Operating in the proximity of humans has been a long-term challenge in robotics research. To achieve this objective, one of the main issues is to ensure safe and comfortable physical human-robot interaction (pHRI). In...
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Operating in the proximity of humans has been a long-term challenge in robotics research. To achieve this objective, one of the main issues is to ensure safe and comfortable physical human-robot interaction (pHRI). In this paper, we tackle the safety problem at the control level. To ensure operation is within perceived safe zone, we use model predictive control, which finds the optimal control signal online, while imposing predefined safety constraints on the robotic system. The strength of this method lies in allowing the system to perform close to, or at the edge of the constraints' boundaries. In contrast to other works we consider here perceived safety; the constraints for perceived safety are derived in a competitive pHRI experiment. The perceived safety and comfort of the proposed approach is then evaluated with a second, game-like pHRI experiment.
Peer-to-Peer (P2P) distributed systems have received considerable attention mainly due to their potential for high-performance and high-reliability. Job scheduling in P2P distributed systems is one of the most importa...
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Peer-to-Peer (P2P) distributed systems have received considerable attention mainly due to their potential for high-performance and high-reliability. Job scheduling in P2P distributed systems is one of the most important issues. In this paper, we have evaluated the performance of four job scheduling algorithms named Random, Round Robin, Number of Connections and Server Load in P2P distributed computing environment. The aim of the performance evaluation is to provide a comprehensive view of what performance can be expected from these algorithms in P2P systems in terms of CPU utilization, task processing, traffic received and traffic sent at different load scenarios. We used OPNET modeler to build the simulation model for FTP application on the P2P distributed systems. The output of the performance comparison illustrates different QoS (Quality of Service) aspects of these basic algorithms under different workloads and traffic settings. The results show that the performance of each algorithm changes according to the operational environment setting. The simulation results show that the Server Load-based scheduling algorithm has the best performance among the four algorithms followed by the Number of Connections-based scheduling algorithm. Simulations also show that the Server Load scheduling policy is not suitable for heavy load situations and the Random algorithm is suitable for some settings, especially in the low load situation.
In many practical applications, constraints are often present on, for example, the magnitudes of the control inputs. Recently, based on a novel successive projection framework, two constrained iterative learning contr...
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In many practical applications, constraints are often present on, for example, the magnitudes of the control inputs. Recently, based on a novel successive projection framework, two constrained iterative learning control (ILC) algorithms were developed with different convergence properties and computational requirements. This paper investigates the effectiveness of these two methods experimentally on a gantry robot facility, which has been extensively used to test a wide range of linear model based ILC algorithms. The results obtained demonstrate the effectiveness of the algorithms in solving one form of the general constrained ILC problem.
In many practical applications, constraints are often present on, for example, the magnitudes of the control inputs. Recently, based on a novel successive projection framework, two constrained iterative learning contr...
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The prediction of software reliability can determine the current reliability of a product, using statistical techniques based on the failures data, obtained during testing or system usability. Software reliability gro...
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Scientists want to stay connected with everything that is new in scientific world, so they constantly read several online scientific magazines and newspapers. However, not all the subjects are of interest to everyone....
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Having solid knowledge of electronics is of major importance for a computerscience (CS) student. The means for achieving a good level of understanding, especially of the practical aspects, is an ongoing issue (in the...
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Everybody has at least one email address nowadays. We keep in touch with family, friends, business partners by email. We receive news, notifications and advertisements by email. We subscribe to different newsletters t...
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This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The ...
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ISBN:
(纸本)9781467344401
This paper presents a novel robot that combines flying and ground moving capabilities. In doing so, new applications areas for robotics are created in which these two capabilities are needed to perform the tasks. The flying motion will be based on the concept of flying mechanism of the quadrotor. Wheeled mobile platform is combined to the flying mechanism to facilitate ground motion. Transformation mechanism was developed to transform the robot from the ground motion configuration to the flying motion configuration and vice versa. The idea of this mechanism is to close the rotors' arms of the quadrotor and put them in the vertical position when the robot is used for ground motion. This is necessary to enable navigation through narrow spaces. A manipulator with 3-DOF has been added to handle objects during ground motion. After defining the appropriate mechanisms and the basic structure of the robot, geometrical dimensions and material selection of each part are decided. Then, CAD model is developed using SolidWorks, and an iterative process has been carried out to enhance and develop the robot structure and the transformation mechanism. The CAD model was tested using the finite element method in ANSYS14 where static structural study is performed. Finally, motors, sensors and control system hardware were selected for this robot. The analysis indicates the feasibility of the proposed robot.
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