Physical Unclonable Functions (PUFs) have emerged as a promising primitive to provide a hardware keyless security mechanism for integrated circuit applications. Public PUFs (PPUFs) address the crucial PUF vulnerabilit...
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The increasing demand for rehabilitation robots alongside the complexity of such devices have made their designing procedure a challenging task. One of the challenges is generating a walking pattern for lower limb exo...
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ISBN:
(纸本)9781665420952
The increasing demand for rehabilitation robots alongside the complexity of such devices have made their designing procedure a challenging task. One of the challenges is generating a walking pattern for lower limb exoskeletons in such a way that tasks like load carrying or rehabilitation can be performed with minimum disturbance to the human normal gait. This paper presents a deep learning method to predict the next step of RoboWalk joint angle patterns using previous trajectories of former steps. Six different gait data from an individual are chosen as the learning and test dataset. The human joint trajectories during each of the six considered gaits and the augmented human-RoboWalk kinematic model are used to extract RoboWalk’s joint trajectories. The Long-Short-Term Memory (LSTM) network is then used for predicting the future trajectory and classifying the phase of walking. The accuracy for the prediction is about 98.5 percent and the overall error in all the gait modes is less than 5 degrees.
Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Yet, their development is challenging because it requires integrating materials, geomet...
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During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against...
During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winch-based actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies.
This paper proposes a new strategy for moving target detection and localization based on monocular vision. Firstly, to detect a moving target with large displacement and high speed accurately, two consecutive video im...
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Sound source localization is used in various applications such as industrial noise-control, speech detection in mobile phones, speech enhancement in hearing aids and many more. Newest video conferencing setups use sou...
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Sound source localization is used in various applications such as industrial noise-control, speech detection in mobile phones, speech enhancement in hearing aids and many more. Newest video conferencing setups use sound source localization. The position of a speaker is detected from the difference in the audio waves received by a microphone array. After detection the camera focuses onto the location of the speaker. The human brain is also able to detect the location of a speaker from auditory signals. It uses, among other cues, the difference in amplitude and arrival time of the sound wave at the two ears, called interaural level and time difference. However, the substrate and computational primitives of our brain are different from classical digital computing. Due to its low power consumption of around 20 Watts and its performance in real time the human brain has become a great source of inspiration for emerging technologies. One of these technologies is neuromorphic hardware which implements the fundamental principles of brain computing identified until today using Complementary Metal-Oxide-Semiconductor (CMOS) technologies and new devices. In this work we propose the first neuromorphic closed-loop robotic system that uses the interaural time difference for sound source localization in real time. Our system can successfully locate sound sources such as human speech. In a closed-loop experiment, the binaural robotic platform turned immediately into the direction of the sound source with a turning velocity linearly proportional to the angle difference between sound source and pan-tilt unit. After this initial turn, the robotic platform remains at the direction of the sound source. Even though the system only uses very few resources of the available hardware and was only tuned by hand it already reaches performances comparable to other neuromorphic approaches. The sound source localization system presented in this article brings us one step closer towards neuromorphi
This paper proposes a control scheme based on impedance control for the smoothing control of the operating movements of a lower-limb hemiplegic exoskeleton robot on the basis of a new composite modular lower-limb hemi...
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A modular rehabilitation exoskeleton robot for hemiplegic patients (SIAT-H) is created in this paper. The design of the exoskeleton is based on the gait analysis of hemiplegic patients and the movement data of healthy...
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Angle-of-arrival (AOA) target localization using the unmanned aerial vehicle (UAV) has been widely applied in many practical applications. To localize an invasive target quickly and accurately, both the estimation and...
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Laser ultrasonics is a promising non-contact inspection technique but faces the challenges of low signal-to-noise ratio and low amplitude under the non-destructive thermoelastic regime. In this paper, an ultrasonic su...
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