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During the launching of the AUV especially in air-launching, the water entry problem is inevitable. The AUV will stir the flow field of surrounding fluid during the moving into water, while the fluid will act a strong force on the AUV in return, which may cause trajectory deflection problems or damage to their structure and inner components in severe cases. The water entry experiment of full-size...
Manipulation of beacons is a method of Human-Swarm Interaction (HSI) of relative ease to implement, especially for computer simulated environments. This paper focuses on doing an in depth analysis of an implementation of attractor and repulsor fields and determining its advantages and disadvantages through experimental means. The results give an optimistic view of the method: the learning curve is...
This paper aims to develop the motion loading system taking into account the variable control impedance and human reactions. In the motion saving phase, a four channel bilateral controller with a micro-vibration is utilized for the purpose of obtaining not only position and force responses to human motion but also the human impedance. In the motion loading phase, the hybrid angle and the human impedance...
Aiming at the security problem of cooperative robots, this paper presents a low cost collision detection algorithm without torque sensors. In this method, the collision can be detected with the sampling torque and the dynamic model. First, the relationship between the output torque and the motion state of the rotating joint of the robot is established according to the Newton Euler method. For the...
In order to accurately simulate vehicles' running states of lane changing and more effectively reflect its characteristics, based on the driving experience, this paper introduced three changing rules and their corresponding lane changing benefits and safety factors, and summarized the lateral and longitudinal motion of vehicles as the interaction result between lane changing benefits and safety factors...
This paper proposes the improvement method of operability in a bilateral control by using visual information. The bilateral control system consists of a master system which is manipulated by the operator and a slave system which contacts remove environment. Considering the actual use of the bilateral control, the operator manipulates the master system while watching the visual information from the...
Wireless bilateral control based haptic teleoperation is a potential and challenging technique that extends human beings' sensing to a remote environment. However, communication delay in a bilateral control system directly influences the performance and even produces instability. This paper presents a stable and high performance bilateral control with a switching algorithm. This proposal uses the...
Precise force control and position control is essential for many robotic applications. During unilateral or bilateral object handling remote applications, human operators apply excess forces on the actuators with the intention of better grip and it is possible to damage the handled objects. This paper proposes position control and force control techniques when human applies excess force. The controllers...
In-circuit tests play a key role in manufacturing electronic devices with a high level of reliability. One of the most flexible technology for the tests is based on flying probes, in which a set of conductive needles is automatically positioned on multiple test points of the device under test. The probes are controlled at high speed within the working space, to increase the production rate, Position...
The postural instability was observed in patients following-stroke during standing, showing an altered center of mass acceleration (COMacc). This study aimed to investigate the effects of stroke on fluctuation and complexity of COMacc during quiet standing. Eleven stroke survivals and eleven gender- and age-matched healthy subjects participated in this experiment. The COMacc series in anteroposterior...
In contrast to precise position control of the robot arms and manipulators, the force control has been studied recently. The robust position control does not allow the robots to share the same space with humans because the robots faithfully follow the position command, and it may lead to break the contacted environments. The impedance and compliance control could set impedances of robots so that the...
The paper presents an overview of various steps required for solving the problem of designing electric drives for traction applications. The design problem is solved as an optimization problem with multiple objectives subject to various constraints governed by physical characteristics and limitations of materials and specific parts used for the assembly of electric motors and power converters, international...
In this paper a novel formation control frame-work is presented for unmanned autonomous ground vehicles based on analytical mechanics and multibody interpretation. The coordinated motion is achieved by introducing holonomic constraint functions that describe the interaction between the vehicles. These functions are interpreted as constraint forces and the decentralized control law is determined for...
This paper focuses on the control system design for a wearable power assist device which provides force/torque support for people who are doing physically demanding tasks. The device is actuated by the McKibben artificial muscle. The McKibben actuator is know to exhibit high nonlinearity between the supply pressure and the contractile length, and it is basically difficult to design a high performance...
To predict the vibration displacement distributed on a vibrating surface, an r order Non-equidistant Grey Model (r-NGM) is proposed in this paper. This model is built by accumulating the initial discrete non-equidistant vibration displacement set with the r order Accumulated Generating Operation (r-AGO). The r-NGM is applied to a vibrating surface of a shaker to displacement prediction. The experimental...
Smart Objects, the constituent elements of the Internet of Things, are computationally enhanced everyday objects such as shoes, fridges, tools, and more. In education, they have the potential to boost exploratory learning of engineering concepts by providing real-time information to students during their learning activities. With this goal in mind, we developed the Smart Cube: a Smart Object for physics...
The reducing of energy consumption for transportation and manipulation of industrial objects is a topical issue. The objects of manipulation are gripped with the use of industrial robot and transported from one position to another. In gripping devices, the lifting force is created on the basis of the aerodynamic effect of lifting appearing due to the use of compressed air. The efficiency of functioning...
This paper aims to develop the method for identifying human and environmental impedances with information in the frequency domain by using bilateral control system. In the conventional method, a sinusoidal wave is added to the common mode of bilateral control system, however, this method cannot extract haptic information in frequency domain. Human impedances are assumed to change every moment, and...
This paper presents a new variable admittance control scheme for improving physical human-robot interaction. For achieving effective assistance, an intuitive cooperation must be achieved by the human operator, in which the detection of the human inference is required. The proposed controller employs a new algorithm for inferring human intention, i.e., acceleration or deceleration, by monitoring the...
This paper faces the technical and economic challenges related to the design of a green recharge area for electric vehicles at the Campus of Palermo, Italy, with the aim of reduce both costs and pollution connected to the charging process. Based on the behaviour of the student population, the electrical load is identified and two possible solutions are evaluated to manage the peak load: an orientation...
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