This paper presents a free Java software platform which enables users to easily create advanced robotic applications together with image processing. This novel tool is composed of two layers: 1) Easy Java Simulations ...
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ISBN:
(纸本)9789898425010
This paper presents a free Java software platform which enables users to easily create advanced robotic applications together with image processing. This novel tool is composed of two layers: 1) Easy Java Simulations (EJS), an open-source tool which provides support for creating applications with a full 2D/3D interactive graphical interface, and 2) EjsRL, a high-level Java library specifically designed for EJS which provides a complete functional framework for modeling of arbitrary serial-link manipulators and computer vision algorithms. The combination of both components sets up a software architecture which contains a high number of functionalities in the same platform to develop complex simulations in robotics and computer vision fields.
Uncomplicated and safe programming interfaces as well as flexible programs themselves become important when robots are used for small lot size tasks or are operated by personnel without special robotics education. Thi...
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ISBN:
(纸本)9789898425003
Uncomplicated and safe programming interfaces as well as flexible programs themselves become important when robots are used for small lot size tasks or are operated by personnel without special robotics education. This work takes a look at safe and easy interaction of a flexible articulated robot arm - actuated by fluidic muscles - with its environment. A contact detection scheme for stiff collisions at speeds between 50 and 250 mm/s is presented and measurement results are disucussed. Moreover, a programming by demonstration concept is described on the basis of a pick and place task. Both strategies (implemented on a seven axis handling robot) rely on physical models to allow an operation without extra sensors.
We present an approach to the control of myoelectric prostheses that is based on a collaborative interaction of a prosthesis and the patient. During training, the patient is instructed to generate control signals that...
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In this paper an innovative low pressure servo-valve is presented. The device was designed with the main aim to be easily integrable into complex hydraulic/pneumatic actuation systems, and to operate at relatively low...
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ISBN:
(纸本)9789898425010
In this paper an innovative low pressure servo-valve is presented. The device was designed with the main aim to be easily integrable into complex hydraulic/pneumatic actuation systems, and to operate at relatively low pressure (5Pa). Characteristics like compactness, lightweight, high bandwidth, and autonomous sensory capability, where considered during the design process in order to achieve a device that fulfills the basic requirements for a wearable robotic system. Preliminary results about the prototype performances are presented here, in particular its dynamic behavior was measured for different working conditions, and a non-linear model identified using a recursive Hammerstein-Wiener parameter adaptation algorithm.
This paper covers questions about long distance communication in a difficult hazardous environment. Distant communication is presented via number of robotics carriers determined to link communication between a centre ...
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ISBN:
(纸本)9789898425010
This paper covers questions about long distance communication in a difficult hazardous environment. Distant communication is presented via number of robotics carriers determined to link communication between a centre of control and a remote controlled deployed robot in hostile area or gather data from certain area. The robotic network is autonomous cooperative system of vehicles to provide data connection for the tele-operated deployed robot for example in rescue mission. This robotic network acts autonomously and reacts with surroundings background to guarantee data connection. Two main issues are presented: the data communication and the robotic carrier. Communication can be created by own wireless system carried on robots or use accessible communication such Wi-Fi/Ethernet in urban areas to use the installed networks in buildings to increase a capability of network. The robotics carriers will be realized as modular system with capability to modify each main part of carrier to fit specific environment. Basic construction of the robotic carrier is traction unit with basic frame with motor(s) and lithium based batteries, control unit based on MCU/DSP controller and internal sensor unit with capability to install another set of the external sensors. To provide positions of the carriers to on operator a visualisation of their position is planned by Goole Earth like application.
The goal of this study is to better understand how the central nervous system chooses a stable control strategy when presented with an unstable task. A haptic, bimanual manipulandum has been used to implement an unsta...
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Our group has recently demonstrated three distinct types of microrobots of progressively smaller size that are wirelessly powered and controlled by magnetic fields. For larger scale microrobots, from 1mm to 500 μm, w...
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ISBN:
(纸本)9789898425010
Our group has recently demonstrated three distinct types of microrobots of progressively smaller size that are wirelessly powered and controlled by magnetic fields. For larger scale microrobots, from 1mm to 500 μm, we microassemble three dimensional devices that precisely respond to torques and forces generated by magnetic fields and field gradients. In the 500 μm to 200 μm range, we have developed a process for microfabricating robots that harvest magnetic energy from an oscillating field using a resonance technique. At even smaller scales, down to micron dimensions, we have developed microrobots we call Artificial Bacterial Flagella (ABF) that are of a similar size and shape as natural bacterial flagella, and that swim using a similar low Reynolds number helical swimming strategy. ABF are made from a thin-film self-scrolling process. In this paper I describe why we want to do this, how each microrobot works, as well as the benefits of each strategy.
Our group has recently demonstrated three distinct types of microrobots of progressively smaller size that are wirelessly powered and controlled by magnetic fields. For larger scale microrobots, from 1mm to 500 μm, w...
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ISBN:
(纸本)9789898425027
Our group has recently demonstrated three distinct types of microrobots of progressively smaller size that are wirelessly powered and controlled by magnetic fields. For larger scale microrobots, from 1mm to 500 μm, we microassemble three dimensional devices that precisely respond to torques and forces generated by magnetic fields and field gradients. In the 500 μm to 200 μm range, we have developed a process for microfabricating robots that harvest magnetic energy from an oscillating field using a resonance technique. At even smaller scales, down to micron dimensions, we have developed microrobots we call Artificial Bacterial Flagella (ABF) that are of a similar size and shape as natural bacterial flagella, and that swim using a similar low Reynolds number helical swimming strategy. ABF are made from a thin-film self-scrolling process. In this paper I describe why we want to do this, how each microrobot works, as well as the benefits of each strategy.
Our group has recently demonstrated three distinct types of microrobots of progressively smaller size that are wirelessly powered and controlled by magnetic fields. For larger scale microrobots, from 1mm to 500 μm, w...
详细信息
ISBN:
(纸本)9789898425003
Our group has recently demonstrated three distinct types of microrobots of progressively smaller size that are wirelessly powered and controlled by magnetic fields. For larger scale microrobots, from 1mm to 500 μm, we microassemble three dimensional devices that precisely respond to torques and forces generated by magnetic fields and field gradients. In the 500 μm to 200 μm range, we have developed a process for microfabricating robots that harvest magnetic energy from an oscillating field using a resonance technique. At even smaller scales, down to micron dimensions, we have developed microrobots we call Artificial Bacterial Flagella (ABF) that are of a similar size and shape as natural bacterial flagella, and that swim using a similar low Reynolds number helical swimming strategy. ABF are made from a thin-film self-scrolling process. In this paper I describe why we want to do this, how each microrobot works, as well as the benefits of each strategy.
The purpose of the study was to examine the muscular responses of healthy adult subjects to support surface rotations in pitch and roll planes. Instead of a simple tilting platform to induce rotational perturbations o...
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