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In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human by considering impedance learning and human motion intention estimation. The least square method is used in human impedance identification, and the robot can adjust its impedance parameters according to human impedance model for guaranteeing compliant collaboration. Neural networks (NNs) are employed...
The importance of mobile robots for the nuclear disaster response has been realized after Fukushima Dai-ichi nuclear power plant accident. In this paper, we propose a tracked robot for rescue and search in nuclear environment. A gamma-ray irradiation test of the robot's control system is conducted, in order to evaluate the performance of the robot in nuclear environment. The parallel test method is...
Pedestrians evacuation is key to improve the traffic efficiency and guarantee the safety of pedestrians in high density area, which have been widely concerned by scholars. This paper establishes a macroscopic model for T-shaped channel consisting of some corridors and nodes, which is very common in real traffic system. Then, with the goal of avoiding congestion and maximizing the pedestrian flow of...
Levels of Autonomy (LoA) provide a method for describing authority granted to operators and autonomous system elements. Unfortunately, LoA does not provide the user interface designer a clear method to distinguish interface concepts which impose varying levels of operator workload or result in human or system performance changes. The current research suggests an alternate classification framework...
To meet the higher requirements of human-machine interface technology, the quadruped robot with human recognition capability is discussed in this paper. We present a marker tracking system which uses laser scanner and pan-tilt to allow a particular user to designate himself as the robot's leader. Optimal motion curve of pan-tilt is planned so as 3D point clouds can be returned by a rotating 2D laser...
Clothes are very important for daily life. We always wash, dry, and fold them for maintenance of clothes. Washing and drying were already automated. However, folding isn't automated. Automation of folding clothes is expected for not only industry, but also home use. Unfortunately, folding system for home use is not perfect yet. A folding system is implement with normal table and small mobile robots...
The paper deals with the design of a Robot based automation framework that can be used for the enhancement of the capabilities and standards of an enterprise functional testing. The paper firstly introduces IMS (IP Multimedia Subsystems) and the necessity to build an end-to-end framework for functional testing. The protocol involved for call handling is the SIP (Session Initiation Protocol). Along...
In many countries, robots and automation techniques are being introduced in agriculture farms to reduce the human labour and to improve the yield. However, such technological initiatives are still lacking in India, although it is the leading producer of many vegetables and fruits, for example, coconuts. Some of the activities carried out in a coconut farm that requires human labor are coconut dehusking,...
This paper offers a new approach to learning discrete models for human-robot interaction (HRI) from small data. In the motivating application, HRI is an integral part of a pediatric rehabilitation paradigm that involves a play-based, social environment aiming at improving mobility for infants with mobility impairments. Designing interfaces in this setting is challenging, because in order to harness,...
The customer specific manufacturing of stators for electric motors is based on a time-consuming and expensive process chain. For this reason, the E|Drive-Center at the Institute for Factory Automation and Production Systems (FAPS) from Friedrich-Alexander University Erlangen-Nuremberg (FAU) is researching on solutions centered on the flexible automation of these processes. In this paper a robotic-based...
Traditionally, domestic water pump assembly is often carried out manually using dedicated fixed systems. These are inflexible, have long manufacturing lead time and can lead to capital bottlenecks. One way of introducing flexibility is by incorporating robots. Background literature suggested that there has been limited work on the use of flexible robot-based assembly applications. But they all required...
As the first step towards the natural interaction between human and multi-UAV system, we present a novel human-UAV interaction method based on hand gesture recognition. We design different hand gestures corresponding to different UAV commands and propose a stable algorithm to distinguish these gestures. Then, considering the fact that the operation of multi-UAV system may need multiple cooperative...
Bio-syncretic robots, consisting of living biological materials and traditional electromechanical systems, have attracted lots of attention due to the potentialities of self-sensing, self-actuation and self-repairing with intrinsic safety and high energy conversion efficiency. However, most of current researches focus on the movement of the devices, and have ignored the study on the control of actuation...
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,...
The next era of computing is the evolution of the Internet of Things (IoT) and Smart Cities with development of the Internet of Simulation (IoS). The existing technologies of Cloud, Edge, and Fog computing as well as HPC being applied to the domains of Big Data and deep learning are not adequate to handle the scale and complexity of the systems required to facilitate a fully integrated and automated...
This paper presents a technological solution for designing an assistive device for a biomechanical study of the Sit-to-Stand movement (STS). This device targets people with disabilities following a stroke. The control algorithms are implemented in TwinCAT runtime environment. The communication between all the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this...
This paper discusses some important issues related with automation and mechanization of plastering and finishing works at a construction site. It presents some requirements to the automation of finishing works. The paper suggests basic principles of designing finishing robotic systems. It also describes a method to design the block structure of a finishing robot.
Suppose we are given an autonomous vehicle that has limitations, meaning that it may need to transfer control back to the human driver to guarantee safety in certain situations. This paper presents work on designing a user interface to assist this hand off by considering the effects of the expression of internal and external awareness. Internal awareness is the concept of knowing whether or not the...
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