Search results for "Robotic"
showing 10 items of 636 documents
On the coupling between agent internal and agent/ environmental dynamics: Development of spatial representations in evolving autonomous robots
2008
In this article we describe how a population of evolving robots can autonomously develop forms of spatial representation which allow them to self-localize and to discriminate different locations of their environment by integrating sensory-motor information over time. The evolving robots also display a remarkable ability to generalize their skill in new environmental conditions that they have never experienced before. The analysis of the obtained results indicates that the evolved robots come up with simple and robust solutions that exploit quasi-periodic limit cycle dynamics emerging from the coupling between the robot/environmental dynamics and a robot's internal dynamics. More specifical…
A vision agent for mobile robot navigation in time-variable environments
2002
We present an architecture for mobile robot navigation based on Bayesian networks. The architecture allows a robot to plan the correct path inside an environment with dynamic obstacles. Interactions between the robot and the environment are based on a powerful vision agent. The results of simulations, showing the effectiveness of the approach, are described.
Continuous monitoring of an intentionally-manufactured crack using an automated welding and in-process inspection system
2020
Abstract Automated weld deposition coupled with the real-time robotic Non-Destructive Evaluation (NDE) is used in this paper. For performance verification of the in-process inspection system, an intentionally embedded defect, a tungsten rod, is introduced into the multi-pass weld. A partially-filled groove (staircase) sample is also manufactured and ultrasonically tested to calibrate the real-time inspection implemented on all seven layers of the weld which are deposited progressively. The tungsten rod is successfully detected in the real-time NDE of the deposited position. The same robotic inspection system was then used to continuously monitor an intentionally-manufactured crack for 20 h.…
Developing Self-Awareness in Robots via Inner Speech
2019
The experience of inner speech is a common one. Such a dialogue accompanies the introspection of mental life and fulfills essential roles in human behavior, such as self-restructuring, self-regulation, and re-focusing on attentional resources. Although the underpinning of inner speech is mostly investigated in psychological and philosophical fields, the research in robotics generally does not address such a form of self-aware behavior. Existing models of inner speech inspire computational tools to provide a robot with this form of self-awareness. Here, the widespread psychological models of inner speech are reviewed, and a cognitive architecture for a robot implementing such a capability is…
Robotic versus laparoscopic radical hysterectomy in early cervical cancer: A case matched control study
2018
Abstract Background This study aims at evaluating the feasibility, surgical outcome and oncological results observed after robotic radical hysterectomy (RH) compared to laparoscopy for patients with early stage cervical cancer (ECC) patients. Methods Between January 2010 and October 2016, 210 patients underwent RH for treatment of ECC: 70 underwent robotic approach (Cases), and 140 underwent laparoscopic approach (Controls). Results There was no statistically significant difference between the two approaches with regard to clinical patient characteristics and in terms of extent of RH and rate of pelvic and aortic lymphadenectomy. Operative time was significantly longer in the robotic versus…
LQG Control Design for Balancing an Inverted Pendulum Mobile Robot
2011
Author's version of an article published in the journal: Intelligent Control and Automation. Also available from the publisher at: http://dx.doi.org/10.4236/ica.2011.22019 The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system succe…
Application of Wavelet Networks to Adaptive Control of Robotic Manipulators
2011
Published version of a chapter in the book: Intelligent Robotics and Applications. Also available from the publisher at; http://dx.doi.org/10.1007/978-3-642-25489-5_39 In this paper, a wavelet-based adaptive control is proposed for a class of robotic manipulators, which consist of nonlinearities for friction effects and uncertain terms as disturbances. The controller is calculated by using a mixed of feedback linearization technique, supervisory control and H∞ control. In addition, the parameter adaptive laws of the wavelet network are developed using a Lyapunov-based design. It is also shown that both system tracking stability and convergence of the error estimation can be guaranteed in th…
Forward Kinematic Modelling with Radial Basis Function Neural Network Tuned with a Novel Meta-Heuristic Algorithm for Robotic Manipulators
2022
The complexity of forward kinematic modelling increases with the increase in the degrees of freedom for a manipulator. To reduce the computational weight and time lag for desired output transformation, this paper proposes a forward kinematic model mapped with the help of the Radial Basis Function Neural Network (RBFNN) architecture tuned by a novel meta-heuristic algorithm, namely, the Cooperative Search Optimisation Algorithm (CSOA). The architecture presented is able to automatically learn the kinematic properties of the manipulator. Learning is accomplished iteratively based only on the observation of the input–output relationship. Related simulations are carried out on a 3-Degrees…
Fatigue fracture plane under Multiaxial Random Loadings - prediction by variance of equivalent stress based on the maximum shear and normal stresses
1992
It is assumed that the plane in which the maximum variance of the equivalent stress appears is critical for a material and the fatigue fracture should be expected in this plane. The equivalent stress is calculated according to the fatigue criterion of maximum shear and normal stresses in the fracture plane. It was demonstrated that for each stationary random stress state there is one or more critical planes where the fatigue fracture plane can be expected. The variance method together with the discussed fatigue criterion give good results for three analysed types of carbon steels under multiaxial cyclic loadings.
To defer or not to defer? A German longitudinal multicentric assessment of clinical practice in urology during the COVID-19 pandemic
2020
PLOS ONE 15(9), e0239027 (2020). doi:10.1371/journal.pone.0239027