The non-standard dynamic characteristics of air-breathing hypersonic flight vehicles together with the aerodynamic effects of hypersonic flight make the flight control of such systems highly challenging. Moreover the ...
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ISBN:
(纸本)1563478269
The non-standard dynamic characteristics of air-breathing hypersonic flight vehicles together with the aerodynamic effects of hypersonic flight make the flight control of such systems highly challenging. Moreover the wide range of speed during operation and the lack of a broad flight dynamics database add significant plant parameter variations and uncertainties to the problem of controlling air-breathing hypersonic flight. In this paper, we present a general approach to this challenging problem based on linear time-varying plant models. This approach lets employment of some recent techniques developed for adaptive and non-adaptive control of systems with fast varying parameters via exploitation of a priori information about parameter variations. We discuss application of this approach to a generic analytical hypersonic flight vehicle model that is widely used in the literature as well as a detailed generic hypersonic vehicle concept model developed at the California State University - Los Angeles. The paper is concluded with some remarks on validations and extensions of the presented approach.
Medical ultrasound has become a routine examination approach nowadays and is widely adopted for different medical applications, so it is desired to have a robotic ultrasound system to perform the ultrasound scanning a...
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A strategy for motion planning in robotics is proposed. The proposed strategy applies a genetic algorithm (GA) to optimize the motion planning. To evaluate the planned motion, the strategy also applies fuzzy logic to ...
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A strategy for motion planning in robotics is proposed. The proposed strategy applies a genetic algorithm (GA) to optimize the motion planning. To evaluate the planned motion, the strategy also applies fuzzy logic to a fitness function. The fitness function is referred to as fuzzy critic. The fuzzy critic evaluates plans as populations in the GA with respect to multiple factors. Depending on the goals of the tasks, human operators can easily determine inference rules in the fuzzy critic because of the fuzzy logic. The strategy determines a path for a mobile robot which moves from a starting point to a goal point while avoiding obstacles in a work space and picking up loads on the way. Simulations illustrate the effectiveness of the proposed strategy.< >
Imaging stitching is a solution for radiography and computed tomography (CT) applications where the object is larger than the beam size. Imaging stitching algorithms require a robust noise filter that maintains the la...
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This paper presents the design and construction of a low-cost combat robot named Artemis, developed for participation in the Robocore Experience 2024 competition. The project emphasizes the integration of cost-effecti...
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ISBN:
(数字)9798350391084
ISBN:
(纸本)9798350391091
This paper presents the design and construction of a low-cost combat robot named Artemis, developed for participation in the Robocore Experience 2024 competition. The project emphasizes the integration of cost-effective components and innovative methodologies to create a competitive robot. The ESP32 microcontroller was selected for its advantages in energy efficiency and connectivity, surpassing traditional platforms like Arduino. The construction process involved several phases, including planning, development, testing, correction, and performance evaluation, utilizing tools such as CAD software for design and 3D printing for fabrication. Key components included a DC motor, L298N H-bridge, and a LiPo battery, all chosen to optimize performance while adhering to budget constraints. The robot's design evolved through iterative testing and adjustments, ultimately leading to a successful competition debut. This work highlights the importance of resourcefulness and collaboration in robotics, showcasing how educational institutions can foster innovation in engineering projects.
Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space ( $\mathcal{C}$ ...
Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space ( $\mathcal{C}$ -space). While the interpolation of translations in Euclidean space is straightforward, the interpolation of rotations in $SO(3)$ is more complex. Most approaches originating from computer graphics do not exhibit the often desired $\mathcal{C}^{2}$ -continuity in robotics. Our main contribution is a $\mathcal{C}^{2}$ -continuous, zero-clamped interpolation scheme for quaternions that computes a fast synchronized motion given a set of waypoints. As a second contribution, we present modifications to two state-of-the-art quaternion interpolation schemes, Spherical Quadrangle Interpolation (SQUAD) and Spherical Parabolic Blends (SPB), to enable them to compute $\mathcal{C}^{2}$ -continuous, zero-clamped trajectories. In experiments, we demonstrate that for the time optimization of trajectories, our approach is computationally efficient and at the same time computes smooth trajectory profiles.
The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. We co...
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ISBN:
(纸本)0780384636
The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. We considered that human hands play an important role in communication because human hands have grasping, sensing and emotional expression abilities. Then, we developed the the Emotion Expression Humanoid Robot WE-4RII (Waseda Eye No.4 Refined II) by integrating the new humanoid robot hands RCH-1 (RoboCasa Hand No.1) into the Emotion Expression Humanoid Robot WE-4R. Furthermore, we confirmed that RCH-1 and WE-4RII had effective emotional expression ability because the correct recognition rate of WE-4RII's emotional expressions were higher than the WE-4R's one. In this paper, we describe the mechanical features of WE-4RII.
Thorium-fueled nuclear reactor technology can offer cost-efficient power generation while avoiding many proliferation concerns. Chemical reprocessing systems must be developed to operate simultaneously with a thorium-...
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This paper suggests a new approach for navigation in a known environment. The approach is based on the biharmonic potential fields which govern mechanical stress fields in homogeneous solids. It is observed that a pat...
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This paper suggests a new approach for navigation in a known environment. The approach is based on the biharmonic potential fields which govern mechanical stress fields in homogeneous solids. It is observed that a path generated by such a technique is free of sharp turns that may appear in its counterpart that is generated from an underlying harmonic potential. This in turns makes a path from the former more dynamically suitable for traversal. Also, the navigation field is extracted from the biharmonic potential in a manner that bypass the rapidly vanishing field problem which is encountered in the harmonic potential approach. Development of the biharmonic approach, simulation results, as well as comparison with the Neumann and Dirichlet setting of the harmonic approach are provided.< >
Rich haptic sensory feedback in response to user interactions is desirable for an effective, immersive virtual reality or teleoperation system. However, this feedback depends on material properties and user interactio...
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ISBN:
(数字)9781728173955
ISBN:
(纸本)9781728173962
Rich haptic sensory feedback in response to user interactions is desirable for an effective, immersive virtual reality or teleoperation system. However, this feedback depends on material properties and user interactions in a complex, non-linear manner. Therefore, it is challenging to model the mapping from material and user interactions to haptic feedback in a way that generalizes over many variations of the user's input. Current methodologies are typically conditioned on user interactions, but require a separate model for each material. In this paper, we present a learned action-conditional model that uses data from a vision-based tactile sensor (GelSight) and user's action as input. This model predicts an induced acceleration that could be used to provide haptic vibration feedback to a user. We trained our proposed model on a publicly available dataset (Penn Haptic Texture Toolkit) that we augmented with GelSight measurements of the different materials. We show that a unified model over all materials outperforms previous methods and generalizes to new actions and new instances of the material categories in the dataset.
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