Space robotics is a relatively new field of science and engineering that was developed as an answer to growing needs created by space exploration and space missions. New technologies had to be invented and designed in...
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Space robotics is a relatively new field of science and engineering that was developed as an answer to growing needs created by space exploration and space missions. New technologies had to be invented and designed in order to meet demands in extremely hostile environments. Those technologies have to work in a gravityless environment, rarefied atmosphere and often in high temperature. This paper recalls some of the major robotics missions in space and explains technologies related to them. Space robotic manipulators, especially flexible link and flexible joint robots are discussed. Autonomous robots for unmanned, long duration mission are presented.
This paper presents the overall dynamics analysis for humanoid robots and proposes a method to extend the dynamics equations to check the stability conditions and compute the maximum torques required at each joint. We...
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The paper presents connections between criteria which make three types of objects possible to recognize, namely: edges, planes and corners. These criteria can be applied while a binaural sonar system is used. It is sh...
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The paper presents connections between criteria which make three types of objects possible to recognize, namely: edges, planes and corners. These criteria can be applied while a binaural sonar system is used. It is shown that the criteria are specific forms of a general equation. The form of the equation depends on a single coefficient. In the paper the meaning of this coefficient is discussed. The constructions of the objects arrangements are presented which are bound with other values of the coefficient.
In large scale coverage operations, such as marine exploration or aerial monitoring, single robot approaches are not ideal, as they may take too long to cover a large area. In such scenarios, multi-robot approaches ar...
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The paper presents a survey of proposed in the scientific works, as well as applications implemented in industrial practice of anti-sway crane control systems based on the intelligent solution (fuzzy logic, neural net...
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The paper presents a survey of proposed in the scientific works, as well as applications implemented in industrial practice of anti-sway crane control systems based on the intelligent solution (fuzzy logic, neural network and genetic algorithm and hybrid combine solution. The other part of paper contain review of solution concern crane workspace visualization techniques with obstacle identification for non-collision payload trajectory path planning. Presented solution was base on the image processing techniques, especially base on the stereovision technique.
Conventional methods for programming a robot either are inflexible or demand significant expertise, While the notion of automatic programming by high-level goal specification addresses these issues, the overwhelming c...
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Conventional methods for programming a robot either are inflexible or demand significant expertise, While the notion of automatic programming by high-level goal specification addresses these issues, the overwhelming complexity of planning manipulator grasps and paths remains a formidable obstacle to practical implementation, Our approach of programming a robot is by direct human demonstration, Our system observes a human performing the task, recognizes the human grasp, and maps it onto the manipulator, Using human actions to guide robot execution greatly reduces the planning complexity, Subsequent to recording the human task execution, temporal task segmentation is carried out to identify task breakpoints, This step facilitates human grasp recognition and object motion extraction for robot execution of the task, This paper describes how an observed human grasp can be mapped to that of a given general-purpose manipulator for task replication, Planning the manipulator grasp based upon the observed human grasp is done at two levels: the functional and physical levels, Initially, at the functional level, grasp mapping is achieved at the virtual finger level;the virtual finger is a group of fingers acting against an object surface in a similar manner, Subsequently, at the physical level, the geometric properties of the object and manipulator are considered in fine-tuning the manipulator grasp, Our work concentrates on power or enveloping grasps and the fingertip precision grasps, We conclude by showing an example of an entire programming cycle from human demonstration to robot execution.
Normalized finite fractional differences are considered as an approximation to the Grunwald-Letnikov fractional difference. In particular, adaptive finite fractional difference (AFFD) is recalled and effectively modif...
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Normalized finite fractional differences are considered as an approximation to the Grunwald-Letnikov fractional difference. In particular, adaptive finite fractional difference (AFFD) is recalled and effectively modified by the introduction of a time-varying forgetting factor. The modified AFFD is shown in simulations to provide an excellent approximation performance, both in terms of the modeling accuracy and robustness.
A set of hardware in the loop simulation methods based on the UAV model is proposed to create fault data, which is used to judge the parts where faults happen. Actual flight experimental data is utilized to prove the ...
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The article presents simulation research over the position control of two-mass system with backlash. Author implemented Active Disturbance Rejection Control method for this type of object. The simulation research are ...
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The article presents simulation research over the position control of two-mass system with backlash. Author implemented Active Disturbance Rejection Control method for this type of object. The simulation research are preliminary tests before implementation the algorithm on laboratory bench. Detailed description of each block of the control system is presented, then simulation research are conducted, next - proposed performance indexes are calculated, finally conclusions and future works are discussed.
The paper refers to the issue of robot companion being able to migrate between different embodiments. The main attention is focused on the case when two or more companions can share the same embodiment. It is shown th...
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The paper refers to the issue of robot companion being able to migrate between different embodiments. The main attention is focused on the case when two or more companions can share the same embodiment. It is shown that some behavioural characteristics can be significant in the process of recognition of the companion's identity. The results are based on a video based experimental study. Animations for this study were prepared using a dedicated software.
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