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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The paper presents a flexible and stretchable carbon nanotube (CNT) based gas sensor fabricated on a planar metastructure, kirigami substrate with anatase TiO 2 functionalization for improved NO 2 sensing performanc...
The paper presents a flexible and stretchable carbon nanotube (CNT) based gas sensor fabricated on a planar metastructure, kirigami substrate with anatase TiO 2 functionalization for improved NO 2 sensing performances with high stretchability. The developed kirigami-based sensor possesses a network of notches with high softness and stretchability, ensuring a stable sensor operation of up to 80% strain. Such a high strain range overcomes the current limitation of gas sensors, which generally utilize rather brittle and rigid sensing materials. The innovative claims include (1) the utilization of kirigami architecture to mitigate the uniaxial strain effect and (2) the enhancement of sensor performance regarding the sensitivity and recovery time owing to TiO 2 functionalization. Mechanical properties of the kirigami structure can be analyzed via stress-strain relation, and the sensing material properties are characterized using Fourier-transform infrared spectroscopy (FT-IR) and Raman spectroscopy. The suggested kirigami-based gas sensors could be applied to wearable and stretchable gas sensing applications.
This paper introduces a visual servoing control strategy designed for a vision-based robotic mobile manipulation system. The system continuously updates the motion of both the mobile base and its integrated manipulato...
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ISBN:
(数字)9798331508180
ISBN:
(纸本)9798331508197
This paper introduces a visual servoing control strategy designed for a vision-based robotic mobile manipulation system. The system continuously updates the motion of both the mobile base and its integrated manipulator by utilizing visual feedback from a stereo camera. A detailed description of the system components is provided, including the mobile robot, the robotic manipulator, and the stereo vision system, along with the design of a visual servoing controller grounded in Lyapunov's stability theory. The controller operates by adjusting the movements of the mobile base and manipulator to minimize the disparity between the current and desired pose, ultimately guiding the system to achieve the target position and orientation. To validate the kinematic model and assess the performance of the proposed control strategy, experiments were conducted using the Husky mobile robot in conjunction with a 6-DOF UR5 robotic manipulator. The results from these experiments substantiate the effectiveness and robustness of both the robot model and the implemented control law. These findings confirm the potential of the proposed system in achieving reliable and precise mobile manipulation tasks.
In this paper we analyze the development process of a smart knee orthosis that can monitor the bearer's movements and provide real-time feedback to aid the bearer's proper recovery after an injury. The develop...
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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.
This study presents an autonomous mobile robot with advanced grasping capabilities designed to perform two missions: Pick and Place and Hold and Run. The robot’s four-wheeled chassis ensures stability and maneuverabi...
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ISBN:
(数字)9798331518301
ISBN:
(纸本)9798331518318
This study presents an autonomous mobile robot with advanced grasping capabilities designed to perform two missions: Pick and Place and Hold and Run. The robot’s four-wheeled chassis ensures stability and maneuverability, while an articulated arm with a specialized gripper manipulates 8-cm-diameter balls. Utilizing YOLO algorithms for accurate object detection, the vision system offloads image processing to a laptop via Wi-Fi for real-time monitoring and decision. Extensive tests validated the robot’s consistent task execution, demonstrating dexterity and intelligent navigation. Challenges such as hardware integration and vision system optimization were innovatively addressed. The modular design allows for easy upgrades and adaptability, highlighting significant future potential. The proposed robot fulfilled the preset goals of picking any defined colored ball and placing them into a box autonomously. Besides, achieving the athletic runner task around the classroom interior. This project showcases the interdisciplinary nature of robotics, combining mechanical engineering, computer vision, and software development with potential applications in service robotics.
Drones have been used extensively in the last decade, and there are estimates that this trend will continue in the coming decades. Having a sophisticated motion control algorithm is one of the important keys when we i...
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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 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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