Knowing the future position of a mobile user bring huge benefit to applications in the field of location-based services (LBSs). One of the major advantages is that helps LBSs provide targeted content or disseminate ad...
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This paper proposes a method to verify the performance of a redundant 4 degree of freedoms (DOF) hydraulic manipulator when Virtual Spring-damper (VSD) algorithm is applied. It is combined with a control based on the ...
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ISBN:
(纸本)9781479953349
This paper proposes a method to verify the performance of a redundant 4 degree of freedoms (DOF) hydraulic manipulator when Virtual Spring-damper (VSD) algorithm is applied. It is combined with a control based on the VSD algorithm proposed by Ari-moto et al. To verify the applicability of VSD algorithm to the hydraulic robot manipulator of redundancy 4-DOF, we conducted an experiment to tracking repetitive circle motions of 0.2 m radius to the Y-Z plane in 3.5 seconds. To check the control performance to all directions, the experiment was conducted to the repetitive circle motions which are sloped to 30 ° to the X axis. The effectiveness of the proposed control scheme is demonstrated in experimentation with the 4-DOF manipulator.
Parallel manipulator with longer legs and heavy load is applied in most of the current high fidelity simulators, which is used to simulate various motions in different environments by exporting varying displacement an...
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In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is suppose...
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P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes. The AUV mode is supposed to carry out some of underwater missions which are difficult to be accomplished by ROV mode due to its tether cabl...
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ISBN:
(纸本)9781479900022
P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes. The AUV mode is supposed to carry out some of underwater missions which are difficult to be accomplished by ROV mode due to its tether cable. To complete the underwater missions such as inspection and maintenance of complex structures in AUV mode, the vehicle is required to have high level of autonomy including obstacle avoidance, autonomous navigation, and so on. In this paper, we will discuss some of systematic and algorithmic issues in the development of such kind hybrid vehicles. Experimental studies on the development of underwater hybrid inertial navigation system and SLAM (simultaneous localization and mapping) method in a certain water tank environment are also discussed.
robotic gait rehabilitation devices enable efficient and convenient gait rehabilitation by mimicking the functions of physical theraphists. In manual gait rehabilitation training, physical theraphists have patients pr...
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robotic gait rehabilitation devices enable efficient and convenient gait rehabilitation by mimicking the functions of physical theraphists. In manual gait rehabilitation training, physical theraphists have patients practice and memorize normal gait patterns by applying assistive torque to the patient's joint once the patient's gait deviates from the normal gait. Thus, one of the most important factors in robotic gait rehabilitation devices is to determine the assistive torque to the patient's joint during rehabilitation training. In order to calculate the assistive torque, the desired gait trajectory for affected leg should be determined. This reference trajectory is obtained from his healthy leg. The obtained signal has many noisy factors. Therefore, after conditioning the signal, the suitable pattern is applied to the developed system. This procedure is called “gait pattern generation” in this paper. It is described and discussed in detail.
Tactile display device that can present tactile information for visually impaired persons has been developed. Users can get certain information by pressure from the pins raised at varying heights on arms. The effectiv...
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Tactile display device that can present tactile information for visually impaired persons has been developed. Users can get certain information by pressure from the pins raised at varying heights on arms. The effectiveness of the developed device will be discussed based on experiments.
In this paper, we describe the research progress about the path planning for AUVs in underwater space. Considering the importance of water current for underwater movement, we modeled a pillar of a sea wide-bridge and ...
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In this paper, we describe the research progress about the path planning for AUVs in underwater space. Considering the importance of water current for underwater movement, we modeled a pillar of a sea wide-bridge and an AUV, P-SURO II, and then simulated and confirm the distorted water current around them, using OpenFOAM CFD tool.
This paper describes the window cleaning robot named Smart Windoro, which is a fully autonomous intelligent window cleaning robot. Smart Windoro adheres to the surface of window glass by means of permanent magnet pair...
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This paper describes the window cleaning robot named Smart Windoro, which is a fully autonomous intelligent window cleaning robot. Smart Windoro adheres to the surface of window glass by means of permanent magnet pairs between a driving module (inner unit) and a cleaning module (outer units) rather than using vacuum suckers for the energy efficiency and safety. A driving module of Smart Windoro has automatic magnetic force control mechanism. In addition to this, the driving module has mechanism for automatic magnetic force according to the thickness of window glass. This study describes the simulation to predict the magnetic and mechanical characteristic which is maximize the friction on the surface of window with the minimum magnetic attractive force.
P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes [1]. In its AUV mode, the vehicle is supposed to carry out some of underwater missions such as inspection and maintenance of complex underwa...
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ISBN:
(纸本)9781479913084
P-SURO II is a hybrid AUV which can be operated in both of ROV and AUV modes [1]. In its AUV mode, the vehicle is supposed to carry out some of underwater missions such as inspection and maintenance of complex underwater structures which are usually difficult to be done by ROV or divers due to the cable system. To complete these missions, the vehicle is required to have high level of autonomy, where high accuracy navigation is the most important and basic requirement. In this paper, we present a high accuracy of hybrid inertial navigation method using image sonar in a water tank environment. Various water tank experimental studies are carried out to investigate the effectiveness of presented hybrid navigation method. Some of practical issues of applying image sonar for inertial navigation aiding are also discussed.
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