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A rescue robot is required to efficiently run on uneven surfaces. However, a high performance on a rough terrain sometimes causes inefficiency in rapidly moving on even surfaces such as paved areas. To provide a mechanism that is able to be used in different terrains without changing the structure, we propose a specialized shape for 6 wheels vehicles that is able to run like a normal wheeled vehicle...
Dual-stage actuation consisting of a PZT Microactuator (MA) and a Voice Coil Motor (VCM) has been used to improve the servo bandwidth and the disturbance rejections of Hard Disk Drivers (HDDs). However, the hysteresis in PZT MA limits the performance that can be achieved. In this paper, a Hammerstein model structure consisting of static hysteresis nonlinear block and dynamic linear block is used to...
Detecting and tracking a human from a mobile robot platform has several applications in service robotics where a robot is expected to assist humans. In this paper, we propose a novel interest point-based algorithm that can track a human reliably under several challenging situations like variation in illumination, pose change, scaling, camera motion and occlusion. The limitations of point-based methods...
Machine vision is an important tool used in robotics development to interact with its surrounding and operate autonomously in both known and unknown environments. This paper describes a robot control system for target tracking and following using machine vision. The system allows tracking of another agent equipped with a marker of distinctive colour, simultaneously keeping distance and adjusting its...
This paper investigates the output tracking results of SISO time-delay system using the super-twisting sliding mode control approach. By a system transformation and Padé approximation, the output tracking of time-delay system is transformed into the tracking of a nonminimum phase system. Stable system centre approach is used to approximate this system by a stable one. All the tracking errors and errors...
This paper presents a development for the model predictive control (MPC) of nonlinear systems employing the quadratic dissipativity constraint (QDC). In this QDC strategy for nonlinear input-affine systems, a compound output vector is engaged to the supply rate such that the stability condition based on linear matrix inequality (LMI) can be rendered for nonlinear systems. The compound vector shares...
House fires can cause severe damages to property and even cause loss of life. Although complex fire detection systems are commercially available but generally standalone smoke detectors are utilized in domestic environments to indicate fire. Standalone smoke detectors ring alarm when they detect smoke and give an early warning to anyone present in the premises. One major issue with such smoke detectors...
Accurate liver segmentation from computed tomography (CT) images is problematic due to non-uniform density, weak boundaries and because there may be multiple liver tumors that have heterogeneous intensities in region(s) of interest (ROIs). So we propose a generalized energy framework that harnesses the statistical intensity approximation with image data on graphs. Our statistical energy term takes...
To assist people with disabilities caused by accidents or illnesses regain their social life and activities it is important to assess their condition. As well, it is also important to monitor their progress in rehabilitation, in order to determine the regimen and intensity of therapy. At present many objective assessments require therapists to subjectively grade various tasks the patients perform...
One of the key benefits of reconfigurable legged robots is their ability to move in a non-continuous way enabling it to provide better mobility over rough and irregular terrains. Legged robots should maintain it stability during rest and motion with minimum number of legs while maintaining its functionality during various gait generation and its resultant application. In this paper we have presented...
Extreme learning machine (ELM) as an emergent technology has shown its good performance in regression applications as well as in large dataset classification applications. It has been broadly embedded in many applications due to its fast speed of computation and accuracy. How to make good use of machine learning techniques in Indoor Positioning System (IPS) is a hot research topic in recent years...
Visual motion perception in biological vision systems is typically modeled via a set of elementary motion detectors (EMDs) forming a spatially distributed network. This paper addresses the problem of estimating the weights of such an EMD construct from a linear combination of their output signals. This challenge arises in e.g. mathematical modeling of animal motion perception. In particular, the spatial...
Advances in multiple spacecraft operations require precise determination of the relative kinematic state of the platforms involved. Such knowledge — above all in case of non-cooperative approaches — can be usefully attained by means of imaging. However, the extremely varying light conditions in the orbital environment do not allow for extended operations in the visible spectrum. The paper investigates...
In this paper, we overview basic quantum machine learning algorithms and we highlight their potential application for rehabilitation brain computer interface systems. The paper provides a very brief introduction to basic quantum theory issues, such as quantum registers and quantum gates, as well as basic limitations of brain computer interface systems. Finally, we present references, ideas and research...
In this paper we report on development and analysis of a high throughput 3D reconstruction set-up for reconstructing cereal plants grown in pots for their phenotypic analysis. We are motivated with the idea of accurate and high-throughput reconstruction of shoots. We have developed a turntable setup for high-throughput and high accuracy 3D reconstruction of plant shoots, where the plants stays stationary...
This paper presents a novel technique adaptive shape control of a parabolic space antenna with the help of an optimized SMA-wire network. The work uses genetic algorithm NSGA-II for solution of the problem, which has minimization of energy input and minimization of error in desired and obtained shape as the two conflicting objectives. We combine finite element analysis with well-established temperature-resistance...
Jerk derivative feedforward control is proposed and used in recent literatures. However, such feedforward control scheme is restricted to the minimum-phase system which has constrained static gains in the flexible modes. This paper presents a novel form of feedforward controller for a wider class of flexible motion systems, even to be non-minimum phase, as long as the summation of DC gains of flexible...
Cayley graph is used in representing the complex augmentation of autonomie EEG neural network with bipartite, trivalent and Erdos-Renyi models. The augmentation was used in determining an efficient communication, data and information transmission in EEG neural network. The geometric properties of EEG neural network augmented in autonomie Cayley neural network is used in the processing and transmission...
The automation and motion control aspects of a developed multi-sensor measuring system are described in this contribution. The measuring system is designed to automatically detect and survey surface defects of microscopic size on macroscopic mechanical components. It is based on the hierarchical combination of optical sensors with different working ranges and resolutions. This measurement approach...
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