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Flapping foil propulsion with high-efficiency, maneuvering capability becomes a hot topic recently. However, most research about flapping-foil motion patterns focused on pure sinusoidal pattern. Effect of flapping-foil motion pattern to the hydrodynamic performance was presented in this paper by numerical simulations of 2D flow around a NACA0012 foil with asymmetric and non-sinusoidal pitching motion...
The optimal Latin hypercube designs have been applied in many computer experiments as a basic method of experiment design. In this paper, we propose a novel criterion for constructing optimal Latin hypercube designs. The corresponding foundation of the novel criterion ideas is that the each point of the uniform design should have approximately equal distance with adjacent points. It means if we count...
This paper presents our work on the development of a video maze game in Android system, and a new method to play the game using gyroscope and electromyography (EMG) signals obtained by a wireless Emotiv Neuroheadset. The TeamViewer software is used to share the computer screen and to transfer the data to an Android device, and the Emotiv EPOC headset is used to detect the intension of the user who...
A neural network empowered dynamic surface control (DSC) technique is addressed for robot manipulators system with unknown dynamics. In comparison to the conventional adaptive neural control algorithms, which could guarantee semi-globally uniformly ultimate boundedness (SGUUB) only when neural approximation keeps effective, the scheme designed in this paper ensures globally uniformly ultimately bounded...
In this paper, a teleoperation approach is developed for TouchX device using wave variable technique. The control system employs the 6-DOF (degrees of freedom) Geomagic® TouchX as a master device, and a 2-DOF simulated robot manipulator as slave. The master device provides user haptic feedback such that the bilateral opreation can be achieved for the teleoperation system. To avoid singularity pose...
Adaptive control has recently been extended to bilateral teleoperators to synchronize the local and remote positions and velocities. However, precise parameter estimation has not been achieved via conventional adaptations. In this paper, we propose an modified adaptive control method for teleoperation systems by introducing a new adaptive law, which uses the parameter error as new leakage terms. Consequently,...
This paper describes a control system of companion robot for the elderly, and it can interact with people of various functions for the spirit to accompany the elderly, it can effectively reduce the loneliness of the elderly. The companion robot includes a sensor means disposed inside the main controller and the execution unit; sensor means for sensing body movements and/or changes in the environment,...
The number of elderly people with a mobility disorder is increasing rapidly. To improve the quality of life of these people, devices that can assist them to deal with their activities of daily living are of great demand. As an important aid devices, bathing aid devices have been widely studied and applied recently. By contrast, bathing aid devices can release the burden of care workers as well. In...
Aiming at the problem of indoor navigation of family nursing robot, this paper proposes a dynamic window algorithm that the service robot could plan the optimal path autonomously and realize the obstacle avoidance quickly in the indoor dynamic environment. Firstly, the basic principle of the dynamic window method is introduced, and then the navigation system of the service robot's indoor dynamic environment...
In a nursing home, there is an attendant blind area at night and in bathroom, and the existence of the blind area will put the elderly at potential risk. To solve the problem above, a wireless monitoring system based on ZigBee has been developed, and the system serves the functions of night off-bed detection and bathroom monitoring. The system has the characteristics of low power and low cost, and...
A bed exiting monitoring system with fall detection function for the elderly living alone is proposed in this paper. By separating the process of exiting or getting on the bed into several significant movements, the sensor system composed of infrared and pressure sensors attached to the bed will correspondingly respond to these movements. Using the finite state machine (FSM) method, the bed exiting...
Stably grasping objects for a specific task is a hot research topic in robotics due to multiple degrees of freedom of hand kinematics, incomplete visual sensing of objects, and various shapes of objects. This paper proposes an effective grasp planning method by integrating the crucial grasp cues (positions and orientations of thumb fingertips and the wrist) from human experience. This approach greatly...
Visual attention plays an important role in human visual system, helping people to attend to things even before recognition. By its functionality, it can be treated as three kinds: SBA (spatial-based attention), OBA (object-based attention), and FBA (feature-based attention). Early works that model the mechanism of visual saliency mainly concern only one aspect of saliency. Recently, it has been shown...
Sociable robots can afford the ability to express emotive experiences in a realistic manner if they are able to appropriately display facial expressions and conform to the normative emotion display rules. Displaying similar-to-human emotive experience on a robot face would require control over the speed of facial expression appearance/disappearance, and the duration of expression display. Effectively...
To increase the localization accuracy of the moving service robot in restaurant, A localization method and a landmark recognition method based on RGB and depth (RGB-D) vision sensor is presented. Based on the landmarks, we utilized an Extend Kalman Filter(EKF) method to calculate robot position and pose. The path planning approach based on a differential-flatness point-to-point trajectory planning...
This article1 presents the algorithms of calculations of the manipulation object coordinate position and orientation, for the planning movement of the robot Adept Six-300. Two cameras Edimax IC-7100P observe objects in the robot environment. To geometric calibration of these cameras it was used the original algorithm that does not require calculation of the projection matrix or fundamental matrix...
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