Mobile Robots -Towards New Applications 2008 Part 3 ppt
Mobile Robots -Towards New Applications 2008 Part 3 ppt
... Equation ( 13) the coupling can be described for the equations:
(
)
() ()
()
0][1
1 231 2 ,39 999 ,33 3
2
33
2
33 33
=−−−−−Ω+−−
θθθθθθθθθδθ
ccq
oo
(20)
(
)
() () ( )
0][][1
12121212, 933 33, 999
2
99
2
9999
=−−−−−Ω+−−
ooo
ccq
θθθθθθθθθθδθ
... Ω
i
, i ∈
{3, 9, 12}) can be determined. Then:
()
3
3
3
2
9 ,3
2
933 1 231 2 ,3
3
12
44
δω
δ
A
cAAAAc
q
++−
=
(26)
ω
2...
Mobile Robots -Towards New Applications 2008 Part 13 pptx
...
496 Mobile Robots, Towards New Applications
40
60
80
100
1 23
over 10
7-10
3- 7
0 -3
Gap between the bits and the plate [mm]
Ratio of the particle sizes %
[mm]
40
60
80
100
1 23
over 10
7-10
3- 7
0 -3
Gap ... 19 93) .
490 Mobile Robots, Towards New Applications
Fig. 12. Positioning sensor unit.
Fig. 13. Result of the position measurement.
Fig. 14. Excavation type min...
Mobile Robots -Towards New Applications 2008 Part 14 pptx
... windings;
22
3
r
R
U
BLT
s
=
is the largest
value of the torque output under 2-2 PCA control. Under 3- 3 PCA control, the average
torque produced by I
A3
ᇬI
B3
and I
C3
is:
TT
β
3
32
3
= (30 )
The ... performance of existing ones. Forces, such as
532 Mobile Robots, Towards New Applications
.
Deviation angle
0
∼0.2° 0.2∼0 .3 0 .3 0.5°
Number of steps 75 36 33
Table 2...
Mobile Robots -Towards New Applications 2008 Part 2 doc
... Γ
1 1 1 11 1 12 2 13 3 14 4
2 22211222 233 244
33 331 132 233 334 4
yy
dddd
yyd d dd
yydd d d
(26)
Now we want to suppress the instability of the three variables
i
y
,
()
=i1, 2, 3
. It can be
achieved ... choosing the controls
i
ƥ
()
i1, 2, 3, 4=
such that
Γ+ Γ+ Γ+ Γ=
γ
Γ+ Γ+ Γ+ Γ=γ
Γ+ Γ+ Γ+ Γ=γ
11 1 12 2 13 3 14 4 1 1
21 1 22 2 23 3 24 4 2 2
31 1 32 2 33 3 34 4 3...
Mobile Robots -Towards New Applications 2008 Part 4 docx
... one, for task 3, after 3 and 7 seconds and after 1000
iterations in column 1, 2 and 3 respectively. Average values
r standard deviation are provided.
120 Mobile Robots, Towards New Applications ... Practice 12(4): 38 7 -39 9.
Zinn, M., B. Roth, et al. (2004).A new actuation approach for human friendly robot design.
International Journal of Robotics Research 23( 4-5): 37 9...
Mobile Robots -Towards New Applications 2008 Part 6 ppsx
... of robots.
NARS: S1 NARS: S2 NARS: S3
N
Mean
SD
Mean
SD
Mean
SD
Male 1 92 12.5 3. 7 16.0 3. 6 9.5 2.7
2 27 12 .3 4.2 16 .3 2.8 11.1 2.2
3 34 13. 6 5 .3 16.2 4.6 10 .3 2.9
4 13 12.7 4.6 15.6 3. 9 ... 28 13. 1 4.0 16.5 3. 9 10.4 2.5
Others 31 12.9 5.0 16.1 4.1 10.0 2.9
Female 1 33 14.7 4.7 16 .3 3 .3 9 .3 2.6
5 5 13. 6 7.5 18.8 4.1 10.4 0.9
6 16 12.8 4.2 16.6 3...
Mobile Robots -Towards New Applications 2008 Part 7 pps
... experimental set-up
permitted the participants to move with minimal restriction. However, they were not completely
236 Mobile Robots, Towards New Applications
3. Theoretical Framework for Human-Robot ... 71(1): 50- 73,
1958.
[30 ] C. A. Smith, “Dimensions of appraisal and physiological response in emotion,”
Journal of Personality and Social Psychology, 56 (3) : 33 9 -35 3, 1989...
Mobile Robots -Towards New Applications 2008 Part 10 docx
... 38 6 Mobile Robots, Towards New Applications
1
~~
−
¸
¹
·
¨
©
§
+= IPSP
T
tt
T
tt
HHHK
((
(32 )
tttt
ZK+=
χχ
~
ˆ
(33 )
()
tttt
PSIP
~
((
HK−=
(34 )
and
()
I0=H
(35 )
The term ... on the actuator activity has to be
3
cf. Figure 10 in the paper Underwater Robots Part I : current systems and problem pose.
35 8 Mobile Robots, Towards New Applications
where
sİ
i...
Mobile Robots -Towards New Applications 2008 Part 11 pps
... 6/11 6/12 6/ 13 6/14 6/15 6/16 6/17 6/18 6/19 total
A 46 33 30 29 29 31 32 33 35 34 20 35 2
B 34 25 22 21 17 19 26 30 17 28 14 2 53
C 4 0 2 0 2 1 1 1 1 0 1 13
D 4 8 4 8 8 8 4 0 14 3 3 64
E 8 8 ...
4 58.5 71.7 + 13. 2 165.0
3 69.6 73. 3 +3. 7 46 .3
2 80.8 78 .3 -2.5 31 .3
1 91.9 75.7 -16.2 202.5
Table 1. Data recorded (without proper tuning).
402 Mobile Robots...
Mobile Robots -Towards New Applications 2008 Part 12 pot
... Proceedings of IEEE International Conference on
Neural Networks, pages 34 3 35 3, 1988.
440 Mobile Robots, Towards New Applications
The Equation is solved applying a SSD approach. After obtaining ...
Obtain
Parameter
Pre processin
g
Post processin
g
Normalize Extract features
Classif
y
432 Mobile Robots, Towards New Applications
3. 1. Acquiring module
The acquired imag...
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