Owing to an increase in diverse disaster incidents instigated by natural catastrophes and human error, extensive research on mobile robots, designed for disaster environment comprehension and human rescue operations, ...
Owing to an increase in diverse disaster incidents instigated by natural catastrophes and human error, extensive research on mobile robots, designed for disaster environment comprehension and human rescue operations, and has become more prevalent. Specifically, endeavors are being undertaken to equip mobile robots with grippers, enabling confined space navigation and life-saving activities within disastrous circumstances. Prominent among these are investigations into hybrid grippers and actuation systems, utilizing both hard and soft materials for obstacle removal. Nevertheless, for effective deployment of mobile robots within real disaster scenarios, the necessity for a compact hybrid gripper and drive system is indispensable. This paper elucidates the design and realization of a small-scale pneumatic pump module, developed to operate the jamming module of the previously compactly implemented hybrid gripper, also incorporating discussions on performance validation experiments. The verification experiments confirmed the capability of the proposed small-scale pneumatic pump to adequately operate the jamming module, thus reinforcing the hybrid gripper's grasping performance.
Accurately identifying sleep stages is crucial for the analysis and management of sleep disorders. Electroencephalogram (EEG) signals have shown promise in sleep stage identification. This research presents a novel me...
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For precise control, it can be achieved through a feedforward controller with a feedback control scheme. The feedforward controller can be automatically tuned with the datadriven methods through experimental results. ...
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For precise control, it can be achieved through a feedforward controller with a feedback control scheme. The feedforward controller can be automatically tuned with the datadriven methods through experimental results. However, these data-driven methods are interrupted when the input disturbance is applied. This problem can be solved using Disturbance Observer (DOB) in the control loop. In addition, a data-driven method derives accurate control performance by simultaneously tuning the feedforward controller and DOB model. Furthermore, a tuning algorithm with a rational model is proposed for the corresponding modeling to a flexible system. The simulation results verify that the proposed method accurately tunes the controller for an unknown plant under an input disturbance.
The objective of this paper was to investigate and evaluate modal parameters and static characteristics for designed carbon/epoxy composite CFRP leaf spring made from carbon fiber-reinforced epoxy by comparing its fini...
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Safe physical interaction using admittance control on an industrial robot with inner-loop motion control remains challenging. This is partly due to the low intrinsic admittance and stability issues from inner-loop mot...
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The employment of guided waves for structural health monitoring applications has attracted substantial attention in recent years. Piezoelectric transducers are frequently employed in these systems for elastic wave gen...
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In order to make the robot understand the scene better and the human-robot interaction more friendly, a lightweight semantic SLAM system is proposed in this paper. Our system uses a LIDAR combined with a camera to obt...
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Soft exosuits can help to prevent work-related musculoskeletal disorders by offloading human muscles through the application of external forces across the human joints. Many exosuits achieve this through tension produ...
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Technological advancements in the automotive industry are currently focused on autonomous driving systems or driver assistance systems. Depth estimation is also an important feature of the autonomous driving system as...
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Post stroke patients may suffer from a gait disorder which is called foot drop. They may experience a toedrag, slow walking speed and a high risk of tripping. Although physical therapy exercises can be a remedy to suc...
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