This paper describes the plant modeling research based on improved 3D L-system and quaternion. It first introduces the original 3D L-system and how to implement it, then brings forward the improved modeling method of ...
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This paper describes the plant modeling research based on improved 3D L-system and quaternion. It first introduces the original 3D L-system and how to implement it, then brings forward the improved modeling method of 3D L-system by specifying the growth vector and azimuth vector and applies the quaternion based computer algorithm in it, in the end generates some 3D plant models of sympodia and uniaxiality based on the improved method and algorithm.
A novel platform system for gait analysis was developed, with its two main parts: force platform and pressure platform, it can offer complete components of pressures in walking, including vertical pressure, shear forc...
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A novel platform system for gait analysis was developed, with its two main parts: force platform and pressure platform, it can offer complete components of pressures in walking, including vertical pressure, shear forces, pressure distribution and COP (centre of pressure) with reliable result. System configuration was introduced as an important part, and gait model was established. Some examples of application were also reported.
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.
Inspired by the transmission of seeds in nature, an evolutionary algorithm, seed optimization algorithm (SOA), is proposed. The algorithm is designed by simulating the self-adaptive phenomena of plant and it can be us...
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Inspired by the transmission of seeds in nature, an evolutionary algorithm, seed optimization algorithm (SOA), is proposed. The algorithm is designed by simulating the self-adaptive phenomena of plant and it can be used to resolve complex optimization problems with the evolution of plant. The global convergence analysis of SOA is made by using the Solis and Wets'research results. Finally, SOA is applied to three function optimization problems and compared with particle swarm optimization (PSO) algorithm. The experimental results show that SOA has stable and robust behaviour and it can be used as a promising alternative to existing optimization methods for engineering design.
The implementation of objec 3-D position has been greatly simplified by robot hand-eye vision positioning system which is based on the constant rotation matrix. The main idea is to simplify the complicated calibration...
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The implementation of object 3D position has been greatly simplified by robot hand-eye vision positioning system which is based on the constant rotation matrix. The main idea is to simplify the complicated calibration...
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The implementation of object 3D position has been greatly simplified by robot hand-eye vision positioning system which is based on the constant rotation matrix. The main idea is to simplify the complicated calibration procession of robot visual control system by maintaining the constant rotation matrix that maps hand coordinate to robot coordinate. Given the camera light axes being vertical with the working table, the calibration of parameter matrices is carried out by moving the hand to different positions and taking pictures for a put object. In this paper, the authors present a new method for calibrating parameter matrices, which simplifies the process of object 3D position and improves precisions. The control system of MOTOMAN-SV3X robot has realized this new method, and examples are given to illustrate the efficiency of the algorithm
Stereo positioning system is studied based on robot hand-eye vision, and system calibration consists of camera calibration and hand-eye geometric relation calibration, a method of simultaneously realizing the two ones...
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Stereo positioning system is studied based on robot hand-eye vision, and system calibration consists of camera calibration and hand-eye geometric relation calibration, a method of simultaneously realizing the two ones is presented in this paper. The key content of the method is that the camera internal parameters and the rotate part of hand-eye relation are integrated into a whole matrix. However, there is not any restriction to the course of system positioning, a camera can take images at any pose and needn't recalibration. Additionally, the implement of the method is very simple, only need take two images from which the system can be calibrated for three known points at different position. This method simplifies the complicated process of robot hand-eye system calibration and improves the positioning precision, meanwhile, it extends the application range of hand-eye vision system.
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