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作者： Res, Janusz Department of Mining Dressing and Transport Machines AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics al. Mickiewicza 30 paw.B2 0-059 Krakow Poland

As a result of approved guidelines and assumptions and a created preliminary design of a self-propelled roof bolter on a wheel chassis with an automatic turret for medium layers, the design engineers achieved a structural solution of a machine which will be characterized by the following structural and technical parameters: 1. Total mass of the machine - 18000kg 2. Transport height - 1800mm 3. Total length of the machine equipped with a bolting turret-11400mm 4. Width of workings in which the machine can ride -4500mm 5. Width of the machine - 2200mm 6. Turning radius of the machine: inner 3500mm, outer -5900mm 7. Drive axel base - 3100 mm 8. Inclination angle of self aligning axle - 10° 9. Approach angle of the tractor - 12° 10. Approach angle of the front platform - 24° 11. Ground clearance - 325mm 12. Turning angle of chassis - 42° 13. Turning angle of the jib during a ride - 15° 14. Turning angle of the jib during operation - 42° 15. Mass of the jib - 2500kg 16. Mass of the automatic turret - 2000kg 17. Height of the turret being pulled back - 2082 mm 18. Capacity of the bolt magazine - 8 pieces We can estimate that the new solution of a self-propelled oof bolter should help to achieve the following rganizational and kinematic parameters: 1. Possibility to install 6 bolts in one row every 1.5 m, distance from the sidewall 0,5m, 2. Diameter of drilled holes -038mm, 3. Drilling speed - no lower than lm/min, 4. Duration of a complete cycle of installment of an expansion 1.6m-long bolt- no longer than 3 minutes, 5. Duration of a complete cycle of installment of a glue-in 1.6m-long bolt - no longer than 3.4 minutes, 6. Transport speed - maximum 13 km/h, 1st gear 4 km/h, 2nd gear- 10 km/h.

关键词： Bolts

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The European R&D-Project MORPH: Marine robotic systems of self-organizing, logically linked physical nodes

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IFAC Proceedings Volumes 2012年第5期45卷 349-354页

作者： J. Kalwa A. Pascoal P. Ridao A. Birk M. Eichhorn L. Brignone M. Caccia J. Alvez R.S. Santos ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics of the Instituto Superior Tècnico Lisbon Portugal Universiat de Girona Girona Spain Jacobs Universität Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Institut français de recherche pour l'exploitation de la mer La Seyne sur Mer France Consiglio Nazionale delle Ricerche - Istituto di studi sui sistemi intelligenti per l'automazion Genova Italy NATO Undersea Research Centre La Spezia Italy Instituto do Mar Horta Portugal

The MORPH project (FP 7, 2012-2016) advances the novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that rely on the flow of information among them, i. e. inter-module interactions are enabled by underwater communication networks at distant and close ranges and supported by visual perception at very close range. Without rigid links, the MSV can reconfigure itself and adapt in response to the shape of the terrain, including walls with negative slope. The MORPH concept requires qualitatively new behaviors such as adaptive sensor placement for perception and navigation, as well as environmental modeling in complex environments. On site view planning will lead to a solution well beyond the operational state of the art for underwater cliff surveys and other similar missions. A final demonstration on a vertical cliff, unfeasible automatically with today's technology, will validate the efficacy of the methods developed at the end of the project.

关键词： complementary navigation control architecture adaptive behaviour robotic vehicle

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Position USBL/DVL sensor-based navigation filter in the presence of unknown ocean currents

Position USBL/DVL sensor-based navigation filter in the pres...

