Building a basketball robot is a recently launched project at the Institute of Automatic Control Engineering (LSR) for investigating fast manipulation with non-negligible dynamics and changing contact situation. This video presents some preliminary results of the project which is balancing a basketball on a plate. An aluminium plate of which the size is 25 × 40 cm is mounted on the end-effector...

detecting anomalies is an important challenge for intrusion detection and fault diagnosis in wireless sensor networks (wsns). to address the problem of outlier detection in wireless sensor networks, in this paper we present a pca-based centralized approach and a dpca-based distributed energy-efficient approach for detecting outliers in sensed data in a wsn. the outliers in sensed data can be ca...

Transmission of blast waves is a complex phenomenon and the characteristics vary with blast design parameters and geo-technical properties of medium. Frequency of vibration and triggering component for structural excitation generally quantifies safe vibration magnitude. At closer distance or higher elevations than the blast locations, vertical or transverse component will be the first arrival t...

transmission of blast waves is a complex phenomenon and the characteristics vary with blast design parameters and geo-technical properties of medium. frequency of vibration and triggering component for structural excitation generally quantifies safe vibration magnitude. at closer distance or higher elevations than the blast locations, vertical or transverse component will be the first arrival t...

We describe the developed hardware concepts and set-up of the Neuroinformatics robot laboratory. It provides part of the infrastructure for the SFB-360 project D4 “Multisensor Based Exploration and Manipulation” (Additional facilities for this project are contributed by the working group of Prof. Alois Knoll and will be described elsewhere). Central part of the described hardware infrastructure...

this paper presents a mathematical model for the vibration analysis of a three-component piezoelectric force sensor. the cubic theory of weakly nonlinear electroelasticity is applied to the model for describing the electromechanical coupling effect in the piezoelectric sensing elements which operate in thickness-shear and thickness-stretch vibration modes. hamilton's principle is used to d...

This paper presents a mathematical model for the vibration analysis of a three-component piezoelectric force sensor. The cubic theory of weakly nonlinear electroelasticity is applied to the model for describing the electromechanical coupling effect in the piezoelectric sensing elements which operate in thickness-shear and thickness-stretch vibration modes. Hamilton's principle is used to derive...

In haptic-feedback teleoperation, the operator experiences forces and torques applied to the slave manipulator. These forces, however, consist of two components: on the one hand, forces and torques due to environmental contact, and on the other hand, non-contact forces, i.e., inertial forces, centrifugal forces, Coriolis forces, and associated torques. For several reasons, eliminating these non...

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