In the paper a novel approach to representation of a history in a mobile robot navigation is presented. the main assumptions and key definitions of the proposed approach are discussed in this paper. An application of ...
详细信息
ISBN:
(纸本)9789728865832
In the paper a novel approach to representation of a history in a mobile robot navigation is presented. the main assumptions and key definitions of the proposed approach are discussed in this paper. An application of the method to detection a dead end situations that may occur during the work of reactive navigation systems is presented. the potential field method is used to create an algorithm that gets the robot out of the dead-lock. Simulations that show the effectiveness of the proposed method are also presented.
In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. the test bed consists of a small unmanned helicopter, mounted on a flying stand that pe...
详细信息
ISBN:
(纸本)9789898111319
In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. the test bed consists of a small unmanned helicopter, mounted on a flying stand that permits all possible movements but prevents the helicopter from damaging or crashing. A fuzzy controller is developed in MATLAB and tested in the helicopter using the test bed. the controller is able to perform hovering and altitude control. Experimental results are presented for various test cases.
Modem robotics today deals with increasing requirements on the flexible automation. One of this is the usage of linear tracks or even called 7(th) axis to extend the robots workspace. the inaccuracies of the linear tr...
详细信息
ISBN:
(纸本)9728865600
Modem robotics today deals with increasing requirements on the flexible automation. One of this is the usage of linear tracks or even called 7(th) axis to extend the robots workspace. the inaccuracies of the linear track deteriorate the accuracy, which is in constrast to highly accurate robot systems needed for modem applications. To enhance the accuracy of the system consisting of robot and linear track, an identification of the nonlinearities of the linear track is necessary. this article introduces an optimisation of a method for highly accurate integration of track motions where the profile of the linear track is identified by single coordinate systems along the track, combined by a cubic spline interpolation. Resulting there is a continous description of the track profile, depending on the current position of the robot on the linear track.
In this article the modal analysis of a manipulator is presented and discussed from a theoretical and experimental perspective. the work focuses on boththe simulation and the experimental stages of the modal analysis...
详细信息
ISBN:
(纸本)9789897583803
In this article the modal analysis of a manipulator is presented and discussed from a theoretical and experimental perspective. the work focuses on boththe simulation and the experimental stages of the modal analysis on six DOF parallel kinematics machine. In particular, the behavioural vibrational trend of the kinematics structure under analysis is presented within the entire workspace. Critical aspects of each test phase are highlighted as well as data post processing methods used. Finally, a map capable of summarizing the modal analysis results is shown.
this paper describes a time-efficient method for friction characterization on a Robot drive chain, namely a Ball-screw transmission. the Method promotes practical application by being independent from external sensors...
详细信息
ISBN:
(纸本)9789897583803
this paper describes a time-efficient method for friction characterization on a Robot drive chain, namely a Ball-screw transmission. the Method promotes practical application by being independent from external sensors and giving very precise and usable output model. A complete extimation procedure is described togheter withthe results obtained on the real Machine.
this paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). the system, developed in Object Pascal, allows real time localization and contr...
详细信息
ISBN:
(纸本)9789898111319
this paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). the system, developed in Object Pascal, allows real time localization and control of an autonomous omnidirectional mobile robot. the localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter, being this method a standard approach for reducing the error in a least squares sense, using measurements from different sources.
robotics is an interesting but difficult area for digital artists who generally don't have much academic background on electronics or computer programming. Digital art students normally use high-level application ...
详细信息
ISBN:
(纸本)9789898111319
robotics is an interesting but difficult area for digital artists who generally don't have much academic background on electronics or computer programming. Digital art students normally use high-level application to program their visual and sonorous installations. this paper presents LegOSC - a tool that allows the control of the Mindstorms NXT robots from any application that uses the Open Sound control protocol which is implemented by most of those high-level applications. this allows artists to create works which incorporate robotic parts using the familiar programming environment.
the automatic sorting system is one of the important robotic systems in the field of logistics. Discrete queue theory is used to analysis the steady-state waiting queue length in automatic robotic sorting system. the ...
详细信息
Anisotropic regularization PDE's (Partial Differential Equation) raised a strong interest in the field of image processing. the benefit of PDE-based regularization methods lies in the ability to smooth data in a n...
详细信息
ISBN:
(纸本)9789728865832
Anisotropic regularization PDE's (Partial Differential Equation) raised a strong interest in the field of image processing. the benefit of PDE-based regularization methods lies in the ability to smooth data in a nonlinear way, allowing the preservation of important image features (contours, corners or other discontinuities). In this article, a selective diffusion approach based on the framework of Extreme Physical Information theory is presented. It is shown that this particular framework leads to a particular regularization PDE which makes it possible integration of prior knowledge within diffusion scheme. As a proof a feasibility, results of oriented pattern extractions are presented on ad hoc images. this approach may find applicability in vision in robotics.
In this paper, a real-time setup and an implementation of a Proportional Derivative (PD) controller for orientation and comparison between PD and BackStepping (BS) controllers for linear positioning are presented usin...
详细信息
ISBN:
(纸本)9789897583049
In this paper, a real-time setup and an implementation of a Proportional Derivative (PD) controller for orientation and comparison between PD and BackStepping (BS) controllers for linear positioning are presented using a Pelican quadrotor from Ascending Technologies (AscTec). An onboard Inertial Measurement Unit (IMU) was used for orientation control and Optitrack Vision Tracking System for linear positioning control. A linear Kalman filter was implemented for linear velocity estimation. the software and hardware integration was achieved withthe help of the Robot Operating System (ROS). Simulations and experiments withthis drone platform are achieved in order to implement different controller algorithms and analyse them in order to achieve better aircraft performance.
暂无评论