Based on the successful implementations of the lateral balancing and tiltup motion, in this chapter, we are going to develop a shared control framework for Gyrover. In fact, any situation of a system using shared cont...
ISBN:
(纸本)9783540281849
Based on the successful implementations of the lateral balancing and tiltup motion, in this chapter, we are going to develop a shared control framework for Gyrover. In fact, any situation of a system using shared control will involve human interactions. Under shared control, the human operator acts as a supervisor for overall control, while the robot itself can handle some local motions which in turn assist the human. In order to distribute the control tasks systematically, we develop an expression to make such a decision. Experimental results will be given in order to verify our idea.
Due to the inherent lateral instability, the first step in controlling the robot is stabilization. Fortunately, the lean angle of the robot can be controlled indirectly by tilting the flywheel. The single wheel robot ...
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ISBN:
(纸本)9783540281849
Due to the inherent lateral instability, the first step in controlling the robot is stabilization. Fortunately, the lean angle of the robot can be controlled indirectly by tilting the flywheel. The single wheel robot steers by leaning at different angles. Therefore, it is necessary to design a controller that stabilizes the robot at any desired lean angle, so as to control the steering velocity.
Land locomotion can be broadly characterized as quasi-static or dynamic. Quasi-static equilibrium implies that inertial (acceleration-related) effects are small enough to ignore. That is, motions are slow enough that ...
ISBN:
(纸本)9783540281849
Land locomotion can be broadly characterized as quasi-static or dynamic. Quasi-static equilibrium implies that inertial (acceleration-related) effects are small enough to ignore. That is, motions are slow enough that static equilibrium can be assumed. Stability of quasi-static systems depends on keeping the gravity vector through, the center of mass, within the vehicle's polygon of support determined by the ground-contact points of its wheels or feet. Energy input is utilized predominantly in reacting against static forces. Such systems typically have relatively rigid members, and can be controlled on the basis of kinematic considerations.
This paper introduces a real-time video surveillance system which detects human abnormal behaviors. We present two approaches to such a problem. The first one employs Principal Component Analysis for feature selection...
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Gyrover is a novel concept for mobility that has distinct advantages over conventional, statically stable vehicles. The concept has been *** with three working models. Gyrover is particularly suited for operations at ...
ISBN:
(纸本)9783540281849
Gyrover is a novel concept for mobility that has distinct advantages over conventional, statically stable vehicles. The concept has been *** with three working models. Gyrover is particularly suited for operations at high speed and rough terrain, and also shows promise as a marine/amphibious vehicle. The mechanism can be completely enclosed, presenting a very clean, protected envelope.
This paper proposes a robust method for recovery of motion and structure from two image sequences taken by stereo cameras undergoing a planar motion. The feature correspondence between images are extracted and refined...
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In fabricating free-form surfaces, ball end mills are mainly used to reach the final surface finish requirements. In the milling processes, cutter engagement value measures what portion of the cutter is involved in ma...
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in this paper, we will establish a framework that can convert a robust output regulation problem for discrete-time nonlinear systems into a robust stabilization problem for an appropriately augmented system consisting...
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This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affect...
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This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation of space manipulator because of the dynamics coupling between the manipulator and space base. This dynamics coupling is unique characteristics of space robot system. Such a disturbance will produce a serious impact between the manipulator hand and the object. To ensure reliable and precise operation, we propose to develop a space robot system consisting of two arms, with one arm (mission arm) for accomplishing the capture mission, and the other one (balance arm) compensating for the disturbance of the base. We present the coordinated control concept for balance of the attitude of the base using the balance arm. The mission arm can move along the given trajectory to approach and capture the target with no considering the disturbance from the coupling of the base. We establish a relationship between the motion of two arm that can realize the zeros reaction to the base. The simulation studies verified the validity and efficiency of the proposed control method.
This paper describes a generalized Cahn-Hilliard model for the topology optimization of multi-material structure. Unlike the traditional Cahn-Hilliard model applied to spinodal separation which only has bulk energy an...
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