This paper presents a study on fault tolerant flight control of a benchmark aircraft model, using a physical modular approach. Reconfiguring control is implemented by making use of adaptive nonlinear dynamic inversion...
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To enhance the mobility of the rescue robot in amphibious environments, an eccentric paddle mechanism (ePaddle) has been proposed as the locomotion module for utilizing versatile locomotion gaits. In this paper, we fo...
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To enhance the mobility of the rescue robot in amphibious environments, an eccentric paddle mechanism (ePaddle) has been proposed as the locomotion module for utilizing versatile locomotion gaits. In this paper, we focus on a unique legged race-walking gait among all the potential gaits of an ePaddle-based amphibious robot. This gait has advantages in stability and energy efficiency. We present kinematic-based methods for achieving race-walking by one ePaddle module. A planar path tracking method using race-walking gait is then proposed. Ideas of the race-walking gait as well as its planning methods are finally verified by simulations.
The maximum power point tracking (MPPT) technique is applied in photovoltaic (PV) power generation system to improve the utilization of photovoltaic cells. In this paper, the output characteristics of solar cells are ...
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This paper presents a metaheuristic optimization-based approach to mobile robot path planning problem. A comparative study between trajectory-based metaheuristic optimization and population-based metaheuristic optimiz...
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This paper presents a metaheuristic optimization-based approach to mobile robot path planning problem. A comparative study between trajectory-based metaheuristic optimization and population-based metaheuristic optimization is conducted. Breadth-first deterministic search is used to find the optimal solution (ground truth) that is compared to the paths generated by tabu search, simulated annealing and genetic algorithm. The experimental study shows that simulated annealing outperforms the other algorithms in terms of computational time while tabu search gives the shortest path.
The effect of hydrostatic pressure （up to 28 MPa） on Brillouin frequency shift （BFS） within two types of bare, single-mode fibers is studied via Brillouin optical time domain analysis technique. Experimental resul...
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The effect of hydrostatic pressure （up to 28 MPa） on Brillouin frequency shift （BFS） within two types of bare, single-mode fibers is studied via Brillouin optical time domain analysis technique. Experimental results show a negative linear relation between pressure and BFS, with almost the same sensitivity in both types of fibers. The average value of experimental slopes is –0.742 MHz/MPa. This value is found to be well suited to theoretical analysis on the basis of data on bulk silica glass in previous reports. This preliminary evaluation may result in a new method for distributed pressure sensing along silica optical fiber.
Over the years, haptics has gained popularity as an additional feedback to enhance human experience of the environment. The extensive applications of haptics include virtual reality simulation, medical, education, man...
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Over the years, haptics has gained popularity as an additional feedback to enhance human experience of the environment. The extensive applications of haptics include virtual reality simulation, medical, education, manufacturing and rehabilitation. Many types of haptic devices have been developed to provide the variety of tactile feedback required for different applications. This paper describes the design and development of a low cost haptic knob, with only one degree of freedom, for use in rehabilitation or training hand pronation and supination using a microcontroller. This haptic knob can be attached with different form of end-effectors to cater for various training objectives and hand sizes or orientation.
Theory of Lamb Wave propagation in plate-like structures have found many practical applications in Structural Health Monitoring. However for better understanding of complex physical phenomena associated with wave prop...
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ISBN:
(纸本)9783940283412
Theory of Lamb Wave propagation in plate-like structures have found many practical applications in Structural Health Monitoring. However for better understanding of complex physical phenomena associated with wave propagation and wave interaction with damage numerical simulations are as important as laboratory experiments. The paper shows the application of Cellular Automata technique for modeling of elastic wave propagation. After a brief introduction to Lamb waves, 2-D triangular Cellular Automata approach for wave propagation is presented. Numerical simulations are performed for undamaged and damaged aluminium plates. The results are compared with the Local Interaction Simulation Approach (LISA).
Based on a new concept of Kinder-GuaRdian which aims to realize a support system for kindergarten's staffs and parents by watching over children's activity and their growing process, activity recognition (AR) ...
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This article presents an approach to implement a cooperative multirobot system capable of solving complex problems. In this cooperative multirobot system, individual actions of the robots are controlled by the Belief-...
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This article presents an approach to implement a cooperative multirobot system capable of solving complex problems. In this cooperative multirobot system, individual actions of the robots are controlled by the Belief-Desire-Intention model to endow the robots with the know-how needed to execute these actions deliberately. The cooperative behaviors between the heterogeneous robots are governed by the Team-Log theory to endow all the robots in the team with the know-how-to-cooperate and determine the team member's commitments to each other despite their different types, properties and goals. The proposed approach is tested for validity with the real life problem of humanitarian demining, as it requires cooperation between different robots to scan and clear a minefield from all the landmines.
Tactile display has recently been attracting much attention in the field of human computer interaction. There is a strong need for such a device especially for surgeons who need to feel the tissue hardness during lapa...
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Tactile display has recently been attracting much attention in the field of human computer interaction. There is a strong need for such a device especially for surgeons who need to feel the tissue hardness during laparoscopic surgeries. The concept of design is built upon simple use of several springs which are made from Shape Memory Alloy, SMA, to control shape and stiffness. In this paper, we describe the design of a new device which can display both surface shape and stiffness of an object. The design parameters of this device are selected based on the spatial resolution of human finger and the stiffness range of the soft tissue. The design concept was validated through finite element analysis for the selected parameters.
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