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Magnetic untethered millirobots, which are actuated and controlled by remote magnetic fields, have been proposed for medical applications due to their ability to safely pass through tissues at long ranges. For example, magnetic resonance imaging (MRI) systems with a 3–7 T constant unidirectional magnetic field and 3D gradient coils have been used to actuate magnetic robots. Such magnetically constrained...
In the scope of the study, it was aimed to discover a closed multi-storey environment with autonomous air robots and produce a three dimensional map. In order to reduce the complexity of the three-dimensional exploration algorithm, we have developed Target Elimination Method that can calculate the result by narrowing the problem space. The Target Elimination Method ensures that the exploration algorithm...
Unmanned systems are increasing in number, while their manning requirements remain the same. To decrease manpower demands, machine learning techniques and autonomy are gaining traction and visibility. One barrier is human perception and understanding of autonomy. Machine learning techniques can result in “black box” algorithms that may yield high fitness, but poor comprehension by operators. However,...
In order to improve the DC-bus voltage control performance and suppress the transient fluctuation of DC-bus voltage, a nonlinear disturbance observer (NDO) based DC-bus controller is proposed in this paper. The feed-forward compensation of active power disturbance is achieved by the proposed controller to reject the influence of parameter variations and the mismatched disturbance from the output terminals...
In this paper, the static stiffness of cable-driven wrist robotic rehabilitor (CDWRR) in its whole workspace is analyzed. A total stiffness matrix of this device consists of the exoskeleton stiffness model and the human arm stiffness model, which is obtained by using an equivalent stiffness model of exoskeleton and assuming a series of simplification of human arm. The analysis on stiffness was made...
This paper discusses the development of a small beach cleaning robot. The paper discusses two aspects of the robot: the refuse collection mechanism and the autonomous navigation system. In order to enable effective collection of refuse from a sandy surface, we developed a mechanism that mimics cleaning of a floor using a broom and dustpan. To identify its own position, the robot was equipped with...
In this paper, an optimal control method to non-prehensile manipulation control by two cooperative arms is proposed. In details, based on the dynamic model of the two-rigid-link object, an approximate model is derived. According to the obtained model, an optimal regulator is designed to realize the holding motion of two cooperative arms which is used to keep the two-rigid-link object stable on the...
The international interdisciplinary field training of marine robotics and applications 'Breaking the Surface BtS started in 2009 as one of the two flagship dissemination activities of the EU-funded FP7 Capacities REGPOT-2008-1 project ‘De-veloping the Croatian Underwater Robotics Research Potential — CURE’. Three BtS field-trainings were organized as CURE activities (BtS2009, BtS2010 and BtS2011)...
A novel approach to loop transfer recovery design is presented, that is applicable in the scope of TFL/LTR (Target Feedback Loop / Loop Transfer Recovery) controller design, whose best known variant is LQG/LTR (Linear Quadratic Gaussian / Loop Transfer Recovery) design. The proposed method requires solely the adjustment of two scalar parameters, which must satisfy an inequality that depends on the...
The purpose of this paper is to present the investigation of impact pressure acting on the hemisphere cylinder when it hits the water. In this paper, a two-dimensional hemisphere cylinder is built to simulate the water-entry problem. The model enters into the calm water verticals with initial velocity in y-direction at 10m/s. The transient flow simulation is carried out using Fluent k-£ turbulent...
Robots moving in an unknown environment are made to face many obstacles while navigating in a planned or unplanned trajectory to reach their destination. But, no information is available regarding the failure of leader robot of a group in both unknown and uncertain environments and the subsequent course of action by the follower robots. The leader robot might fail due to internal and external disturbances...
Biopsy of zona pellucida is a necessary step prior to pre-implantation genetic diagnosis (PGD). Besides traversing zona pellucida by applying laser or acidified medium (e.g Tyrode's solution), mechanical means is another safe approach. Traditional mechanical zona cutting requires highly skilled embryologist. It is very difficult to make the process automatic due to its complexity. The process can...
Safety constraints are a major aspect for human robots interaction. A new variable stiffness robot joint (VSR-joint) is proposed for operating safely. The proposed concept allows for the development of an actuation unit with a wide range of stiffness and a fast stiffness regulation response. The design of VSR-joint is compact and integrated highly and the operating is simply. The mechanics, the principle...
Water strider is an amazing insect that can effortlessly float, quickly run and jump on a water surface without drowning. It's of great challenge and interest to design and fabricates a micro robot that can walk on a water surface like water strider to carry out aquatic tasks such as water quality monitoring, aquatic exploration, water search and rescue. In this study, we designed a new type of biologically...
Lower-limb wearable robots have been proposed as a means to augment or assist the wearer's natural performance, in particular, in the military and medical field. Previous research studies on human-robot interaction and biomechanics have largely been performed with rigid exoskeletons that add significant inertia to the lower extremities and provide constraints to the wearer's natural kinematics in...
Colonoscopy is an important procedure for the diagnosis of various pathologies, in particular cancer of the colon and of the rectum. However, colonoscopy is a procedure often painful for the patient and complex for the doctor. So in the biomedical field, a wireless microrobot in pipe that can move smoothly in water or aqueous medium has urgently been demanded. In this paper, we developed a new kind...
In this research, omnidirectional crawler unit with the torus configuration is proposed. It is composed of two curved crawler belts whose inner and outer trajectories have the same length. The prototype is designed and developed. The basic motion of the prototype is confirmed experimentally.
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