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作者： Morgado, Marco Batista, Pedro Oliveira, Paulo Silvestre, Carlos Institute for Systems and Robotics Instituto Superior Técnico Universidade Técnica de Lisboa Av. Rovisco Pais 1 1049-001 Lisbon Portugal Faculty of Science and Technology University of Macau China

This paper presents a novel approach to the design of globally asymptotically stable (GAS) position and velocity filters for Autonomous Underwater Vehicles (AUVs) based directly on the sensor readings of an Ultra-short Baseline (USBL) acoustic array system and a Doppler Velocity Log (DVL). The proposed methodology is based on an equivalent linear time-varying (LTV) system that fully captures the dynamics of the nonlinear system, allowing for the use of powerful linear system analysis and filtering design tools that yield GAS filter error dynamics. Numerical results using Monte Carlo simulations and comparison to the Bayesian Cramér Rao Bound (BCRB) reveal that the performance of the proposed filter is tight to this theoretical estimation error lower bound. In comparison with other approaches, the present solution achieves the same level of performance of the Extended Kalman Filter (EKF), which does not offer GAS guarantees, and outperforms other classical filtering approaches designed in inertial coordinates instead of the body-fixed coordinate frame. © 2011 Elsevier Ltd. All rights reserved.

关键词： Observability

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Context Tracker: Exploring Supporters and Distracters in Unconstrained Environments

Context Tracker: Exploring Supporters and Distracters in Unc...

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IEEE Conference on Computer Vision and Pattern Recognition

作者： Thang Ba Dinh Nam Vo Gerard Medioni Institute of Robotics and Intelligent Systems University of Southern California Faculty of Information Technology University of Science

ISBN: (纸本)9781457703942

Visual tracking in unconstrained environments is very challenging due to the existence of several sources of varieties such as changes in appearance, varying lighting conditions, cluttered background, and frame-cuts. A major factor causing tracking failure is the emergence of regions having similar appearance as the target. It is even more challenging when the target leaves the field of view (FoV) leading the tracker to follow another similar object, and not reacquire the right target when it reappears. This paper presents a method to address this problem by exploiting the context on-the-fly in two terms: Distracters and Supporters. Both of them are automatically explored using a sequential randomized forest, an online template-based appearance model, and local features. Distracters are regions which have similar appearance as the target and consistently co-occur with high confidence score. The tracker must keep tracking these distracters to avoid drifting. Supporters, on the other hand, are local key-points around the target with consistent co-occurrence and motion correlation in a short time span. They play an important role in verifying the genuine target. Extensive experiments on challenging real-world video sequences show the tracking improvement when using this context information. Comparisons with several state-of-the-art approaches are also provided.

关键词： Targets Video sequences visual tracking Environments tracking

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Optimal location of an active segment of magnetorheological fluid layer in a sandwich plate

Optimal location of an active segment of magnetorheological ...

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International Carpathian Control Conference (ICCC)

作者： Jacek Snamina Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

In the present study a sandwich plate, of rectangular form, with magnetorheological (MR) fluid core is investigated. The plate consists of two outer layers made of aluminium and an MR fluid layer in between. The plate edges are clamped. It was assumed that the aluminium layers are pure elastic. The energy is dissipated in MR fluid layer. Additional assumptions concerning displacements, deformations and stresses are introduced in calculations. The active segment of MR fluid layer is placed in various parts of plate. The optimal positions of active segment for selected modes of vibration are determined.

关键词： Fluids Strain Aluminum Vibrations Damping Stress Magnetic liquids

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The concept of limitation of the vibration generated by rail-vehicles at railway stations and railway crossings

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Archives of Transport 2011年第1期23卷 5-22页

作者： Adamczyk, Jan Targosz, Jan AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics A. Mickiewicza 30 Ave. 30-059 Krakow Poland

One of the possibilities of limitation of effects of dynamic influence of the rail-vehicles is the application of the complex objects of vibroinsulation when the mass of the vibroinsulating element is significant, and that is the case of the transporting machines and devices, when the geometric dimensions of the elements of vibroinsulation system are similar to the slab, where the process of modelling of the vibroinsulation mechanism as a discrete system, creates extreme hazards. The article presents the concept of limitation of effects of dynamic influence of the rail-vehicles and tram-vehicles, mainly in the railway tracks located at the railway stations, tram-stops and other engineering structures. The digital model was developed for simulation regarding the propagation of the vibration to the environment. The results of simulation were the basis for development of the vibroinsulation system for the rail-tracks located at the engineering structures such as railway stations, *** second part of the article presents the approach for controlling of the tension as a function of load of the railway crossing, which was modelled as discrete-continous model. The continuous systems consist of two elements, that is of the support made of elastomer and of the tension members with controlled tension depending on the crossing load. Together with development and more popular application of tension member systems in engineering structures, among others in vibroinsulation systems, it is important to include into calculations and experiments the dynamic loads of the tension member with the mass attached to *** case of complex objects of vibroinsulation when the mass of the vibroinsulator is significant, and that is the case of the transporting machines and devices, when the geometric dimensions of the elements of vibroinsulation system are similar to the slab, where the process of modelling of the vibroinsulation mechanism as a discrete system, creates extreme hazards w

