In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

The degrees of freedom (DoF) of the 3-user multiple-input multiple-output (MIMO) interference channel (IC) with full channel state information (CSI) and constant channel coefficients are characterized when linear filters are employed and (p, p+1) antennas are deployed at the transmitters and receivers, respectively. The point of departure of this paper is the work of Wang et al. [1], which conj...

This thesis presents the design of two magnetically levitated high precision positioning systems based on permanent magnet linear synchronous motors (PMLSMs). Magnetic levitation based on PMLSMs requires the motors to operate with a variable airgap length but previous research in the field has studied mainly motors fastened by bearings; therefore, this work first models a motor with free normal...

Mechanical vibrations adversely affect mechanical components, and in the worst case, lead to serious accidents by breaking themselves. To suppress vibrations, various studies have been conducted on vibration isolation, suppression, resistance. In addition, technologies actively rapidly developed recent years, it has reported that can be suppressed with higher performance. However, these mostly ...

This paper presents an efficient application of a model based predictive control in parallel mechanisms. A predictive functional control control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. Predictive functional control, computed ...

We present a haptic workspace that allows high fidelity two-handed multi-user interactions in scenarios containing a large number of dynamically simulated rigid objects and a polygon count that is only limited by the capabilities of the graphics card. Based in this workspace we present a novel multiplayer game that supports qualitative as well as quantitative evaluation of different haptic devi...

The types of mobile robot can be roughly divided into three categories, wheeled type, crawler type and legged type. In these types, walking machine (legged type robot) has some of noteworthy strong points that other types of mobile robot don't have. Especially, high adaptability to the terrain is one of the most important strong points of walking machine. The fact that general type of walking m...

Medical mannequins provide the first hands-on training for nurses and doctors and help eliminate human mistakes that would otherwise take place with a real person. The closer the mannequin is to mimicking a human being, the more effective the training; thus, additional features such as movable limbs and eyes, vision processing and realistic social interaction will provide a more fulfilling lear...

Abstract Variable Stiffness Actuator (VSA) is the core mechanism to achieve physical human–robot interaction, which an inevitable development trend in robotic. The existing variable stiffness actuators are basically single degree-of-freedom (DOF) rotating joints, achieving multi-DOF motion by cascades and resulting complex robot body structures. In this paper, integrated 2-DOF actuator with pro...