Ultrasonic guided waves, because of their long range inspection ability, are now being used more and more as a very efficient and economical nondestructive evaluation method for large area inspection. In this study, t...
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ISBN:
(纸本)9781627481519
Ultrasonic guided waves, because of their long range inspection ability, are now being used more and more as a very efficient and economical nondestructive evaluation method for large area inspection. In this study, the eigenvalue imaging method is proposed which has an ability to classify the Lamb wave fronts scattered by sub-surface defects. The eigenvalues are defined by the covariance matrix defined over the 4-dimensional vector space which is spanned by following components:(l)a vertical (z-directional) displacement, (2)its vertical particle velocity, (3)x-directional (4)y-directional out-of-plane strains. In this study, the computational process in the Lamb wave field near the defects is discussed and their physical meanings of the third eigenvalue are investigated through several acoustic experiments.
We present a new control strategy for a VTOL aerial robot. A kinematics control law is derived using Astolfi's discontinuous control, after introducing a chained form transformation with one generator and three ch...
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This paper deals with a computational model of emotions and its application for cooperative benevolent agents. A stochastic emotion model based on Markov theory is adapted to perform their well organized tasks to achi...
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A fuzzy coach-player system is here improved as an instruction system with voice interface. However, this system deals with some fuzziness included in voice instructions and introduces hierarchical instructions, which...
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This chapter reports the development of a real time 3D sensor system and a new concept based on space decomposition by encoding its operational space using limited number of laser spots. The sensor system uses the ric...
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Multi-robot task allocation, cooperation and interaction among the members of a team are very complex topics that need to be explored more. A task can be accomplished by a multi-robot team with required performance an...
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Presently, breakthrough industrial technology and scientific technology produce various instruments of downscale and weight saving. But the metal parts are widely used for magnetic motors. It is difficult to lighten t...
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This paper describes an improved solution to the simultaneous localization and mapping (SLAM) problem based on pseudolinear models. Accurate estimation of vehicle and landmark states is one of the key issues for succe...
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This paper describes an improved solution to the simultaneous localization and mapping (SLAM) problem based on pseudolinear models. Accurate estimation of vehicle and landmark states is one of the key issues for successful mobile robot navigation if the configuration of the environment and initial robot location are unknown. A state estimator which can be designed to use the nonlinearity as it is coming from the original model has always been invaluable in which high accuracy is expected. Thus to accomplish the above highlighted point, pseudolinear model based Kalman filter (PLKF) state estimator is introduced. Evolution of vehicle motion is modeled using vehicle frame translation derived from successive dead reckoned poses as a control input. A pseudolinear process model is proposed to improve the accuracy and the faster convergence of state estimation. The general sensor model is presented in a pseudolinear form to preserve the nonlinearity in the observation model. The PLKF-based SLAM algorithm is simulated using Matlab for vehicle-landmarks system and results show that the proposed approach performs much accurately compared to the well known EKF-SLAM algorithm.
This paper presents a concept of an upper-limb power assist intelligent exoskeleton with visual information as a second stage of the research on power-assist exoskeleton systems in order to help daily activities of ph...
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This paper presents a concept of an upper-limb power assist intelligent exoskeleton with visual information as a second stage of the research on power-assist exoskeleton systems in order to help daily activities of physically weak persons. The proposed exoskeleton assists not only the motion of the user but also the perception of the user using sensors and a stereo camera. In the proposed power-assist method, the assisted user's motion can be modified based on the environmental information obtained by the sensors and the camera if problems are found in the user's motion. The effectiveness of the proposed intelligent exoskeleton was evaluated by experiments.
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