Search results for "302"
showing 10 items of 27399 documents
Robust Composite Nonlinear Feedback Path-Following Control for Independently Actuated Autonomous Vehicles With Differential Steering
2016
This paper investigates utilizing the front-wheel differential drive-assisted steering (DDAS) to achieve the path-following control for independently actuated (IA) electric autonomous ground vehicles (AGVs), in the case of the complete failure of the active front-wheel steering system. DDAS, which is generated by the differential torque between the left and right wheels of IA electric vehicles, can be utilized to actuate the front wheels as the sole steering power when the regular steering system fails, and thus avoids dangerous consequences for AGVs. As an inherent emergency measure and an active safety control method for the steering system of electric vehicles, DDAS strategy is a valuabl…
Human Systems Design: Towards an Integrative Conceptual Framework
2020
International audience; Conceiving artefacts and tools is one of the major key characteristics of the human species. Since the beginning of automation and even more since the spreading of computer science, this activity has become more and more challenging especially through the analysis of the different interaction modes between the artifacts and the human. Nowadays, developing an artifact that must interact with a human is requiring an integrative point of view which must include biological, physical and cybernetical concerns. The current norms aimed at characterizing the quality and the relevance of human machine interface are generally limited to standard interfaces and/or to specific d…
Repeated exposure of acidic beverages on esthetic restorative materials: An in-vitro surface microhardness study.
2015
Background A manifold increase in the consumption of aerated beverages has witnessed a twin increase in tooth wear and raised demand for esthetic restorative materials. This study aimed to evaluate the surface microhardness changes of esthetic restorative materials following treatment with aerated beverages in an in-vitro situation. Material and Methods The initial surface microhardness of the restorative materials GC Fuji II LC, GC Fuji IX, Nano Glass ionomer, Resin and Nano composite was recorded. These materials were studied under 3 groups that included those exposed to the acidic beverages daily, weekly once in a month and those that had no exposures at all. The final surface microhardn…
Calibration of mobile manipulators using 2D positional features.
2018
International audience; Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the efficiency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator and the AGV is often unknown. This paper provides a novel, simple, and low-cost method for calibrating and measuring the performance of mobile manipulators by using data collected from a laser retroreflector that digitally detects the horizontal two-dimensional (2D) position of reflectors on an artifact as well as a navigation system that provides the heading angle and 2D position of the AGV. The method is mathem…
An algebraic approach for human posture estimation in the sagittal plane using accelerometer noisy signal
2012
International audience; Our aim is to develop an algebraic approach to estimate human posture in the sagittal plane using Inertial Measurement Unit (IMU) providing accelerations and angular velocities. To do it so, we address the issue of the estimation of the amplitude, frequency and phase of a biased and noisy sum of three sinusoidal waveform signals on a moving time horizon. Since the length of the time window is small, the estimation must be done within a fraction of the signal's period. The problem is solved via algebraic techniques (see [38] for the theoretical part concerning this problem). The efficiency of our approach is illustrated by computer simulations.
Abnormal Textures Identification Based on Digital Hilbert Optics Methods: Fundamental Transforms and Models
2017
The article presents the abnormal textures identification technology based on structural and statistical models of amplitude-phase images (APIm) – multidimensional data arrays (semantic models) and statistical correlation analysis methods using the generalized discrete Hilbert transforms (DHT) – 2D Hilbert (Foucault) isotropic (HTI), anisotropic (HTA) and total transforms – AP-analysis (APA) to calculate the APIm. The identified fragments of textures are obtained as examples of experimental observation of real mammograms contains areas of pathological tissues. The DHT based information technology as conceptual chart description is discussed and illustrated with DHO domain images. As additio…
Overview of the Development of Hydraulic Above Knee Prosthesis
2017
This paper presents research and development of hydraulically powered above-knee prosthesis (HAKP) and novel prosthetic foot, in order to enable transfemoral (TF) amputees perform stair ascent and other daily activities in as much as possible natural manner. Functions that need exertion of large forces and moments during locomotion such as walking up stairs and slopes cannot be naturally accomplished by commercially available microprocessor-controlled above-knee (AK) prostheses. Also, such prosthetic devices are expensive and unaffordable for major part of amputee population, so mostly used commercial prostheses are energetically passive devices. Deficiency of passive prosthetic devices is …