Teleoperation is entering a new era. Despite still in use today in the nuclear industry, simple purely mechanical or robotic 6 degrees of freedom (DoF) master-slave systems equipped with bi-digital grippers on the sla...
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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 ...
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 networks, which are involved in the processes of recognizing a person by facial image and voice, are given. the internationally used databases (DataSet) of images and audio recordings for training of neural networks are considered. the process of training neural networks, the formed database of biometric personal data and the results obtained by the authors are described.
the paper is devoted to intelligent control of road electric vehicles, aiming at reducing energy losses at braking in traffic jams, changing velocity, and frequent start-stop modes of driving. A proposed gradient cont...
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this work addresses the problem of simultaneously controlling two robotic arms to automatically pick up fruits in an orchard. When considering such a scenario, the design of the controller has to face several challeng...
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We study the observability of the wave equation when the observation set changes over time. For the one dimensional Neumann problem, using Fourier series, we are able to prove for the exact observability an equivalent...
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ISBN:
(纸本)9783030319939;9783030319922
We study the observability of the wave equation when the observation set changes over time. For the one dimensional Neumann problem, using Fourier series, we are able to prove for the exact observability an equivalent condition already known for the Dirichlet problem;see [1]. For the observability problem with Dirichlet boundary conditions, we focus on multidimensional problems and the observability inequality is proven through a multiplier approach. Besides this, we present some applications and a numerical simulation.
We address a variant of multi-agent pickup and delivery problem and decouple into two parts: task allocation and path planning. We employ the any-angle Safe-Interval Path Planning algorithm introduced in our recent wo...
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ISBN:
(纸本)9789897584428
We address a variant of multi-agent pickup and delivery problem and decouple into two parts: task allocation and path planning. We employ the any-angle Safe-Interval Path Planning algorithm introduced in our recent work and study the performance of several task allocation strategies. Furthermore, the proposed approach has been integrated into a control system to verify its feasibility in deployment on real robots. A key part of the system is a visual localization system which is based on the detection of unique artificial markers placed in the working environment. the conducted experiments show that generated plans can be safely executed on a real system.
this paper is a working progress towards an automation of the Spider lawn mower (SLM) which is a four synchronized steering wheel mobile robot. During the functioning, the SML must follow cutting grass edge with no ov...
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ISBN:
(纸本)9789897584428
this paper is a working progress towards an automation of the Spider lawn mower (SLM) which is a four synchronized steering wheel mobile robot. During the functioning, the SML must follow cutting grass edge with no overlapping of a strip of cut grass and also satisfy slippage constrains. To this end, a small prototype called Andromina which is a four-independent steering wheel mobile robot has been chosen to verify the control approach. this paper proposes to implement a mathematical model that takes into account the kinematics and dynamics of the mobile robot and also a nonlinear control strategy like the state feedback linearization. the most important advantage of the proposed model-control strategy is that it takes into account the nonlinearities of the system and a control law becomes a linear one. the path following tracking error has been verified by the statistical approach called analysis t-test and also results of real data simulations have shown the effectiveness of the proposed control strategy applied to a four-independent steering nonholonomic wheeled mobile robot.
Various advantages of blockchain include decentralisation, persistence, anonymity, and auditability. Numerous researchers are now interested in distributed control systems that facilitate coordinated and cooperative a...
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Various advantages of blockchain include decentralisation, persistence, anonymity, and auditability. Numerous researchers are now interested in distributed control systems that facilitate coordinated and cooperative autonomy as a result of the rising market for robotics. the fields of distributed control and cooperative robotics have constantly faced unsolvable issues with safety and distributed communication. Blockchain innovation has recently been recognized in this setting as a viable technique to solve several of the above problems, including the recognition of malicious nodes, malfunction in process automation, non-compliance withthe established standards and privacy protections, safety strikes on robotic, and lack of clarity in measuring performance and audits. this research aims to offer a pathway for newcomers to enter this study area by providing a comprehensive image of blockchain technology’s operating principle and important components in the terminology of management and robotics. Blockchain innovation holds out hope for a comprehensive resolution to this issue and offers a comprehensive review of the system in the form of tutorials. the importance of blockchain in various robotics application cases is then examined. the approaches for future study that can lead to breakthroughs and successful blockchain incorporation in the robotics industry are then highlighted.
the paper is devoted to intelligent control of road electric vehicles aiming at reducing energy losses caused by traffic jams, changing velocity, and frequent start-stop modes of driving. A blended braking system is d...
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ISBN:
(纸本)9789897584428
the paper is devoted to intelligent control of road electric vehicles aiming at reducing energy losses caused by traffic jams, changing velocity, and frequent start-stop modes of driving. A blended braking system is described that integrates boththe friction and the electric braking strengths in volatile driving conditions, including gradual and emergency antilock braking. the vehicle model reflects multiple factors, such as air resistance, road slope, and variable friction factor. A new gradient control method recognizes unstable tire properties on changing road surfaces at different velocities. In the motor and battery model, the state of charge and electric current/voltage restrictions of the hybrid energy storage are taken into account. the braking torque, actuated by the Mamdani's fuzzy logic controller established in the Simulink (R) environment, is allocated between the front and rear friction and electric brakes. Comparison of simulation and experimental results confirms that the outcomes of this research can be considered in the design of braking systems for electric vehicles with superior energy recovery.
Robotic telesurgery has gained a lot of interest in the medical and engineering field withthe advancement of technology over in Minimum Invasive Surgery (MIS) that uses small incisions to operate resulting in the fas...
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ISBN:
(纸本)9783030319939;9783030319922
Robotic telesurgery has gained a lot of interest in the medical and engineering field withthe advancement of technology over in Minimum Invasive Surgery (MIS) that uses small incisions to operate resulting in the faster recovery of the patients. In the commercially available surgical systems, the surgeon cannot feel the sense of touch of the environment, unlike open type surgery. the control becomes harder when the robotic surgery is performed remotely in the presence of time delays. the development of the force feedback will help to reduce the tissue damage and end-effector deflection. the primary goal of this work is to develop the force feedback for the surgical arms affected by the time delays. the random behavior of the network delays makes the control realization even harder and can make the response go unstable. A novel approach is used to develop the haptic feedback for the Minimally Invasive Robotic Systems (MIRS) by using Model Predictive control (MPC) in case of random communication delays.
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