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In recent years, service robots have advanced toward having to the ability to move autonomously in an environment in which they co-exist with humans. Thus, the robots must engage in obstacle avoidance to arrive at their goal point. In our previous research, we developed the artificial potential based method that the robot to plans an effective path simulating pedestrian characteristics by gently changing...
First, the received signal strength indications (RSSIs) of the three tags on a triangular apparatus surrounding a target human (TH) are read by two perpendicular antennas with one reader. These 6 RSSIs and their corresponding pose and the azimuth angle of the TH with respect to the autonomous guided vehicle (AGV) or antenna are attained. Since the relations of these pairs of input and output are nonlinear,...
This paper presents an adaptive nonsingular terminal sliding mode formation control by means of output recurrent fuzzy wavelet neural networks for a group of networked heterogeneous Mecanum-wheeled omnidirectional robots with uncertainties. The dynamic behavior of each uncertain heterogeneous omnidirectional robot is modelled by a reduced three-input-three-output second-order state equation with uncertainties...
500kV substation on duty gradually tends to be unmanned with the development of smart grids, the mobile robot that used in substation equipment inspection emerge as the times require. Substation inspection robot system, which is described in this paper, can replace a fixed video monitoring, complete video remote transmission of information, equipment control, accident treatment and coordinated transport...
When remote users share autonomy with a telepresence robot, questions arise as to how the behaviour of the robot is interpreted by local users. We investigated how a robot's violations of social norms under shared autonomy influence the local user's evaluation of the robot's remote users. Specifically, we examined how attribution of such violations to either the robot or the remote user influences...
In this paper, the service robot named “BlackBot” as receptionist robot is descried, that is a small three-wheeled mobile platform with a differential drive, which was controlled by a mini PC. The BalckBot could sense its surroundings with the aid of various electronic sensors while mechanical actuators were used to move it around. Robot's behavior was determined by the program, which was loaded to...
This paper proposes a method to optimize the structure of the radial basis function neural network (RBFNN) by using particle swarm optimization (PSO) algorithm. The combination of PSO and RBFNN can overcome the disadvantages of RBF neural network. The PSO algorithm is used to determine the number of hidden neurons, initial weights, center and base widths in RBF neural network. After being optimised,...
A wheeled mobile robotic system (WMR) is a kind modular robotic, nonlinear and the system subjected to nonholonomic constraints. It is impossible to obtain an exact dynamics model due to unknown parameters, unpredictable and irregular features, external disturbance. This paper proposes an adaptive robust controller to guide WMR to follow the desired trajectory. The cascade control system is applied...
Simultaneous control of many MEMS microrobots through a common, global, control signal is one of the grand unsolved challenges of microrobotics. At present, most mobile, aqueous, or aerial microrobots, are actuated and maneuvered using global externally supplied fields. The differentiation of the microrobot motion within a larger swarm is achieved through differences in their design that lead to different...
In this paper, a cable-driven haptic interface able to move in the six-dimensional space, suitable for applications in various robotic scenarios is presented. The device takes advantage of four force-controlled twisted string actuators to generate a linear force along the three Cartesian space dimensions while providing a considerable force-weight ratio and low inertia. The system consists of a frame...
This paper presents a six degree of freedom position regression CNN (convolutional neural network) based on Google's Inception-V4 CNN. This network is then evaluated quantitatively and compared to previous state-of-the-art position regression CNNs. Our model achieves a 22% and 51% relative improvement compared to previous state-of-the-art methods for position and orientation accuracy respectively...
In recent years, mobile terminals come to be used to assist works. However, we can not say that they are enough suitable to assist works either that occupy hands or that are accomplished in environment with water or fire, which cause troubles with electronic devices. In this study, in order to solve this problem, we propose an assist system using projection mapping and NUI. Note that our system is...
Scene flow is a key function of stereo-based environment perception system for mobile robotics and autonomous vehicle. Due to the heavy computing requirement and the limited computing resource, parallelized and embedded algorithms become quite important for the application of the mobile robotics. This paper develops a cross-platform embedded scene flow algorithm by using a coarse-grained software...
In this paper, we consider a surveillance scenario where a team of sensing robots survey a sensitive area and transmit the monitored data to a remote base station through a mobile relay. In this scenario, it is challenging to autonomously adjust the position of the mobile relay for the sake of minimizing the total communication-motion energy consumption of the system, while maintaining the communication...
This paper studies a reconfiguration algorithm for heterogeneous cubic modular robots in environments with obstacles. Tunneling is suitable for the transformation of cubic modular robots in such an environment because a tunneling robot only passes spaces that are occupied by the robot in the start and goal configurations. We have also designed a permutation algorithm that can be executed in the space...
In the context of a research project of the group for control engineering and automotive mechatronics from Ostfalia University a highly dynamic system comprising a spherical electrical drive is to be developed in a model based manner [1]. This system is to be used as the core actuation element of a service platform called the S-Mobile. The S-Mobile can be used for example as a service robot for interaction...
The Paper describes certain Novel Technologies and Security concepts that have been successfully developed in Saudi Arabia through Privately funded Research & Development. These include various Wireless Video based Security & Surveillance and Robotic Systems and other Integrated Security Concepts that are very relevant in the current environment. The paper discusses and highlights several...
The Internet of things (IoT) has become a general trend in the electronic world. In this IoT era, various types of sensors gathering data are placed everywhere, and visual data is one of the most valuable information. While extracting important features from visual images, complex vision algorithms are often processed by high speed computing units like CPU or GPU. However, most IoT devices are mobile,...
User profiles are important in many areas in which it is essential to obtain knowledge about users of software applications. Knowledge about a user includes his likes, dislikes, even his emotional state can be determined by user profiling. In this paper we examine what information constitutes a user profile; and how the profile information is used to get the emotional state of a user. We also study...
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