Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is consider...
Modelling and control of rigid-flexible multibody systems is studied in this paper. As a specified application, a space robotic system with flexible appendages during a cooperative object manipulation task is considered. This robotic system necessitates delicate force exertion by several end-effectors to move an object along a desired path. During such maneuvers, flexible appendages like solar panels may get stimulated and vibrate. This vibrating motion will cause some oscillatory disturbing forces on the spacecraft, which in turn produces error in the motion of the end-effectors of the cooperative manipulating arms. In addition, vibration control of these flexible members to protect them from fracture is another challenging problem in an object manipulation task for the stated systems. Therefore, the multiple impedance control algorithm is extended to perform an object manipulation task by such complicated rigid-flexible multibody systems. This extension in the control algorithm considers the modification term which compensates the disturbing forces due to vibrating motion of flexible appendages. Finally, a space free-flying robotic system which contains two 2-DOF planar cooperative manipulators, appended with two highly flexible solar panels, is simulated. Obtained results reveal the merits of the developed model-based controller which will be discussed.
Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rath...
Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies.
This paper presents a balance control approach for a biped robot by regulating COM position with the help of proper foot placement in response to external perturbation. The proposed approach detects present postural a...
详细信息
This paper presents a balance control approach for a biped robot by regulating COM position with the help of proper foot placement in response to external perturbation. The proposed approach detects present postural and stability state of robot through sensory data from Attitude and Heading Reference System (AHRS) and foot force sensors; and in case of external push, recovers the balance and posture of the robot by foot placement in appropriate direction. The foot placement is carried out using one of the alternative or rescue trajectories already available in the memory of the robot. The rescue trajectories are developed for both sagittal and lateral plane and the strategy for switching from current trajectory to the rescue trajectory and then back to the normal trajectory is discussed in detail. The proposed balance recovery approach is then implemented on a biped robot and is experimentally verified.
As we grow old, our desire for being independence does not decrease while our health needs to be monitored more frequently. Accidents such as falling can be a serious problem for the elderly. An accurate automatic fal...
详细信息
As we grow old, our desire for being independence does not decrease while our health needs to be monitored more frequently. Accidents such as falling can be a serious problem for the elderly. An accurate automatic fall detection system can help elderly people be safe in every situation. In this paper a waist worn fall detection system has been proposed. A tri-axial accelerometer (ADXL345) was used to capture the movement signals of human body and detect events such as walking and falling to a reasonable degree of accuracy. A set of laboratory-based falls and activities of daily living (ADL) were performed by healthy volunteers with different physical characteristics. This paper presents the comparison of different machine learning classification algorithms using Waikato Environment for Knowledge Analysis (WEKA) platform for classifying falling patterns from ADL patterns. The aim of this paper is to investigate the performance of different classification algorithms for a set of recorded acceleration data. The algorithms are Multilayer Perceptron, Naive Bayes, Decision tree, Support Vector Machine, ZeroR and OneR. The acceleration data with a total data of 6962 instances and 29 attributes were used to evaluate the performance of the different classification algorithm. Results show that the Multilayer Perceptron algorithm is the best option among other mentioned algorithms, due to its high accuracy in fall detection.
In recent years there have been intensive efforts in robotics researches from the earliest stages of education. Subject of this paper is a powerful mobile robot communication and control framework for USARSim simulato...
详细信息
In recent years there have been intensive efforts in robotics researches from the earliest stages of education. Subject of this paper is a powerful mobile robot communication and control framework for USARSim simulator that can be used both for research and education. Mobile Robots Communication and control Framework (MCCF) is developed in order to offer faster and easier communication process with the USARSim server within Matlab that differentiates it from most existing basic open source control interfaces. Most notably, it takes the advantages of easy integration with other analysis and control methods that have been provided in Matlab tool-boxes. MCCF enables communication and control of a wide range of robots platforms including but not limited to wheeled-robots, legged-robots, submarine robots and aerial robots. In this paper we describe its general architecture, features and examples of utilization for researchers who are interested in mobile robot simulations for education and research.
Mission planning was thoroughly studied in the areas of multiple intelligent agent systems,such as multiple unmanned air vehicles,and multiple processor ***,it still faces challenges due to the system complexity,the e...
详细信息
Mission planning was thoroughly studied in the areas of multiple intelligent agent systems,such as multiple unmanned air vehicles,and multiple processor ***,it still faces challenges due to the system complexity,the execution order constraints,and the dynamic environment *** address it,a coordinated dynamic mission planning scheme is proposed utilizing the method of the weighted AND/OR tree and the *** the scheme,the mission is decomposed into a time-constraint weighted AND/OR tree,which is converted into an AOE-Network for mission ***,a dynamic planning algorithm is designed which uses task subcontracting and dynamic re-decomposition to coordinate *** scheme can reduce the task complexity and its execution time by implementing real-time dynamic *** simulation proves the effectiveness of this approach.
The global must pay more attention on agriculture to support the huge population on the earth and to promote sustainable *** the development of computing and information technologies such as 3S(GIS,RS and GPS;Geograph...
详细信息
The global must pay more attention on agriculture to support the huge population on the earth and to promote sustainable *** the development of computing and information technologies such as 3S(GIS,RS and GPS;Geographic Information System,Remote Sensing,and Global Positioning System),computer,mathematics,communication,and their application in
Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic e...
Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.
＜正＞Agriculture is essentially important as the earth has to support the huge population and to promote sustainable *** technology plays an important role for the development of advanced modern *** modern agricultur...
＜正＞Agriculture is essentially important as the earth has to support the huge population and to promote sustainable *** technology plays an important role for the development of advanced modern *** modern agriculture already said goodbye to the slash-and-bum cultivation,the self-sufficient age,with the development of information technologies such as 3S,
暂无评论