parameters. the performances of the control law withthe optimum parameters are analyzed in order to establish some rules. the conclusions are based on the simulation results.
the most common outcome of stroke is hemiplegia and it is known that finger paralysis in particular tends to remain. these patients feel inconvenient in daily life because the grasping operation becomes difficult. On ...
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the most common outcome of stroke is hemiplegia and it is known that finger paralysis in particular tends to remain. these patients feel inconvenient in daily life because the grasping operation becomes difficult. On the other hand, not moving the paralyzed fingers for a long term will cause joint contracture. therefore, daily use of the paralyzed finger is important to prevent joint contracture. To solve these problems, we propose applying a wearable assistive system that provides grasp-assistance for finger paralysis patients. the purpose of this research is to develop the "Exo-Finger" for grasp-assistance. the Exo-Finger is an exoskeleton system that assists the cylindrical grip that often appears during daily life. A wire is connected on the end point of the frame. When the motor pulls it, it is possible to extend the MP (Metacarpophalangeal), PIP (Proximal interphalangeal), and DIP (Distal interphalangeal) joints together. Elastics are used to assist flexion of the fingers. Moreover, we developed two kinds of control interfaces based on the state of the paralyzed finger. One is using a push switch operated by the healthy hand and another is using the small movement of the finger as a trigger. through the experiment with a hand mock-up, grasping operation could be achieved as grasp-assistance with Exo-Finger. In conclusion, we developed the Exo-Finger and confirmed that the Exo-Finger would be used for grasp-assistance in daily life.
the proceedings contain 72 papers. the topics discussed include: application of simulators and simulation tools for the functional design of mechatronic;CAD based design optimization of planar parallel manipulators;ex...
ISBN:
(纸本)3908451884
the proceedings contain 72 papers. the topics discussed include: application of simulators and simulation tools for the functional design of mechatronic;CAD based design optimization of planar parallel manipulators;exteroceptive sensor system of a new developed artificial hand;mechatronic design of a planar parallel robot actuated by pneumatic artificial muscles;some AI based approaches on mobile robots motion planning;3D control for a truncated cone tentacle kinematics;modeling and analysis of soccer robot tasks using generalized stochastic Petri nets;the design approach of human prostheses and intelligent robot end effectors based on mechatronic philosophy;design, modeling and control of an omni-directional mobile robot;trajectory planning for mobile car-like robot navigation in an extra-road environment;kinematic-dimensional analysis of parallel robot used for orientation;and development of riding robot system for entertainment and healthcare service.
this paper addresses the control of a team of nonholonomic mobile robots. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, the l...
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ISBN:
(纸本)9789898425010
this paper addresses the control of a team of nonholonomic mobile robots. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the sliding-mode controller to keep constant relative distance and constant angle to the leader robot. the efficiency and simplicity of this control laws has been proved by simulation on different situations.
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