In this paper we present a novel method for motion generation task specification for spherical mechanisms. This is accomplished with a new methodology for determining the optimal design sphere and the orientations on ...
详细信息
This paper presents the design and validation of an Extend Kalman Filter (EKF) for Simultaneous Localization and Mapping with Moving Objects Tracking (SLAMMOT) with application to unmanned aerial vehicles (UAVs) in un...
详细信息
This paper presents the design and validation of an Extend Kalman Filter (EKF) for Simultaneous Localization and Mapping with Moving Objects Tracking (SLAMMOT) with application to unmanned aerial vehicles (UAVs) in uncertain and dynamic environments. The proposed solution includes the tracking of Moving Objects (MO) using the Multiple Hypothesis Tracking (MHT) method, as well as the identification of the motion models of the environment's objects applying the Interacting Multiple Model (IMM) algorithm. The consistency and performance of the devised SLAMMOT filter is successfully confirmed with simulation results.
Spatial 4C mechanisms are two degree of freedom kinematic closed-chains consisting of four rigid links simply connected in series by cylindrical(C) joints. In this work we are concerned with the design of spatial 4C m...
详细信息
This paper presents a complete methodology for mission planning and navigation of Autonomous Underwater Vehicles (AUVs) in ocean environment. Path planning near the ocean floor is accomplished via genetic algorithms a...
详细信息
Interacting with unknown objects, and learning and producing effective grasping procedures in particular, are challenging problems for robots. This paper proposes an intrinsically motivated reinforcement learning mech...
详细信息
This paper presents a decentralized navigation system, capable of estimating positions and fluid velocities, for vehicle formations. Some vehicles have access to a measurement of their own position while the others ha...
详细信息
ISBN:
(数字)9781538682661
ISBN:
(纸本)9781538682678
This paper presents a decentralized navigation system, capable of estimating positions and fluid velocities, for vehicle formations. Some vehicles have access to a measurement of their own position while the others have access to one or more bearing measurements and may have a depth measurement. Local observers with globally exponentially stable error dynamics are designed by obtaining an equivalent observable linear time-varying system using conveniently defined artificial outputs. The local observers rely on local measurements as well as limited communications between the vehicles. The stability of the system as a whole is obtained by studying the robustness of the local observers to exponentially decaying perturbations. Simulation results are presented to show the behaviour and convergence of the proposed solution.
This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicat...
详细信息
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...
详细信息
ISBN:
(纸本)9781849196413
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.
Purpose - To present a Mobile Scanning System for digitizing three-dimensional (3D) models of real-world terrain. Design/methodology/approach - A combination of sensors (video, laser range, positioning, orientation) i...
详细信息
In this paper we present SPHINXCAM, a computer-aided manufacturing software for spherical four-bar mechanisms. The kinematics of spherical mechanisms are reviewed as they pertain to their manufacture. This is followed...
详细信息
暂无评论