A mathematical model and control for autonomous small size helicopters were analyzed, which were equipped with different sensors, and can be used in many practical applications. Based on the derived model, a control f...
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A mathematical model and control for autonomous small size helicopters were analyzed, which were equipped with different sensors, and can be used in many practical applications. Based on the derived model, a control for the basic helicopter and one for the helicopter with heavy or bulky load rigidly attached to the fuselage are designed and tested in laboratory flight experiments. The main rotor was modeled as a separate rigid body as a result of the contribution estimation. The demonstration of good match between model and flight experiment dynamics were analyzed. A controller was designed, and its good performance was demonstrated by using the derived model.
This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a suffici...
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This text presents an approach for planning robot workcells in three dimensions fully automatically. This automation is possible by a complete layout planning process inside the configuration space. To reach a sufficient shop floor layout in a short time, the cartesian configuration space and fast obstacle transformation routines are employed. An optimization algorithm minimizes the length of all collision free paths required for the performance of the workcell task. A final check by a graphical workcell task simulation, whether the layout is valid or not, is no longer required. This new planning approach enhances the conventional layout planning process and reduces the amount of necessary user interaction.
The Eight Hop Test is a physical rehabilitation exercise involving jumping with one leg in a circuit similar to the number eight. This study aims to analyze data related to the performance of the test, relating it to ...
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The Eight Hop Test is a physical rehabilitation exercise involving jumping with one leg in a circuit similar to the number eight. This study aims to analyze data related to the performance of the test, relating it to gender and pathologies in the population. A mobile application was implemented to acquire accelerometer data, which was then analyzed using various artificial intelligence methods. The study found reliable accuracy in identifying participants’ gender (60%) and specific pathologies (50%), suggesting that mobile sensors can effectively support medical evaluations. Neural Network showed the highest accuracy for multivariate data, while the k-Nearest Neighbor was most effective for binary classifications. The mobile device-based method helps healthcare professionals measure physical strength evolution in lower limb injuries and predicts pathologies with near-100% accuracy using machine learning methods. Future research will explore more individuals and data to improve healthcare treatments and explore new techniques and analyses.
MARVIN is a model-helicopter based flying robot, which is able to operate completely autonomously. It has been designed to fulfill the demands of the International Aerial robotics Competition (IARC) Millennial Event 1...
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MARVIN is a model-helicopter based flying robot, which is able to operate completely autonomously. It has been designed to fulfill the demands of the International Aerial robotics Competition (IARC) Millennial Event 1998-2000. To improve the flight behavior, a mathematical model of the flight characteristics has been developed, which is used for simulation. The flight control algorithm is based on a hierarchy of PID controllers. The results of simulation and real flight experiments show similar behavior in many points but also that not all effects are taken into account, yet.
This paper develops a hybrid control strategy that provides autonomous transition between hovered and leveled flights to a model-scale fixed-wing aircraft. The aircraft's closed-loop dynamics are described by mean...
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This paper presents a distributed, master-less communication system currently used for communication in a fleet of heterogeneous unmanned aerial vehicles in the European project COMETS for wired and wireless links. Co...
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This paper presents a distributed, master-less communication system currently used for communication in a fleet of heterogeneous unmanned aerial vehicles in the European project COMETS for wired and wireless links. Communication is realized using distributed shared memory (DSM) where each network node is holding full or part of the DSM. The coherency of the DSM is kept by a real-time aware protocol that provides quality of service guarantee and dynamic routing. Furthermore, an experiment is presented using the communication system on a wireless ad-hoc network.
This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Ma...
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This paper describes a method to simulate vision for use in robot applications. Our approach shows the physical modeling of the camera, the light sources and the objects within the scene based on a geometric model. Many parameters of the physical model may be adjusted to obtain simulation results close to reality. For processing of the picture data the SPIDER program is added to the simulation of the camera. Though a complete vision system is created. An example shows the simulation of a CCD-camera and a scene with workpieces taken from the ‘European Benchmark’ [COL85].
A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the stati...
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A fuzzy control approach is proposed for controlling a mobile robot by effectively using the static knowledge of a partially-known environment and the dynamic sensor data. To describe the global structure of the static environment, a tangent-graph is first constructed and a sequence of subgoals is generated for guiding the global path direction. During the execution of these subgoals, a motion executor using the concept of fuzzy control evaluates the sensor data and the robot current status, and adjusts the moving speed and direction of the robot.< >
In this paper, an approach is presented for designing a robot controller to integrate path planning and motion execution. Instead of following an exactly planned geometric path, which cannot be easily modified to deal...
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In this paper, an approach is presented for designing a robot controller to integrate path planning and motion execution. Instead of following an exactly planned geometric path, which cannot be easily modified to deal with uncertainties, a robot realizes its motion under the guidance of a sequence of grossly selected crucial points called subgoals. A fuzzy model is used for on-line controlling the robot to pass through the subgoals smoothly. With the help of heuristics for optimal motion control, the rule base can be developed. Such a concept provides a control method in realtime as well as a possibility of integrating sensor data for the subgoal-guided motion.< >
Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind...
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Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. Some simple linear and nonlinear controllers for the Karlsruhe Dexterous Hand are presented and the results and advantages of the controllers are shown. Also, a new adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning the membership functions. Finally, a short glance at the hardware platform is taken in order to show the control system architecture.
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