Aiming at the positioning problem of Ad-Hoc networks of sensors node location, a beacon selected localization algorithm (BSLA) is proposed in this paper. The proposed method considers sufficiently both the topology re...
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Aiming at the positioning problem of Ad-Hoc networks of sensors node location, a beacon selected localization algorithm (BSLA) is proposed in this paper. The proposed method considers sufficiently both the topology relationship among beacons and the topology relationship between beacon nodes and unknown nodes. We introduce the concept of collinearity and apply it into the localization of the multihop networks. Through selecting best anchor terms by using collinearity parameter, node position estimate can be attained with a weighted estimate mechanism. A well-established data analysis technique- Pauta Criterion is used to filter out the erroneous position estimate to achieve higher localization accuracy. Simulation results show that the performance of BSLA outweighs the traditional DV-Hop and DV-distance algorithms whether in regular networks or in irregular networks (C shape networks).
the paper proposed a particle filter based and Wireless Sensor Networks (WSN) aided Simultaneous Localization and Mapping (SLAM) strategy. The proposed method aims at solving two troublesome problems in the traditiona...
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In this paper, the topic studied comprehensively is based on the constant stiffness mechanism of a clamp plate installed on a Parawrist robot and the optimization of the manipulatorpsilas functionality. Currently situ...
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In this paper, the topic studied comprehensively is based on the constant stiffness mechanism of a clamp plate installed on a Parawrist robot and the optimization of the manipulatorpsilas functionality. Currently situated at the Ryerson University, the Parawrist robot is used for mold polishing applications to provide a smooth surface for a finished product. The content of this research focuses on improving the stiffness of the clamp plates previously installed on the Parawrist robot to counteract the out of plane movement of its legs when performing mold polishing operations. Finite element analysis is utilized as the tool to produce the results and obtain optimization design for the constant stiffness mechanism. The overall structure of the manipulator is also improved, and improvement techniques are established.
There is an increasing requirement, in a variety of fields, for the ability to make microscopic movements or to position items with high degree of accuracy. In this paper, a parallel mechanism with prismatic actuators...
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There is an increasing requirement, in a variety of fields, for the ability to make microscopic movements or to position items with high degree of accuracy. In this paper, a parallel mechanism with prismatic actuators which encompasses three degrees of freedom and can produce motion on a microscopic level is proposed and developed. In order to produce such motion, the mechanism is composed of compliant joints and links and flexure hinges, so it may also be referred to as a compliant mechanism. First, the detailed design of motion systems for the machine structure is introduced, followed by the mathematical analysis based on kinematics model of the presented mechanism. Finally, a comprehensive Finite Element Method analysis is carried out for the device optimization.
In order to acquire the interaction force between fingers of robot and the grasped object more accurately, this paper develops a kind of novel multi-dimension finger force sensor used in robots. This sensor uses doubl...
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ISBN:
(纸本)9781424417612;1424417619
In order to acquire the interaction force between fingers of robot and the grasped object more accurately, this paper develops a kind of novel multi-dimension finger force sensor used in robots. This sensor uses double E-type diaphragm structure, according to the characteristic of force bearing and different bridge connection modes, it solves contradiction between the microminiatured of the multi-dimension finger force sensor and elastic body structure design, stain gauge arrangement, bridge connection modes. Experiments are conducted with the developed multi-dimension finger force sensor, and the results show this sensor has simple structure, good linearity, low coupling between dimensions and easy calibration characteristics.
This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively th...
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This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively the master state. This is shown to be significantly less complex and more intuitive than predicting the slave and environment dynamics. Simple polynomial or spline predictors, employing no knowledge of the human arm dynamics, are shown to produce good performance for small time delays when the master force and position are smooth. However, for real life force profiles, better performance is achieved by employing a human arm model and predicting the neural input to it.
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