Search results for "Roboti"
showing 10 items of 687 documents
Two-stage procedure based on smoothed ensembles of neural networks applied to weed detection in orange groves
2014
The potential impacts of herbicide utilization compel producers to use new methods of weed control. The problem of how to reduce the amount of herbicide and yet maintain crop production has stimulated many researchers to study selective herbicide application. The key of selective herbicide application is how to discriminate the weed areas efficiently. We introduce a procedure for weed detection in orange groves which consists of two different stages. In the first stage, the main features in an image of the grove are determined (Trees, Trunks, Soil and Sky). In the second, the weeds are detected only in those areas which were determined as Soil in the first stage. Due to the characteristics …
A new approach to the design of a speed-torque-controlled rubber V-belt variator
2005
This paper presents a new model for a torque-speed-sensing rubber V-belt variator. The actuators are of the centrifugal roller kind on the driver side and a helical torque cam plus a compression-torsion spring on the driven side. The equations permit designing the actuator geometry in order to keep the transmissible torque as close as possible to the torque request in the whole operative field. Moreover, a procedure is suggested for the most proper design of an automatic variator of this kind. It permits choosing the required variogram of the transmission, i.e. the matching between the engine and the transmission, and designing the actuators: roller mass, housing shape, contact plate angle…
New Solution for Telescopic Robotic Arm
2014
This paper deals with a Robotic arm actuated by a monomobil telescopic planetary gear and servo DC motor. Experimental model of robot was designed and manufactured at the Faculty of Engineering from Sibiu, (Patent no. 112418 CI6.B25J 18/02). The Servo DC as actuator drives a reel. Wires on the reel will produce displacement of telescopic modules from robotic arm structure. The reference as a voltage for future arm displacement is provided by a PWM generator. The rotation of the reel in one way or another has the effect of lengthening or shortening robotic arm. Robotic arm length is directly related to the PWM signal. Control of robotic arm positioning is done with a linear transducer.
Stability and Noises Evaluation of Fuzzy Kalman UAV Navigation System.
2009
In this paper a new Fuzzy/Kalman navigation system for Unmanned Aerial Vehicles (UAV) is presented. A closed loop velocity Fuzzy navigation system is proposed for stabilizing the UAV in a reference trajectory generated dynamically and for obtaining a forward velocity command. The Kalman's filter (KF) is included in the feedback line of the fuzzy control system to filter the internal noise of the sensors and to evaluate the external noise due to possible perturbations of the nominal motion. The efficiency of the navigation system has been shown through experimental tests in a Matlab environment.
Lightguide Technology For Adverse Industrial Environments
1987
The lightguide technology has several unique fetures that open up new possibilities of its applications in alverse environments. These factors make this technology attractive in comparizon with classical metal cable based and radio technologies. In the paper we will review relevant works carried out in this country, namely: techno-logical specialization processess for industrial application oriented optical fibres and cables, classification of adverse environments and design rules for cables and optoelectronics, description of our technological facility, fiber optic health protection systems in adverse environments, example of real life applications of ruggedized fibre optic systems in HV/H…
Distributed Intrusion Detection for the Security of Industrial Cooperative Robotic Systems
2014
Abstract This paper addresses the problem of detecting possible intruders in a group of autonomous robots which coexist in a shared environment and interact with each other according to a set of common rules. We consider intruders as robots which misbehave, i.e. do not follow the rules, because of either spontaneous failures or malicious reprogramming. Our goal is to detect intruders by observing the congruence of their behavior with the social rules as applied to the current state of the overall system. Moreover, in accordance with the fully distributed nature of the problem, the detection itself must be performed by individual robots, based only on local information. We present a general …
Synergic algorithms for the planning and the intelligent following of a trajectory for non-holonomic vehicles
2008
Although there are many studies about two wheels non-holonomic vehicles, in order to simplify the problem the planning and the following of trajectories or paths are generally considered two different phases. In this paper, two algorithms for the synergic working of trajectory planning with intelligent trajectory following are presented. The "trajectory shape" characteristics obtained in the planning phase are used for the efficient trajectory following. From the shape, in order to follow the trajectory, an intelligent controller calculates, without further elaboration, the reference wheels velocity of the vehicle. The knowledge of trajectory shape characteristics and curvature constraints …
odeling of Human Arm Energy Expenditure for Predicting Energy Optimal Trajectories
2011
Human arm motion can inspire the trajectory planning of anthropomorphic robotic arms to achieve energy-efficient movements. An approach for predicting metabolic cost in the planar human arm motion by means of the biomechanical simulation is proposed in this work. Two biomechanical models, including an analytical model and a musculoskeletal model, are developed to implement the proposed approach. The analytical model is developed by modifying a human muscle expenditure model, in which the muscles are grouped as torque providers for computation efficiency. In the musculoskeletal model, the predication of metabolic cost is conducted on the basis of individual muscles. With the proposed approac…
Tool-Point Control for a Redundant Heave Compensated Hydraulic Manipulator
2012
Abstract In this paper, theoretical and experimental implementation of heave compensation on a redundant hydraulically actuated manipulator with 3-dof has been carried out. The redundancy is solved using the pseudo-inverse Jacobian method. Techniques for minimizing velocities and avoiding mechanical joint saturations is implemented in the null space joint motion. Model based feed-forward, combined with a PI-controller handles the velocity control of each joint. A time domain simulation model has been developed, experimentally verified, and used for controller parameter tuning. Model verification and experimental results are obtained while the manipulator is exposed to wave disturbances crea…
PAUT inspection of complex-shaped composite materials through six DOFs robotic manipulators
2015
The requirement to increase inspection speeds for the non-destructive testing (NDT) of composite aerospace parts is common to many manufacturers. The prevalence of complex curved surfaces in the industry provides significant motivation for the use of six-axis robots for the deployment of NDT probes in these inspections. The IntACom project, developed by TWI Technology Centre (Wales) and supported by a number of major aerospace partners and the Welsh government, has produced a prototype robotic NDT system. The prototype system is capable of inspecting complex-geometry composite components with great time savings. Two six-axis robotic arms deploy end effectors carrying phased array ultrasonic…