The work presented in this paper comes as a part of a project which aims at developing an auditory system for a mobile robot. It presents a sound source localization strategy which enables the sensing of signals withi...
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ISBN:
(纸本)078038914X
The work presented in this paper comes as a part of a project which aims at developing an auditory system for a mobile robot. It presents a sound source localization strategy which enables the sensing of signals within a direction of arrival and frequency domain of interest while rejecting other data. A rapid prototyping method is proposed to design filter-sum beamformers on the basis of convex optimization. This method is well-suited to roboticsapplications as it copes with real-time constraints and allows the localization of broadband signals such as human voice. Numerous simulation results are used to illustrate the reasoning.
Traditionally focused on applications where humans have been kept safely out of reach, the field of robotics is undergoing a major shift as recent developments have brought humans much closer to robots. While device h...
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ISBN:
(纸本)078038914X
Traditionally focused on applications where humans have been kept safely out of reach, the field of robotics is undergoing a major shift as recent developments have brought humans much closer to robots. While device hardware has progressed to fill this new field, the underlying controller and amplifier architecture has remained nearly the same as that developed for industrial robots decades ago. Herein we develop a new, integrated control architecture designed to address the unique requirements of human-interactive robotic devices. This new architecture takes advantage of recent technological advances to produce a single-loop, thirdorder controller integrating both switching control and a fullstate observer. In this paper, we explore the performance on a simplified, first-order system, specifically focusing on the interaction between the controller and the DC motors found in many devices. Experimental testing demonstrates improvements compared to existing pWM and linear amplifiers, with the promise of future improvements for the field of human-interactive robotics.
Needle based intervention procedures are a common minimally invasive surgical technique. In many of these procedures, the needle can be considered rigid and the tissue deforms and displaces substantially as the needle...
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ISBN:
(纸本)078038914X
Needle based intervention procedures are a common minimally invasive surgical technique. In many of these procedures, the needle can be considered rigid and the tissue deforms and displaces substantially as the needle is advanced to its target. An energy based, fracture mechanics approach is presented to show that the velocity dependence of tissue properties can reduce tissue motion with increased needle velocities. In-vitro test results on porcine heart samples show that the force required to initiate cutting reduces with increasing needle velocity up to a critical speed, above which, the rate independent cuffing force of the underlying tissue becomes the limiting factor. In-vivo tests show increased needle speed results in reduced force and displacement for needle insertion into the heart. Results indicate that automated insertion could substantially improve performance in some applications.
In this paper, we employ Web services, programmable application logic accessible using standard Internet protocol, to enable a robot to access the distributed application logic based on the recent network technologies...
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We present a vision-based system for traffic sign detection and ego-motion estimation in road scenarios. The system is capable of autonomous scene reconstruction and classification. It is used to pre-select candidate ...
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A distributed real-time robot application framework is developed, to improve the scalability and reusability of software modules. The design is based on real-time CORBA and structured into two layers: the infrastructu...
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Omnidirectional cameras offer a much wider field of view than the perspective ones and alleviate the problems due to occlusions. However, both types of cameras suffer from the lack of depth perception. A practical met...
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Robots are complex electromechanical systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy ...
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ISBN:
(纸本)078039402X
Robots are complex electromechanical systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subject to important parameters variations, with efficient control algorithms. The progress of technology and the close relationships among several sciences, such as micro-electronic, software engineering and communications, open space for a great development in the robotics area and automation process. Generalized Predictive Control (GPC) has shown to be an effective strategy in many fields of applications, with good time-domain and frequency properties (small overshoot, improved tracking accuracy and disturbance rejection ability, good stability and robustness margins), able to cope with important parameters variations. This Paper presents an application of GPC to a robot trajectory control with a comparison between classical PID and GPC controllers within an original Virtual Environment.
This paper has summarized the traditional three-stage methods on relational database designing and developing according to the practical Data Warehousing applications, and has brought forward a new integrated method b...
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Deformable object tracking is used in many roboticsapplications including biomanipulation, vision-based force sensing, and the control of deformable structures. A tracking algorithm that is robust to occlusions and t...
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