This paper presents a general passivity based interaction controller design approach that utilizes a combined energy and power based safety norms to assert safety of domestic robots. Since these robots are expected to...
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This paper presents a general passivity based interaction controller design approach that utilizes a combined energy and power based safety norms to assert safety of domestic robots. Since these robots are expected to co-habit the same environment with a human user, analysing and ensuring their safety is an important requirement. Safety analysis of domestic robots determine whether a robot achieves a desired safety level according to some quantitative safety metrics. When it comes to controller design for human friendly robots, it often involves introducing compliance and ensuring asymptotic stability using impedance control technique and passivity theories. The controller proposed in this work also uses a passive design that extends the standard impedance control scheme with energy and power based safety metrics to ensure that safety requirements defined in these norms are achieved by domestic robots. The effectiveness of the proposed guideline is illustrated with simulation and experimental results.
Natural human-robot interaction plays an important role in effective nursing services system provided by service robots for the elderly and disabled people. This paper proposed a multimodal "human-robot integrati...
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ISBN:
(纸本)9781479956708
Natural human-robot interaction plays an important role in effective nursing services system provided by service robots for the elderly and disabled people. This paper proposed a multimodal "human-robot integration" collaboration system, and set up a shared collaboration interface between human and service robot. Consequently, Users and service robots can naturally communicate and retrieve information from the collaborative interface with multimodality (e.g. head gesture, eye gaze) in an interactive dialogue approach. By this way, making the service robots fully understand human's intention, so they can collaborate and complete tasks well. Furthermore, some experiments were conducted, and the results suggest that it is effective to identify user's intention in light of the advantage of different modalities, the shared collaboration interface can provide more information both from human and robots to improve the naturalness of human-machine collaboration. The proposed methods can provide a new way for exploiting human-service robots cooperation.
In today's world with the increasing number of vehicles on road traffic security has become an important global issue. Despite different measures from government and other authorities the safety and security in ro...
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In today's world with the increasing number of vehicles on road traffic security has become an important global issue. Despite different measures from government and other authorities the safety and security in road traffic has not yet been ensured. Among the many safety threats in road traffic is the reckless driving. Although different speed limit related regulations are imposed in road vehicles, they are often susceptible to negligence either intentionally or unintentionally. But with the help of available technologies there are several solutions for such problems. A cost effective simple solution is based on the use of RFID technology with passive RFID tags. Here we have presented comprehensive model of implementing such technology in electronically controlled road vehicles for following proper speed limit specified for a particular road. We have also discussed the advantage, limitations and future prospects of this technique.
Impact damage detection is one of the most important problems in maintenance of composite structures. Various methods have been developed for the last few decades, including classical non-destructive and structural he...
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Impact damage detection is one of the most important problems in maintenance of composite structures. Various methods have been developed for the last few decades, including classical non-destructive and structural health monitoring approaches. Recent years have brought significant interest in methods based on nonlinear interactions between damage and ultrasonic waves. The method based on nonlinear vibro-acoustic modulations is one of the examples. Applications of this method to composite structures are still very limited due to two major factors. Firstly, there is very little understanding of the physics behind nonlinear interactions. Secondly, nonlinearities related to intrinsic effects (e.g. material, boundaries, measurement chain) often mask nonlinearities caused by damage. This paper demonstrates how to select frequencies of low-frequency vibration excitation and high-frequency ultrasonic excitation to avoid major difficulties associated with the methods. The results show that optimal selection of these parameters can enhance sensitivity of the method when used for damage detection.
This paper presents an application of the cointegration technique that is applied to compensate for the effect of variable operational conditions associated with low-frequency modal excitation in nonlinear vibro-acous...
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ISBN:
(纸本)9788361402282
This paper presents an application of the cointegration technique that is applied to compensate for the effect of variable operational conditions associated with low-frequency modal excitation in nonlinear vibro-acoustic wave modulation technique used for damage detection. The method is based on the concept of cointegration that is partially built on the analysis of the non-stationary behaviour of time series. Instead of directly using vibro-acoustic data for damage detection, a new approach has been proposed, i.e. analysis of stationary statistical characteristics of vibro-acoustic responses after cointegration. The method is validated using vibro-acoustic data-obtained from undamaged and damaged laminated composite plates-which were modulated using different frequency and amplitude levels of low-frequency modal excitation. The composite plate was damaged by introducing a low-velocity impact of 3.9 J energy at the central position of the plate. The experimental results show that the method can remove the effect of operational conditions and accurately detect damage.
Internal gears with small difference between teeth number are most commonly encountered in planetary and differential mechanisms (eg. on automatic transmissions for vehicles). One of the advantages of this gear is the...
Internal gears with small difference between teeth number are most commonly encountered in planetary and differential mechanisms (eg. on automatic transmissions for vehicles). One of the advantages of this gear is the high transmission ratio. Their parallel axes make this gear perfect for the cases when a small deviation of the distance between axes is required. Automatic transmission allows internal gear function to high speed. In this, we present a short overview of internal gear with small difference between teeth number.
This paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master. The 4-DOF, 2-PUU 2-PUS, endoscopic surgical parallel man...
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This paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master. The 4-DOF, 2-PUU 2-PUS, endoscopic surgical parallel manipulator design is carried out using screw theory and Parallel virtual chain methodology to have larger bending angles and workspace volume. The master and slave devices of the teleoperation system are dissimilar in their kinematics and workspace volumes. A workspace mapping technique is implemented based on Position with Modied Rate Control to navigate through the slave workspace without annoying the user. To control the motion of the slave robot, a PID controller is used. The experimental results show the feasibility of the teleoperation surgical system using the 4-DOF parallel manipulator. Also, they indicate the efficiency of the implemented mapping technique and the designed controller to span the slave workspace with high dexterity and good tracking which allows the surgeon to perform the operation with high accuracy.
In this paper, the energy stability level concept is used for examining the stable state of field robot under effects of swing motion, at some particular postures of manipulator and terrain conditions. The energy stab...
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We propose a rehabilitation device that we intend to be low cost and easy to manufacture. The system will ensure functionality but also have a small dimensions and low mass, considering the physiological dimensions of...
We propose a rehabilitation device that we intend to be low cost and easy to manufacture. The system will ensure functionality but also have a small dimensions and low mass, considering the physiological dimensions of the foot and lower leg. To avoid injure of the ankle joint, this device is equipped with a compliant joint between the motor and mechanical transmission. The torque of this joint is intended to be adjustable, according to the degree of ankle joint damage. To choose the material and the dimensions of this compliant joint, in this paper we perform the first stress simulation. The minimum torque is calculated, while the maximum torque is given by the preliminary chosen actuator.
In this paper a vision system for autonomous flying agents is considered in the context of industrial inspection tasks performed by unmanned aerial vehicles. A syntactic algorithm of a three-dimensional scene represen...
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