A new method based on the sniffing behaviour of dog, named as Sniff-Dog Algorithm (SDA), is proposed for path planning of Unmanned Aerial Vehicle (UAV). The objective is to generate an path while considering obstacle ...
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A new method based on the sniffing behaviour of dog, named as Sniff-Dog Algorithm (SDA), is proposed for path planning of Unmanned Aerial Vehicle (UAV). The objective is to generate an path while considering obstacle avoidance as the constraints. In this proposed SDA, the final destination is considered as a fragrance source, and start point is considered as a dog (which is a UAV here). First, the dog (UAV) measures the intensity of the fragrance all around its position. Next, it moves in the direction, where the intensity of fragrance particles is maximum. By following the increasing intensity of fragrance particles, the dog (UAV) finally converges to its destination. The simulation results demonstrate the efficiency of the proposed SDA.
Slip detection is of paramount importance for stabilized grasping of objects by a prosthetic hand. This paper presents a real-time slip detection framework using a data glove customized with force sensors. The data gl...
Slip detection is of paramount importance for stabilized grasping of objects by a prosthetic hand. This paper presents a real-time slip detection framework using a data glove customized with force sensors. The data glove can acquire grasping force with a root mean square error (RMSE) of ±0.21 Newton. A finite state machine (FSA) algorithm was implemented for estimating the instances of slip occurrence as features. Support Vector Machine (SVM) with polynomial and radial basis function (RBF) kernel, k-nearest neighbor (k-NN), Naive Bayes (NB) and Random Forest algorithms were evaluated for detection of slip. An average accuracy of 94% and 98% was achieved using polynomial and RBF kernel SVM respectively. Further NB, k-NN and Random Forest algorithms resulted into an average accuracy of 96 %, 99 % and 100 % respectively. These experimental results show that the proposed framework is very useful for slip detection using tactile force information. It demonstrated robustness of FSA with machine learning algorithms for real-time slip detection and thereby holds promise for stabilized grasping by a prosthetic hand.
The focus of this paper is to design an artificial knee joint for lower limb prosthesis. The design is inspired by human knee anatomy replicating the tibio-femoral and patella-femoral joints for emulating the natural ...
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ISBN:
(纸本)9781450366502
The focus of this paper is to design an artificial knee joint for lower limb prosthesis. The design is inspired by human knee anatomy replicating the tibio-femoral and patella-femoral joints for emulating the natural gait cycle. A set of 'kine spring', one of the prosthetic technologies used in knee-replacement surgeries in orthopaedic science, introduced into the proposed design that performs the tasks of the lateral collateral ligament and medial collateral ligament of the human knee. These allow limited abduction-adduction movement of the design and support the excess load on the artificial knee joint. The proposed design was modeled and simulated in Autodesk Inventor software for the joint torque and reaction forces. The springs were analyzed with various stiffness coefficients for its position retraction. The comparison of the simulation results with that of the human knee gait shows that the designed knee resembles the motions of natural knee. Further, stress analysis was performed to test the suitability of the design. These simulation results envisage that the reported design holds promise for development of an anthropomorphic artificial knee joint for lower limb prosthesis.
In this paper, we have performed the kinematic identification and repeatability analysis of LBR iiwa 7 R800 (7 axis serial link robot) using monocular camera mounted at the end-effector of the robot. We started the pr...
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ISBN:
(纸本)9781450366502
In this paper, we have performed the kinematic identification and repeatability analysis of LBR iiwa 7 R800 (7 axis serial link robot) using monocular camera mounted at the end-effector of the robot. We started the process with the camera calibration process to identify intrinsic and extrinsic parameters of the camera used. In order to determine the pose of the end-effector using camera for repeatability analysis, we have used a 9x6 checkerboard for the repeatability experiment and for kinematic identification we have used ArUco markers. For repeatability analysis, we have used poses from ISO 9283 standards. Also we have used dispersion as a statistical means for quantifying the repeatability analysis. Subsequently, we have compared the results of kinematic identification with those from laser sensors and the theoretical CAD data sheet provided for the robot. Also in this paper, the algorithm has been introduced for measuring repeatability under force control mode and consequently, a single point repeatabilty has been evaluated.
This paper presents a lightweight visual place recognition approach, capable of achieving high performance with low computational cost, and feasible for mobile robotics under significant viewpoint and appearance chang...
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