A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lockable P (pr...

A major barrier to advancing modern wireless networking research is the lack of an effective wireless network simulation platform that simultaneously offers high fidelity, scalability, reproducibility and ease of use. MiNT [8], [7] is an innovative wireless network emulation platform that is specifically designed to satisfy all these desirable properties. To support reconfigurable network topol...

The Robot Intelligence Kernel (RIK) is a portable, reconfigurable suite of perceptual, behavioral, and cognitive capabilities that can be used across many different platforms, environments, and tasks. The RIK coupled with a virtual 3D interface have been shown to dramatically improve human-robot interactions across a variety of navigation and exploration tasks. The Robot Intelligence Kernel is ...

Modular Self-Reconfigurable Robotic (MSRR) schemes are a vital remedy for the developing demand in consumer products, automations and space exploration. The wider factor of usage self-healing capacity some influencing characteristics robot actual-wide application whereas segmental robotics provide an effective with respect to traditional robotics. Researchers have now noted different forms prot...

In this paper, we propose a decentralized robust control algorithm for modular and reconfigurable robots (MRRs) based on Lyapunov’s stability analysis and backstepping techniques. In using decentralized control schemes with robot manipulators, each joint is considered as an independent subsystem, and the dynamical effects from the other links and joints are treated as disturbance. However, ther...

mobile robot navigation is one of the basic problems in robotics. in this paper, a new approachis proposed for autonomous mobile robot navigation in an unknown environment. the proposedapproach is based on learning virtual parallel paths that propel the mobile robot toward the trackusing a multi-layer, feed-forward neural network. for training, a human operator navigates themobile robot in some...

In this study, a radiation pattern reconfigurable microstrip antenna is designed and fabricated. The antenna’s radiation pattern is directed in 9 different angles by employing a radiating patch and embedding complementary split ring resonators (CSRR) on the ground plane. The radiating patch is of circular shape, while for CSRR elements both circular and rectangular shapes are investigated. The ...

This investigation deals with the optimization of the kinematic parameters of a parallel robot structure, with respect to a given instantaneous twist deformation (ITD) of the moving platform. Drawing principally upon tools from screw theory, a parametric objective function is derived which quantifies the robots performance with respect to the given ITD. Physically, the objective function quanti...