This paper proposes an adaptive fuzzy hybrid force/position control scheme, which can force the end eflector of robot manipukators to follow the contour of an object in lack of knowledge of the exact geomeotric shape. The control objective is to perform hybrid force/position control regardless of the existence of the manapdator dynamics. The control algorithm proposed can adaptively update the ...

Models, simulators and control strategies are required tools for the conception of secure and comfortable vehicles. The aim of this paper is to present an efficient way to develop models for dynamic vehicle, focusing on a two wheeled vehicles whose body involves six degrees of freedom. The resulting model is sufficiently generic to perform simulation of realistic cornering and accelerating beha...

Abstract: Autonomous guidance of the mining vehicle is based on the path tracking algorithm that use pre-calculated desired paths. These paths are often calculated without taking into account the nonholonomic nature of the vehicle motion. As a result the calculated path might be not feasible and the path tracking controller will be required to correct the situation, deteriorating at the same ti...

Cell growth is a complex phenotype widely used in systems biology to gauge the impact of genetic and environmental perturbations. Due to the magnitude of genome-wide studies, resolution is often sacrificed in favor of throughput, creating a demand for scalable, time-resolved, quantitative methods of growth assessment. We present ODELAY (One-cell Doubling Evaluation by Living Arrays of Yeast), a...

Robust fake iris detection p. 10 A study on fast Iris restoration based on focus checking p. 19 A spatio-temporal metric for dynamic mesh comparison p. 29 Facetoface : an isometric model for facial animation p. 38 Matching two-dimensional articulated shapes using generalized multidimensional scaling p. 48 Further developments in geometrical algorithms for ear biometrics p. 58 Composition of com...

Keywords: Articulated vehicles Bluff bodies Road vehicle aerodynamics Square back vehicles Wake flow Wind tunnel tests a b s t r a c t An experimental study has been conducted to investigate both the time-averaged and instantaneous flow pattern over a scale articulated vehicle model for understanding the flow physics of tractor-trailer vehicles. Fully turbulent flow was used in the study and sm...

In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a four-bar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model...

In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and Selective Laser Sintering techniques to fabricate prototypes of mechanical mobile joints. As examples of their applicability, the joint designs were then used to fabricate complex multi-articula...

Task control for underactuated redundant articulated robotic systems is addressed in this paper. In failed ground robots, as well as in aerial or underwater vehicle-manipulator systems, the unactuated degrees of freedom generally affect the task space variables to be controlled, and thus must be properly taken into account in the formulation of the control law. Within a multiple task-priority p...