the paper introduces a new measurement device which allows collecting the chipping force in three directions and additionally the process temperature. the apparatus consists of a specially designed tool holder with in...
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A Newton-like algorithm and some line search strategies for solving discrete-time algebraic Riccati equations are discussed. Algorithmic and implementation details incorporated in the developed solver are described. S...
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the recycling of coarse waste such as construction and demolition waste (CDW), bulky waste, etc., is a process that is currently performed mechanically and manually. Unlike packaging waste, commercial waste and the li...
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ISBN:
(纸本)9789897585227
the recycling of coarse waste such as construction and demolition waste (CDW), bulky waste, etc., is a process that is currently performed mechanically and manually. Unlike packaging waste, commercial waste and the like, which is usually cut or shredded into small pieces and then automatically separated and sorted on conveyor belt-based systems, coarse waste is separated by specialized personnel using wheel loaders, cranes or excavators. this paper presents the concept of a robotic system designed to autonomously separate recyclable coarse materials from bulky waste, demolition and construction waste, etc. the proposed solution explicitly uses existing heavy equipment (e.g., an excavator currently in use on-site) rather than developing a robot from scratch. A particular focus is set on the sensory system options used to identify and classify waste objects.
the use of pose-based features has demonstrated to be a promising approach for human motion recognition. Encouraged by the results achieved, a new relational pose-based feature, Trisarea, based on geometric relationsh...
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ISBN:
(纸本)9789898565716
the use of pose-based features has demonstrated to be a promising approach for human motion recognition. Encouraged by the results achieved, a new relational pose-based feature, Trisarea, based on geometric relationship between human joints, is proposed and analysed. this feature is defined as the area of the triangle formed by connecting three joints. the paper shows how the variation of a selected set of Trisarea features over time constitutes a descriptor of human motion. It also demonstrates how this motion descriptor based on Trisarea features can provide useful information in terms of human motion for its application to action recognition tasks.
the architecture and implied mathematical algorithms for a redundant strap-down inertial navigator in horizontal plane are shown in the paper. As immediate application of the system, the surveillance of miniaturized v...
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ISBN:
(纸本)9789898565709
the architecture and implied mathematical algorithms for a redundant strap-down inertial navigator in horizontal plane are shown in the paper. As immediate application of the system, the surveillance of miniaturized vehicles like robotic systems was identified. the navigator redundance is achieved from its inertial measurement unit, which uses two arrays of four miniaturized accelerometers in the two detection axes in horizontal plane, and a four miniaturized gyro array along the vertical axis. the architecture of the sensors arrays dispositions is a linear one;for every detection array a fusion method based on minimum variance method is used to statistically combine the data acquired from the sensors. the system is experimentally tested by using a SDINS/GPS integrated navigator as reference system, and a car as monitored vehicle;the sensors fusion results are shown and the navigation solution errors are estimated.
this paper deals withthe problem of robust trajectory tracking of a robot interacting with a human and subject to uncertainties and the problem of chattering in sliding mode. Indeed, a new controller for robotic mani...
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ISBN:
(纸本)9798331518509;9798331518493
this paper deals withthe problem of robust trajectory tracking of a robot interacting with a human and subject to uncertainties and the problem of chattering in sliding mode. Indeed, a new controller for robotic manipulator systems using terminal model-based sliding manifolds is proposed. Moreover, a bi-power reaching law with variable-gains is designed to reduce the phenomenon of chattering and to ensure fixed-time stability of the exoskeleton robot trajectories into the sliding manifolds. the chattering is not reduced thanks to the new reaching law only but also thanks to the designed model-based sliding manifolds that allow a decoupled control inputs. the proposed controller is experimentally implemented on an upper-limb rehabilitation exoskeleton robot with seven rotary joints. A Comparison study with super-twisting second-order sliding mode is also presented to show the effectiveness of the developed technique.
the human eyes cannot easily focus on two separate targets at the same time. the two eyes have their own cooperative movements called conjugate and vergence eye movements. the reason for the cooperative movements and ...
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ISBN:
(纸本)9781424403417
the human eyes cannot easily focus on two separate targets at the same time. the two eyes have their own cooperative movements called conjugate and vergence eye movements. the reason for the cooperative movements and a method to achieve binocular movements using active cameras will be discussed in this paper. In order to achieve realistic eye movements, we proposed a binocular motor system model based on the human neural pathways of the binocular motor system. Using this model, an active camera control system was constructed. the system exhibited several characteristics specific to human-eye movement, including the following: (1) Both cameras moved in tandem and had the same target point in the central area. this characteristic was considered a basic condition for structuring a stereo-image using the image signals from both eyes. (2) If one camera was obstructed by an obstacle, it would follow the movement of the other camera to find the target promptly when the obstacle was removed. (3) this system had the ability to compensate for the blurring caused by base movement.
Soft robots require a complimentary control architecture to support their inherent compliance and versatility. this work presents a framework to control soft-robotic systems systematically and effectively. the data-dr...
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ISBN:
(纸本)9781665408288
Soft robots require a complimentary control architecture to support their inherent compliance and versatility. this work presents a framework to control soft-robotic systems systematically and effectively. the data-driven model-based approach developed here makes use of Dynamic Mode Decomposition withcontrol (DMDc) and standard controller synthesis techniques. these methods are implemented on a robotic arm driven by an antagonist pair of Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators. the results demonstrate excellent tracking performance and disturbance rejection, achieving a steady state error under 0.25% in response to step inputs and maintaining a reference orientation within 0.5 degrees during loading and unloading. the procedure presented in this work can be extended to develop effective and robust controllers for other soft-actuated systems without knowledge of their dynamics a priori.
the remote center of motion (RCM) is an essential issue during minimal invasive surgery where the surgeon manipulates a medical instrument inside the human body. It is important to assure that the tool should not appl...
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ISBN:
(纸本)9789897581984
the remote center of motion (RCM) is an essential issue during minimal invasive surgery where the surgeon manipulates a medical instrument inside the human body. It is important to assure that the tool should not apply forces on the incision wall in order to prevent patient harm. the paper shows a geometric method computing the intended robot velocity vector for respecting the RCM constraints. In addition, the proposed solution deals withthe latter constraints as the highest task priority. A second task function is added, which is projected in the null space on the first task, to follow a 3D path inside the cavity. As result, this method helps the surgeon to execute more sophisticated motion within the patient body with high accuracy;since the results shows standard deviation around 0.004mm and 0.089mm of RCM task error and positioning task error, respectively.
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