This paper presents a versatile control architecture for aerial robots in interactive tasks. The control architecture is characterized by its unique capability of varying the apparent impedance of the controlled aeria...
详细信息
ISBN:
(纸本)9781479969357
This paper presents a versatile control architecture for aerial robots in interactive tasks. The control architecture is characterized by its unique capability of varying the apparent impedance of the controlled aerial robot as well as the interaction force, when in contact. This work finds its way in various applications where different impedance and interaction force controllers provide high task performances as well as safety. The feasibility and effectiveness of the proposed controller are demonstrated by experimental results preformed on a quadrotor aerial robot.
To perform search and rescue missions in multi-terrains after natural disasters, the amphibious robot we designed is equipped with four eccentric paddle modules. The module is based on the epicyclic gear mechanism, an...
详细信息
ISBN:
(纸本)9781479973989
To perform search and rescue missions in multi-terrains after natural disasters, the amphibious robot we designed is equipped with four eccentric paddle modules. The module is based on the epicyclic gear mechanism, and by changing the paddle shaft's location we can achieve various gaits adapting amphibious environment. Regarding experimental results with the first generation prototype, named ePaddle-EGM, we proposed an improved one to achieve lightness, accuracy and stability. It is a scaled-down version whose transmission system has been simplified. The dustproof sealing is considered to ensure the stability and the position sensing system is optimized. The comparative analysis of ePaddle-EGM2 and ePaddle-EGM is presented in this paper and experiments of various gaits are conducted to verify the performance of the improved design.
The mechanical properties, including wrinkling patterns and fracture behavior, of monolayer h-BN sheets have been investigated using classic molecular dynamics simulations and continuum model. The wrinkling pattern fo...
详细信息
During past two decades many efforts have been made by different researchers in developing robotic grippers. Some of these grippers are robust and used for handling large objects. On the contrary, certain grippers are...
详细信息
During past two decades many efforts have been made by different researchers in developing robotic grippers. Some of these grippers are robust and used for handling large objects. On the contrary, certain grippers are adroit enough even to handle biological cells. Wide varieties of grippers are now-a-days available featuring different kinematic ability, dexterity, mode of actuation, usage of sensors, maximum weight carrying capabilities and many more attributes. But they all accord to a single issue, i.e. inspiration. Essentially the goal of developing grippers focuses mainly on the manipulation ability of the human hand. Subsequently the designs have continuously become more and more complicated, which in turn have increased the programming complexity to keep abreast with the advances. Cognition in the field of robotics refers to sensing, generation and interpretation. To inculcate kinesthetic cognition to a robot hand unequivocally implies mapping. In this paper a hybrid methodology based on the existing grasp mapping algorithm has been proposed to increase the efficacy of the robotic hand.
Inspection tasks of pipes or channels are part of the engineering practice. In the past there were investigated conventional approaches like wheeled-based mechanisms. This paper deals with unconventional approach - sn...
详细信息
The paper shows aspects about the behavior of Cu-Zn-Pb alloys a subjected to the temperatures variation and corrosion resistance in saline medium (sea water). The chemical composition was determined by spectral analys...
The paper shows aspects about the behavior of Cu-Zn-Pb alloys a subjected to the temperatures variation and corrosion resistance in saline medium (sea water). The chemical composition was determined by spectral analysis on optical spectrometer, type Foundry Masters. The experiments are completed by a microstructure analysis made on scanning electronic microscope.
Optical methods for measuring displacement is a key enabling technology allowing evaluate vibration of the light weighted objects. In optical evaluation of vibration of object displacement with high speed camera, syst...
详细信息
In this paper the design of the ultralight mobile drilling system (UMDS) dedicated for planetary environment is presented. The main features of the system are connected with its mobility by integration with a rover, a...
详细信息
ISBN:
(纸本)9780784479179
In this paper the design of the ultralight mobile drilling system (UMDS) dedicated for planetary environment is presented. The main features of the system are connected with its mobility by integration with a rover, and the special design of support module which take advantage of tubular booms to guide the drilling subsystem. The latter is designed to reduce the path for cuttings and to be applicable for operation in vacuum conditions. At the system level, UMDS was designed to reduce the mass and power consumption in each operational phase. Special care was applied to minimize the cross contamination of the gathered core by volatiles as well as to reduce the influence of heat dissipation during the drilling process. The system is also considered for terrestrial applications and testing with UAV helicopter is foreseen.
Deployable structures can provide a change in the geometric morphology of the envelope by contributing to making it adaptable to changing external climate factors, in order to improve the indoor climate performance of...
详细信息
In this paper, a macro-scale 2-DOF energy harvester (EH) prototype is designed based on the human motion frequency range and bandwidth. Harvester parameters are selected according to the concept of the vibration absor...
详细信息
In this paper, a macro-scale 2-DOF energy harvester (EH) prototype is designed based on the human motion frequency range and bandwidth. Harvester parameters are selected according to the concept of the vibration absorber to achieve two close resonance frequencies at ±20% of the mean frequency of the frequency range 1-10 Hz, which matches the human motion. Simulation and experimental work are carried out to validate the design parameters and the system performance. The harvester is subjected to harmonic accelerations within 1 g which represents the dominant acceleration of the human motion. The proposed device provides a power of at least 18 μW in between the two close resonant peaks of 4 Hz and 6 Hz, which is the target frequency range. The device shows high power per square of the mean frequency compared to the reported harvesters in the literature.
暂无评论