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Dielectrophoresis (DEP) may be used to trap or to move biological cells. Automated position control of cells has been proposed to eliminate operator dependent experimental parameter variations and increase throughput of labour intensive laboratory procedures such as couplet fusion for mammalian cloning or plant hybridisation, and cell sorting. However, the use of DEP in laboratory procedures is often...
This paper presents a new line-based calibration method for automatically computing the transformation relationship between industrial robots and workcell. The calibration method mainly depends on the position-sensitive detector (PSD) servo control of the robots. The developed servo controller allows precisely positioning the laser beam (line) from a single laser pointer attached at the end-effector...
Current manufacturing trends require industrial robot to be more and more accurate in order to accomplish more and more complicated manufacturing processes. Robot calibration enables standard robots to achieve higher accuracies. Many complex and/or expensive calibration methodologies have been developed and implemented successfully. However, they are difficult to be used in the manufacturing floor...
A robotic manipulation system for automated selection and transfer of individual living cells of interest to analysis locations is presented. The system is the first in a series of operational components comprising an integrated system for the analysis of cell expression and metabolism at the single cell level. In our approach, we begin with a commonly used cell transfer technique, which uses glass...
Serial micro-assembly requires high precision robots able to produce translations and rotations to position and orient objects during assembly. In micro-scale, the translation ranges required are typically up to the millimeter and can be obtained with smart devices (piezomotor, etc.). In the other hand, the rotation ranges stay identical to the macroscale (eg. 90deg) and require standard guidings...
Electrostatically actuated torsional micromirror fabricated using microelectromechanical systems (MEMS) technology is a fundamental building block for many optical network applications, such as optical wavelength-selective switch, configurable optical add-drop multiplexers and optical cross-connects. The major technical obstacle to achieve its full potentials in both functionalities and performance...
This paper considers the task of computing (sub-) optimal continuous and discrete control trajectories for hybrid systems with a probabilistic discrete transition structure. The discrete inputs are used to block undesired transitions and to realize evolutions that are goal-attaining with high probability. An approach is proposed which combines the computation of discrete shortest-paths for given probability-levels...
In this paper, we present recent results on the closing ranks problem in vehicle formations and sensor networks. The closing ranks problem is to determine new sensing/communication links in the event of agent failure in order to recover certain properties of the underlying information architecture. We model the information architecture as a graph G(V, E), where V is a set of vertices representing...
This article focuses on the development of an integrated system for mobile robot odometry relying on an existing wireless transceiver infrastructure. The robot concurrently emits RF and ultrasound signals which are captured by the wireless sensor nodes. These nodes compute their distance from the robot and transmit back to the robot this information. The robot computes its location based on these...
Position and orientation estimation is one of the main problem in mobile robotics: to navigate and accomplish its job a mobile robot must know where is it. To this sake, we suppose that a set of wireless sensors are located on the operation field, which can measure distance and orientation of the robot, and are connected with the estimator by a wireless network. An extended Kalman filter has been...
This paper deals with the position and attitude control of a Vega-type space launcher. The first part of the paper develops a general model of the launcher that takes into account the gravity, air density and mass variation. It also derives a linear model with uncertainty for the dominant dynamics, taking the nonlinear characteristics of the system as parametric uncertainty. The second part introduces...
In this paper a simple sensorless algorithm of estimating the permanent magnet synchronous motor (PMSM) speed and position is presented. The proposed approach introduces a new PMSM mathematical model considered in an estimated gamma-delta reference frame instead of stationary alpha-beta reference frame. A state observer has been implemented by the fundamental excitation method based on sliding mode...
This paper presents a navigation of an autonomous robot using simultaneous localization and mapping (SLAM) in outdoor environments. SLAM is a method in which localization and mapping are done simultaneously in an unknown environment without an access to a priori map. This paper introduces a probabilistic approach to a SLAM problem under Gaussian and non-Gaussian conditions and offers alternative solutions...
An adaptive (time-varying) MIMO/SISO control strategy - funnel-control - for position control of nonlinear, coupled (rigid) robotic systems is presented and its applicability in robotics introductory shown. The concept is based on the high-gain controllability of minimum-phase systems with relative degree one and known high-frequency gain. The approach allows prescribed transient behavior without...
This article deals with the problem of planning optimal trajectories for a GOUGH parallel robot. The planning process consists of searching for a motion ensuring the accomplishment of the assigned task, minimizing a cost function and satisfying various constraints inherent to the robot kinematics and dynamics. This problem is treated via (i) an adequate parameterization of the operational coordinates...
In this paper we explore the geometry of a particular navigation scheme which guides a pursuer from a fixed initial position to a given fixed final position using a one-step look ahead strategy and using only bearing measurements. We explicitly characterize the optimal trajectories for the problem in terms of the Cramer-Rao bound such that the derived trajectories permit a minimization in the error...
This paper presents an efficient extended Kalman filter implementation of a single-camera visual simulataneous localization and mapping (vSLAM) algorithm, vSLAM is a novel algorithm for simultaneous localization and mapping problem widely studied in mobile robotics field. The algorithm is vision and odometry-based. The problem with the implementation of all SLAM algorithms is the state vector size...
In this paper, a trajectory tracking control for a nonholonomic mobile robot by the integration of a kinematic neural controller (KNC) and a torque neural controller (TNC) is proposed, where both the kinematic and dynamic models contains parametric and nonparametric uncertainties. The proposed neural controller (PNC) is constituted of the KNC and the TNC, and designed by use of a modeling technique...
This paper presents the analysis of three gait pattern adaptation algorithms applied to trajectory control of an exoskeleton for lower limbs. The proposed exoskeleton is based on a commercially available orthosis. The main dynamic characteristics of the orthosis-patient system are considered in MatLab and ADAMS simulations. Also, three gait-pattern adaptation algorithms are implemented considering...
The design and the initial realization of control on an experimental in-door unmanned autonomous quadrotor helicopter is presented. This is a hierarchical embedded model-based control scheme that is built upon the concept of back-stepping, and is applied on an electric motor-driven quadrotor UAV hardware that is equipped with an embedded on-board computer, inertial sensor unit, as well as facilities...
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