This paper presents an efficient kinematical solution to a multi-robot system with serial and parallel mechanisms. JL-I is a reconfigurable robot featuring active spherical joints formed by serial and parallel mechani...
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This paper presents an efficient kinematical solution to a multi-robot system with serial and parallel mechanisms. JL-I is a reconfigurable robot featuring active spherical joints formed by serial and parallel mechanisms endowing the robotic system with the ability of changing shapes in three dimensions. The active joint here can combine the advantages of the high rigidity of a parallel mechanism and the extended workspace of a serial mechanism. However, the kinematic analysis of the serial and parallel mechanism is always the bottleneck in designing a robot and control realization. In order to deal with this problem, the whole kinematical analysis is organized in the sequence from the direct mechanical analysis related to the serial and parallel mechanism over the numerical solutions to the simplified kinematics expression. The latest results obtained demonstrate that the deduced closure-form solution is time efficient and easy to implement while offering a satisfactory motion performance in on-site experiments.
This paper presents a novel closed-loop method for a multilink robotic fish to mimic the C-start maneuver, in which the turning speed and precision are emphasized. The turning speed is maximized by carefully designed ...
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This paper presents a novel closed-loop method for a multilink robotic fish to mimic the C-start maneuver, in which the turning speed and precision are emphasized. The turning speed is maximized by carefully designed preparatory stage, and the turning precision is achieved by the feedback of the turning angle from a gyroscope and a new design of the propulsive stage. Different types of C-starts are studied based on the different sizes of caudal fins, in order to achieve the highest turning angular velocity. All the proposed types of C-starts are experimented and compared using a 4-joint robotic fish. The experimental results show the fastest angular velocity up to 200°/s and the distinctions between all these different types.
In a recent IEEE Transactions on Automatic control article, Jadbabaie et al. provides a theoretical explanation of the discrete-time model of groups of mobile autonomous agents raised by Vicsek et al. in 1995. In thei...
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ISBN:
(纸本)9780769535197
In a recent IEEE Transactions on Automatic control article, Jadbabaie et al. provides a theoretical explanation of the discrete-time model of groups of mobile autonomous agents raised by Vicsek et al. in 1995. In their paper Jadbabaie et al. established conditions given in terms of neighbor graphs for coordination of agents and provided that these agents are periodically linked together This paper sharpens this result by showing that coordination will be reached under a very weak condition that requires all agents are finally linked together The theorems in this paper show that convergence will be attained if these neighbor graphs are finally linked together This condition is also strictly weaker than the one Jadbabaie et al. desired. An example is provided that illustrates the soundness of the theorem.
Most existing patch-based denoising methods are based on fixed size patch and fixed range of neighborhood, while producing state-of-the-art denoising results, the quality of the algorithm is significantly dependent on...
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ISBN:
(纸本)9780769535197
Most existing patch-based denoising methods are based on fixed size patch and fixed range of neighborhood, while producing state-of-the-art denoising results, the quality of the algorithm is significantly dependent on patch size. Suppose that patch size is related to image pattern, a structural adaption method for the selection of patch size is proposed in this paper. Due to the mutual similarity between the training samples, the simulation results illustrate the original approach can be effectively improved by adopted this method.
Sleep disorders affect a great percentage of the population. The diagnostic of these disorders is usually made by a polysomnography, requiring patient's hospitalization. Low cost ambulatory diagnostic devices can ...
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ISBN:
(纸本)9789898425027
Sleep disorders affect a great percentage of the population. The diagnostic of these disorders is usually made by a polysomnography, requiring patient's hospitalization. Low cost ambulatory diagnostic devices can in certain cases be used, especially when there is no need of a full or rigorous sleep staging. In this paper, several methods to extract features from 6 EEG channels are described in order to evaluate their performance. The features are selected using the R-square Pearson correlation coefficient (Guyon and Elisseeff, 2003), providing this way a Bayesian classifier with the most discriminative features. The results demonstrate the effectiveness of the methods to discriminate several sleep stages, and ranks the several feature extraction methods. The best discrimination was achieved for relative spectral power, slow wave index, harmonic parameters and Hjorth parameters.
Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to impro...
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ISBN:
(纸本)9789896740009
Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to improve considerably with today's existing transportation devices and their static control structures. Hence a new approach of a transportation systems with cooperating robotic units and a novel cognitive environment will be presented. This approach will combine different research areas like robotics and wireless sensor networks to achieve a higher degree of flexibility.
Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic struc...
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ISBN:
(纸本)9789896740009
Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic structures and cluttered environments, the problem becomes more challenging. An efficient probabilistic method for workspace estimation is developed by applying a hierarchical strategy and developing extensions to a probabilistic motion planner. Rather than treating each of the degrees of freedom (DOFs) 'equally', a hierarchical representation is used to maximize the volume of the robot's workspace that is identified as reachable for each probe of the environment. Experiments with a simulated mobile manipulator demonstrate that the hierarchical approach is an effective alternative to the use of an estimation process based on the use of a traditional probabilistic planner.
This article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple me...
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ISBN:
(纸本)9789896740009
This article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple method to allocate individuals of a robotic swarm to a partitioned task, and show that task partitioning can increase system performance by reducing sources of interference. The method is experimentally studied, both in an environment with a narrow area and an environment without this constraint. The results are analyzed and compared to the case in which task partitioning is not employed.
The aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial Automat...
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ISBN:
(纸本)9781424437597
The aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial automation and control Systems (IACS). The special requirements of the industrial automation sector are taken into account by this novel approach, utilizing existing model-driven techniques. This approach is currently being developed in the Framework Seven (FP7) Embedded Systems Design project MEDEIA funded by the European Commission.
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