Mobile robots with accurate and fast rolling locomotion capabilities would greatly enhance their adaptability in dynamic environments. Inspired by organisms capable of rolling locomotion, this paper presents a lightwe...
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ISBN:
(纸本)9781665408288
Mobile robots with accurate and fast rolling locomotion capabilities would greatly enhance their adaptability in dynamic environments. Inspired by organisms capable of rolling locomotion, this paper presents a lightweight shape morphable rolling robot which integrates an origami skeleton with muscle-like pneumatic pouches as drivers and electroadhesion (EA) pads as anchors. the origami skeleton of the robot is a hexagonal loop structure composed of polyethylene terephthalate (PET) panels with flexural hinges between them. Pneumatic pouch actuators are embedded between the panels to change the configuration of the skeleton. the flat panels of the origami skeleton house electroadhesion actuators which can adhere to different surfaces with different slopes and materials. Two sequential control schemes are proposed that enable the robot to move forward and backward accurately by controlling the air pressure in the pouches and voltage supplied to the EA pads. Using combined actuation of pneumatic pouches and EA pads, the robot is able to roll on both horizontal and inclined surfaces as well as transit from horizontal to fully vertical surfaces. the robot shows less than 1% error in positioning after one complete forward and backward rolling cycle. Owing to its use of thin sheet materials for skeleton and pouch actuators and EA pads, the robot is lightweight weighing only 25 g. these unique properties of the robot will enable the deployment of such versatile mobile robots to conduct tasks remotely in challenging environments.
the paper deals with adaptive control system of multilink manipulator. this system taking into account power restriction of executive elements is capable to set to the gripper the greatest possible speed at spatial tr...
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Many people with severe disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling these electrical devices. Intelligent wheelchairs are a very good ...
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RoboTeam is an after-school competitive robotics club for grades 4 through 8 at the School at Columbia. Each year, 20-35 students compete in RoboCupJunior competitions at the local, regional and, if we qualify, intern...
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ISBN:
(纸本)9781479918294
RoboTeam is an after-school competitive robotics club for grades 4 through 8 at the School at Columbia. Each year, 20-35 students compete in RoboCupJunior competitions at the local, regional and, if we qualify, international level. As part of preparing for the RoboCupJunior Dance competitions, each student maintained a journal of his or her work and ideas, constructed robots with sensors and created elaborate programs designed to controlthe robots. they collaborated with teammates when creating original music, choreography, sets and costumes for boththe robotic and human performers. the students are intrigued and engaged by the challenges of building and programming robots to make real what they have imagined. they also delight in the artistic aspect of preparing for robotic dance competitions.
In this paper, an intrinsically parallel framework striving for increased flexibility in development of robotic, computer vision, and machine intelligence applications is introduced. the framework comprises a generic ...
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ISBN:
(纸本)9789898425010
In this paper, an intrinsically parallel framework striving for increased flexibility in development of robotic, computer vision, and machine intelligence applications is introduced. the framework comprises a generic set of tools for realtime data acquisition, robot control, integration of external software components and task automation. the primary goal is to provide a developer- and user-friendly, but yet efficient base architecture for complex AI system implementations, be it for research, educational, or industrial purposes. the system therefore combines promising ideas of recent neuroscientific research with a blackboard information storage mechanism, an implementation of the multi-agent paradigm, and graphical user interaction. Furthermore, the paper elaborates on how the framework's building blocks can be composed to applications of increasing complexity. the final target application includes parallel image processing, actuator control, and reasoning to handle limp objects and automate handling-tasks within dynamic scenarios.
control and actuation are the most important factors that determine the performance of traditional electromechanical robots. Bio-syncretic actuators are a potential trend for the next generation of robots to overcome ...
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Deep learning methods have achieved excellent performances on visual tasks of target recognition and classification. the rapid development of autonomous seafaring vessels comes up withthe requirement to recognize oth...
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the mean objective of this project is to develop an expert system module that uses the clinical decision criteria of experts in the neonatology field to advice paramedical and semi-skilled personnel who require guidan...
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ISBN:
(纸本)9810483643
the mean objective of this project is to develop an expert system module that uses the clinical decision criteria of experts in the neonatology field to advice paramedical and semi-skilled personnel who require guidance to diagnose the etiology of neonatal jaundice. the project was developed with a commercially available software package EXSYS (Multilogic Inc.). In this project, we have used a rule-based system to build the decision tree that would aid the paramedical personnel to arrive at a appropriate etiology for hyperbilirubinemia in a neonate. the project is field tested in India, where the residents are asked to come up withthe correct diagnosis given the clinical tests. the disadvantage of this model is that there is the problem of it becoming obsolete in a few years time unless it is constantly being updated by developers. there is also the problem that this system cannot train or learn by itself unlike an artificial neural network.
the proceedings contain 218 papers. the topics discussed include: design and obstacle crossing research of wheeled-leg hybrid unmanned robot;thermal image based direct method visual-inertial odometry for robot navigat...
ISBN:
(纸本)9798350357950
the proceedings contain 218 papers. the topics discussed include: design and obstacle crossing research of wheeled-leg hybrid unmanned robot;thermal image based direct method visual-inertial odometry for robot navigation;fault prediction of rail transit chiller based on genetic algorithm optimization of bp neural network;research on path planning based on improved JPS algorithm;resilient control strategy for seaport microgrid against false data injection attacks based on interactive system;a monocular visual-inertial SLAM system through the combination of points and line segments;a hybrid method of NARX and DS-attention applied for the state of health estimation of lithium-ion batteries;unmanned vehicle positioning system fusion of radar and inertial navigation;a decimal scaling normalization encoder-decoder deep network for modeling in the nonlinear systems;and an improved YOLOv7 model for obstacle recognition in autonomous driving.
thinking Head Framework is the software architecture developed as part of a multidisciplinary research project 'thinking Head' aimed at building and evaluating intelligent agents for human machine interaction....
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