A previously developed 3-axis mini direct drive robot has been enhanced with two additional direct drive axes for general positioning and orientation of an axially symmetric tool. The arm has a work volume of about 120 and 5-10 or better resolution and repeatability. The arm forms an initial prototype for the NASA/University of Washington MicroTrex flight telerobotics experiment. The contemplat...

This paper presents a new generation of compliant piezoelectric microconveyers for microobjects based on the cooperation of arrayed direct-drive standing wave ultrasonic actuators. A method using an equivalent electromechanical circuit is proposed for estimating and analysing the optimum driving force. On the basis of the proposed method, the friction drive optimization of the micro-robot is pe...

Over the last few years a number of application systems have been constructed that a l l o w u s e r s to a c c e s s d a t a b a s e s by pos ing q u e s t i o n s in n a t u r a l languages, such as E n g l i s h . When used i n the r e s t r i c t e d domains f o r which they have been e s p e c i a l l y d e s i g n e d , t h e s e sys tems have ach i eved r e a s o n a b l y h igh l e v e ...

Heterogeneous systems provide variety in order to address unforeseen problems in unknown environments. This paper describes a series of custom-built robotic devices that employ heterogeneity as a means of achieving greater capability. From novel, crawling limbed/tracked hybrid robots to water hammer assisted actuation to macro/micro marsupial robot teams, commonalities are investigated to move ...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

The paper introduces mathematical models of a skid steered mobile platform for robotics. The platform consists of a rectangular steel construction with four wheels. Two banks of two drive wheels on each side are linked to two DC electrical motors via chain on sprocket drive and gearing. The two drive assemblies for the left and right banks are identical but they operate independently to steer t...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

The uses and limitations of the electrostatic probe for the measurement of charge densities on insulating surfaces are discussed. A development of the technique is described in which two important limitations have together been overcome: (i) The effects on the probe signal of charges on all points of the surface have been taken into account by means of a matrix inversion procedure. (ii) A robot...