In this paper, we propose a control scheme to ensure the microgrid control layers are resilient to cyberattacks. The studied microgrid consists of several distributed generation (DG) units and we consider the hierarch...
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The Diabetic Foot Ulcer Challenge is a global computer vision competition organised to raise awareness of the complications caused by diabetes and motivate researchers to develop solutions that might help in the treat...
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Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these rob...
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This paper presents two robust optimal controllers for Cooperative Manipulators (CoMans) holding an object on the basis of a modified factorization approach. Due to advantages such as: simplicity, flexibility, systema...
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This paper introduces an innovative advancement in the field of wearable assistive technology by presenting a revolutionary portable soft robotic glove designed to assist individuals with hand impairments during rehab...
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Continuum robots, while versatile for handling complex tasks, present significant challenges in control system design. This paper introduces a novel framework that integrates position and orientation control laws to a...
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ISBN:
(数字)9798331529734
ISBN:
(纸本)9798331529741
Continuum robots, while versatile for handling complex tasks, present significant challenges in control system design. This paper introduces a novel framework that integrates position and orientation control laws to address shape constraints effectively. Specifically, a Deep Reinforcement Learning (DRL) strategy is proposed to facilitate trajectory tracking within the desired orientation. To ensure safety, the framework directly controls the end-effector's position and orientation in the workspace, avoiding unsafe zones. A centralized control law, the Modified Transpose Jacobian (MTJ), is employed to resolve the robot's redundancy without relying on inverse kinematics. The proposed approach is validated through simulations on a Tendon-Driven Continuum Robot (TDCR), demonstrating superior performance compared to similar learning-based controllers.
This paper has presented the design, simulation, and real-time implementation of a four-degree-of-freedom (4-DOF) robotic system for face detection and tracking. The system has combined kinematic control with deep lea...
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ISBN:
(数字)9798331529734
ISBN:
(纸本)9798331529741
This paper has presented the design, simulation, and real-time implementation of a four-degree-of-freedom (4-DOF) robotic system for face detection and tracking. The system has combined kinematic control with deep learning. It has used the Xception network for high-accuracy facial detection. A Fuzzy PID-MIJ control algorithm has optimized the trajectory planning. This has ensured smooth and precise target tracking. Both simulations and physical experiments have validated the system's real-time performance. The results have shown that the system can reliably track faces with minimal error. This approach has demonstrated significant potential for dynamic, human-interactive applications.
Using lower limb rehabilitation robots (LLRRs) to help stroke patients recover their walking ability is attracting more and more attention presently. Previous studies have shown that gait rehabilitation training with ...
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This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS Lab, together with an extensive experimental setup. Inverse and forward kine...
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ISBN:
(数字)9798331529734
ISBN:
(纸本)9798331529741
This paper presents the Kinematic and Kinetic properties of the 3-RRS parallel manipulator that has been designed and prototyped at the ARAS Lab, together with an extensive experimental setup. Inverse and forward kinematics of the mechanism are studied, which leads to the attainment of eight possible solutions in each case, of which just one is physically acceptable and maintains its consistency in both analyses. In addition, the Jacobian matrix of the manipulator is derived for various operational scenarios. In this most recent update, a linear actuator under the moving platform is added to cancel the effect of the mass of the plate and the ball for enhancing the responsiveness of the system. Dynamic and kinetic equations are updated based on reduced gravitational effects.
Mecanum wheeled mobile robots have increasingly caught researchers' attention due to their wide range of applications and higher maneuverability. However, their complex structure makes their trajectory tracking an...
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ISBN:
(数字)9798331529734
ISBN:
(纸本)9798331529741
Mecanum wheeled mobile robots have increasingly caught researchers' attention due to their wide range of applications and higher maneuverability. However, their complex structure makes their trajectory tracking and control problem more challenging. This paper presents a cascaded controller for trajectory tracking of a four-wheel Mecanum mobile robot. The cascaded controller consists of a linear time-varying model predictive controller (LTV-MPC) and an inner PID controller. The proposed controller does not require the system's dynamics model. To this end, the linear time-varying error model used to design the MPC is obtained from the robot's kinematics model. The angular velocities obtained from the predictive controller are then mapped into the required commands for the DC motors using a PID controller. The PID controller is fine-tuned considering the motor's dead zone using the Genetic Algorithm. Simulations and experimental results demonstrate the superiority of the cascaded controller over the regular LTV-MPC. The proposed algorithm can also be used for other real-time implementations of robotic tasks.
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