This paper presents a path editor for the interactive creation of complex robot motion programs. It combines specific capabilities that can be found in commercial offline robot programming tools, CAD, VR and AR softwa...
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Conventional attractive magnetic force models (proportional to the coil current squared and inversely proportional to the gap squared) cannot simulate the nonlinear responses of magnetic bearings in the presence of el...
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Conventional attractive magnetic force models (proportional to the coil current squared and inversely proportional to the gap squared) cannot simulate the nonlinear responses of magnetic bearings in the presence of electromagnetic losses,flux leakage or saturation of *** this paper,based on results from an experimental set-up designed to study magnetic force,a novel parametric model is presented in the form of a nonlinear polynomial with unknown *** parameters of the proposed model are identified using the weighted residual *** of the model identified were performed by comparing the results in time and frequency *** results show a good correlation between experiments and numerical simulations.
A robot end effector is described in this paper that has been designed for NASA's Bioregenerative Planetary Life Support Systems Test Complex (BIO-Plex). An adapter concept allows the end effector to carry differe...
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A sixteen node cylindrical super element is presented for evaluating the free vibration characteristics of a rotating laminated cylinder with conventional boundary conditions. It is shown that the natural frequencies ...
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This paper describes the design of a light-weight and compact robotic gripper for automated harvesting of crops, including vegetable crops such as tomatoes, cucumbers, green onion, radish, and lettuce, growing in biom...
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If off-line programming systems (OLP) enable the user to define robot arms with any number of joints and various degrees of freedom in operational space an iterative numerical solution to solve the inverse kinematics ...
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This article discusses our experience building and running an intelligent control system during a three-year period for a National Aeronautics and Space Administration advanced life support (ALS) system. The system un...
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This article discusses our experience building and running an intelligent control system during a three-year period for a National Aeronautics and Space Administration advanced life support (ALS) system. The system under test was known as the Integrated Water-Recovery System (IWRS). We used the 3T intelligent control architecture to produce software that operated autonomously, 24 hours a day, 7 days a week, for 16 months. The article details our development approach, the successes and failures of the system, and our lessons learned. We conclude with a summary of spin-off benefits to the AI community and areas of AI research that can be useful for future ALS systems.
Autonomous mobile robots are required to operate continuously in uncertain environments without human intervention. Addressing the self-localization failure problem, this paper proposes an efficient re-localization me...
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Use of tele-operated robotic manipulators for performing various medical tasks have become significant due to concerns regarding the spread of contagious diseases. The area that we have specifically targeted in this p...
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The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous contr...
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The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous control problems, which can learn an effective control policy with an unknown system model. However, it is often affected by the high sample complexity and requires huge amounts of data to train, which limits its effectiveness in soft arm control. An improved policy gradient method, policy gradient integrating long and short-term rewards denoted as PGLS, is proposed in this paper to overcome this issue. The shortterm rewards provide more dynamic-aware exploration directions for policy learning and improve the exploration efficiency of the algorithm. PGLS can be integrated into current policy gradient algorithms, such as deep deterministic policy gradient(DDPG). The overall control framework is realized and demonstrated in a dynamics simulation environment. Simulation results show that this approach can effectively control the soft arm to reach and track the targets. Compared with DDPG and other model-free reinforcement learning algorithms, the proposed PGLS algorithm has a great improvement in convergence speed and performance. In addition, a fluid-driven soft manipulator is designed and fabricated in this paper, which can verify the proposed PGLS algorithm in real experiments in the future.
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