In this paper,a dual arm control method in a teleoperation system is *** a bimanual robot,moving a common object precisely requires real-time cooperation between the two *** such conditions the force interaction inclu...
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In this paper,a dual arm control method in a teleoperation system is *** a bimanual robot,moving a common object precisely requires real-time cooperation between the two *** such conditions the force interaction including the internal forces applied on the object must be taken into *** the dynamics models for master device,slave robot and the object are first *** the presence of the uncertainties in the dynamics model of the remote robot,a neural network method is used for compensation in the slave *** order to guarantee the stability of the teleoperation system,the wave variable approach is employed in the communication *** the controllers in both the master and the slave part are designed based on their dynamics *** the tracking convergence and system stability are proven by the Lyapunov *** simulation experiments are carried out to show the good performance of trajectory tracking and force reflection.
In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable ...
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In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is u...
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The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems...
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ISBN:
(纸本)9781509041039
The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.
For on-orbit maintenance and service of space robot,this paper presents a 6D-ICP approach for 3D reconstruction and state estimate of unknown non-cooperative target based on stereo *** flow is applied to target image ...
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ISBN:
(纸本)9781467397155
For on-orbit maintenance and service of space robot,this paper presents a 6D-ICP approach for 3D reconstruction and state estimate of unknown non-cooperative target based on stereo *** flow is applied to target image features tracking in each monocular camera extracted by Harris detector across successive *** features tracked successively in each camera will be matched between two cameras,and corresponding 3D structure points on the targets are generated *** use 6D ICP-based method to estimate the target state and reconstruct 3D target *** experimental results are shown to demonstrate the feasibility of the proposed method.
Distributed coordination algorithms (DCA) carry out information processing processes among a group of networked agents without centralized information fusion. Though it is well known that DCA characterized by an SIA (...
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Population is one of the most significant factors affecting the social and economic development of a ***,China is facing a big challenge of population *** is important for Chinese government to pay continuous attentio...
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ISBN:
(纸本)9781509009107
Population is one of the most significant factors affecting the social and economic development of a ***,China is facing a big challenge of population *** is important for Chinese government to pay continuous attention to the population situation and take measures so as to keep the economic ***,the effectiveness of these measures depends crucially on the accurate prediction of China *** methods,including the feedforward neuronet equipped with back-propagation（BP） algorithm,have been proposed in order to improve the prediction ***,these methods possibly have their inherent *** this paper,the authors construct an enhanced feedforward neuronet,i.e.,a 3-layer feedforward power-activated neuronet（PAN） equipped with the weights-and-structure-determination algorithm（for short,WASD-PAN）,to predict China *** experiments show that China population will continue to increase at a low rate in the next *** authors also compare the WASD-PAN with the back-propagation neuronet BP-PAN,with numerical experimental results showing the excellent performance of the former.
The security and typical attack behavior of Modbus/TCP industrial network communication protocol are analyzed. The data feature of traffic flow is extracted through the operation mode of the depth analysis abnormal be...
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The problem of sampled-data state observation is considered in this work. A nonlinear continuous-time system with internal uncertainty and external disturbance is introduced, for which the sampled-data observation pro...
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ISBN:
(纸本)9781509015740;9781509015733
The problem of sampled-data state observation is considered in this work. A nonlinear continuous-time system with internal uncertainty and external disturbance is introduced, for which the sampled-data observation problem based on an extended state observer is formulated. We first introduce the framework of the observed system, in which the output measurement is sampled and transmitted to extended state observer periodically. Then based on this framework, the observation performance of the sampled-data extended state observer (SD-ESO) is investigated. For the observer considered, the uniformly ultimately bounded property has been guaranteed. Furthermore, a co-design method for the sample interval and high gain parameter of SD-ESO is provided to achieve the desired observation performance. The obtained theoretic results are validated through the numerical simulations.
In this study, a stand-off and collinear double pulse laser-induced breakdown spectroscopy （DP LIBS） system was designed, and the magnesium alloy samples at a distance of 2.5 m away from the LIBS system were measure...
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In this study, a stand-off and collinear double pulse laser-induced breakdown spectroscopy （DP LIBS） system was designed, and the magnesium alloy samples at a distance of 2.5 m away from the LIBS system were measured. The effect of inter-pulse delay on spectra was studied, and the signal enhancement was observed compared to the single pulse LIBS （SP LIBS）. The morphology of the ablated crater on the sample indicated a higher efficiency of surface pretreatment in DP LIBS. The calibration curves of Ytterbium （Y） and Zirconium （Zr） were investigated. The square of the correlation coefficient of the calibration curve of element Y reached up to 0.9998.
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