关键词： Hazards

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System for determination of hazardous areas for the blind people using wave-vibration markers - Vibration perception threshold

System for determination of hazardous areas for the blind pe...

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40th International Congress and Exposition on Noise Control Engineering 2011, INTER-NOISE 2011

作者： Wiciak, Jerzy Bogusz, Edyta Skrodzka, Ewa AGH- University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Mechanics and Vibroacoustics Al. Mickiewicza 30 30-059 Kraków Poland Institute of Acoustics A. Mickiewicz University Umultowska 85 61-614 Poznań Poland

ISBN: (纸本)9781618392800

The world of the blind people is a world of sound, touch, smell and taste. They are deprived of visual experience and learn about the surrounding world through the cooperation of other senses. The article presents analysis of results of questionnaire to determine places and situations, in a big city, in which wave-vibration signal could be useful in orientation and mobility for blind and partially sighted persons. In the paper there are also presented results of vibration perception threshold measurement taken at the wrist of both hands. Vibration perception thresholds was obtained using the up-and-down method of limits (von Békésy method). The study covered 10 healthy young people free from exposure to vibration. All subjects were non-smokers and reported no cardiovascular or neurological disorders in their hands. Based on questionnaire results and developed values of vibration perception the system of spatial orientation supported on wave-vibration signals and touch sense will be built. This tool with "wave-vibration situations" will be used for orientation and mobility training.

关键词： Surveys

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Endoscopic image overlay surgical navigation using augmented and virtual reality technologies

Endoscopic image overlay surgical navigation using augmented...

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作者： Hong, Jaesung Kim, Sungmin Hashizume, Makoto Cho, Hyungsuck Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Korea Republic of Biomedical Engineering Hanyang University Seoul Korea Republic of Advanced Medical Initiatives Faculty of Medical Sciences Kyushu University Fukuoka Japan

ISBN: (纸本)9788995605646

Surgical navigation system using an endoscope has some limitations because of 2D endoscopic camera image. The endoscopic image has no information about spatial depth of the organs below the surface. To resolve this problem, augmented reality and virtual reality techniques were used for surgical navigation in endoscopic surgery. Phantom experiment was conducted for accuracy evaluation, and the feasibility was checked in clinical application. © 2011 Asian Control Association.

关键词： Augmented reality

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Erratum to “Impact damage characterisation of composite laminates using a statistical approach” [Compos. Sci. Technol. 72 (2012) 1108–1120]

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Composites science and technology 2012年第12期72卷 1477-1477页

作者： M.T.H. Sultan K. Worden W.J. Staszewski A. Hodzic Department of Mechanical Engineering The University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 30-059 Kraków Poland

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Virtual nano-hand: A stable pushing strategy in AFM based sensorless nanomanipulation

Virtual nano-hand: A stable pushing strategy in AFM based se...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Wang, Zhiyu Liu, Lianqing Hou, Jing Wang, Zhidong Yuan, Shuai Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Graduate School of Chinese Academy of Sciences Beijing 100001 China College of Information Science and Engineering Northeastern University Shenyang 110004 China

ISBN: (纸本)9781457721373

One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties including the initial position of the nanoparticle and of the AFM tip, together with the uncertain forces from the substrate and so on. In this paper, a Stochastic Pushing (SP) model and a Stable Pushing Strategy are proposed respectively, which can push the nanoparticle into a bounded target area within a given probability. Simulations and experiment based on the proposed SP model demonstrate the validity of the Stable Pushing Strategy. © 2011 IEEE.

关键词： Nanoparticles

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