Search results for "Application"
showing 10 items of 5559 documents
Design and control of a novel 3D casting manipulator
2010
This paper focuses on casting manipulation and presents an innovative mechanism that allows objects placed in a three-dimensional space to be reached with a relatively small robot. Casting manipulation is a technique by which a robotic end-effector is thrown and its ballistic flight is controlled through a tether cable so as to reach a target object. Previous work presented a solution that is viable only when the position of the target object is perfectly known or aligned with the throwing plane. Our work extends the technique by use of a novel mechanical design of the arm, and a suitable control scheme for the flight of the end-effector, which makes it applicable for objects placed at gene…
A Rough-Terrain Casting Robot for the ESA Lunar Robotics Challenge
2009
This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the…
Visual-based Feedback Control of Casting Manipulation
2006
In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot’s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the end-effector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot’s environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position o…
Semiactive Control Methodologies for Suspension Control With Magnetorheological Dampers
2012
Authors version of an article published in the journal: IEEE/ASME Transactions on Mechatronics. Also available from the publisher at: http://dx.doi.org/10.1109/TMECH.2011.2107331 Suspension systems are one of the most critical components of transportation vehicles. They are designed to provide comfort to the passengers to protect the chassis and the freight. Suspension systems are normally provided with dampers that mitigate these harmful and uncomfortable vibrations. In this paper, we explore two control methodologies (in time and frequency domain) used to design semiactive controllers for suspension systems that make use of magnetorheological dampers. These dampers are known because of th…
Monolithic integration of GMR sensors for standard CMOS-IC current sensing
2017
Abstract In this work we report on the development of Giant Magnetoresistive (GMR) sensors for off-line current measurements in standard integrated circuits. An ASIC has been specifically designed and fabricated in the well-known AMS-0.35 μm CMOS technology, including the electronic circuitry for sensor interfacing. It implements an oscillating circuit performing a voltage-to-frequency conversion. Subsequently, a fully CMOS-compatible low temperature post-process has been applied for depositing the GMR sensing devices in a full-bridge configuration onto the buried current straps. Sensitivity and resolution of these sensors have been investigated achieving experimental results that show a de…
Fifty Fuzzily Gone, Many More to Go: An Appreciation of Fuzziness’ Present and an Outlook on What May Come
2015
Fifty years of Fuzziness represents a good chance to look back on the rich history of the discipline and the scientists that were part of this history, and at the long and varied course of one of the few really innovative, disruptive ideas of the last century, including the development of its many applications. But instead we would like to take this interesting opportunity to discuss the present state of affairs, especially in relation to the application of Fuzziness to the cognitive domain. From such reflections a possible path is defined toward the evolution of Fuzziness, under the umbrella of computational intelligence, toward an all-encompassing experimental science of language, reasoni…
DSC: software tool for simulation-based design of control strategies applied to wastewater treatment plants.
2011
This paper presents a computer tool called DSC (Simulation based Controllers Design) that enables an easy design of control systems and strategies applied to wastewater treatment plants. Although the control systems are developed and evaluated by simulation, this tool aims to facilitate the direct implementation of the designed control system to the PC of the full-scale WWTP (wastewater treatment plants). The designed control system can be programmed in a dedicated control application and can be connected to either the simulation software or the SCADA of the plant. To this end, the developed DSC incorporates an OPC server (OLE for process control) which facilitates an open-standard communic…
A mathematical approach for studying interconnected earthing systems inside MV networks
2007
PurposeThe purpose of this paper is to define a new methodology for studying interconnected earthing system inside unearthed medium voltage (MV) networks.Design/methodology/approachThe developed methodology is based on the division of the MV network into simpler sub‐systems and its resolution using a multiport approach.FindingsThe methodology has been applied to various situations giving precious information on the behaviour of the interconnected earthing systems. The comparison between the results of the simulations and measurements done on a really existing network has shown that the methodology is able to provide accurate results.Research limitations/implicationsSome factors can influenc…
User Activity Recognition for Energy Saving in Smart Homes
2015
Abstract Energy demand in typical home environments accounts for a significant fraction of the overall consumption in industrialized countries. In such context, the heterogeneity of the involved devices, and the non negligible influence of the human factor make the optimization of energy use a challenging task; effective automated approaches must take into account basic information about users, such as the prediction of their course of actions. Our proposal consists in learning customized structural models for common user activities for predicting the trend of energy consumption; the approach aims to lower energy demand in the proximity of predicted peak loads so as to keep the overall cons…
When Augmented Reality Met Art: Lessons Learned from Researcher–Artist Interdisciplinary Work
2018
Over the last few years, Augmented Reality (AR) technology has quickly evolved and today there is commercial software and hardware that allow the creation of AR experiences. However, it might still be cumbersome to create rich AR experiences without a deep knowledge of the technology. Artists have collaborated with IT experts during the last few years in order to enhance artistic pieces embedding AR technology, leading to the emergence of interesting collaborations between artists and engineers, computer scientists, architects, etc. The resulting works can be referred as AR Art. However, the interdisciplinary work behind these collaborations is usually not addressed. The aim of this paper i…