Prediction from expert demonstrations for safe tele-surgery
In this paper, we propose a new prediction from expert demonstration (PED) methodology to improve reliability and safety in tele-surgery. Data was collected from expert (clinician) demonstrations for the procedure of trocar insertion. We encoded a set ...
From Biological Consciousness to Machine Consciousness: An Approach to Make Smarter Machines
Consciousness research has been of great concern to philosophers, psychologists and neuroscientists in recent years. At the same time, consciousness has also attracted more and more interest of artificial intelligence (AI) researchers. In order to ...
Real-time compliance control of an assistive joint using QNX operating system
An assistive robot is a novel service robot, playing an important role in the society. For instance, it can amplify human power not only for the elderly and disabled to recover/rehabilitate their lost/impaired musculoskeletal functions but also for ...
Analysis of Motor Synergies Utilization for Optimal Movement Generation for a Human-like Robotic Arm
Controlling human-like robots with musculoskeletal structure has been a challenging problem in engineering. In biological studies, motor synergy hypothesis has been proposed as a solution in order to control high degree-of-freedom and complex ...
Path Planning in Complex 3D Environments Using a Probabilistic Roadmap Method
This paper presents a 3D path planning algorithm for an unmanned aerial vehicle (UAV) in complex environments. In this algorithm, the environments are divided into voxels by octree algorithm. In order to satisfy the safety requirement of the UAV, ...
Development of Wheel-less Snake Robot with Two Distinct Gaits and Gait Transition Capability
Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a ...
Realization of an Automated Microassembly Task Involving Micro Adhesive Bonding
An automated approach is proposed for a microassembly task, which is to insert a 10 µm diameter glass tube into a 12 µm diameter hole in a silicon substrate, and bond them together with UV curable adhesive. Two three-degree-of-freedom ...
Dynamics and Control of a Novel 3 -DOF Parallel Manipulator with Actuation Redundancy
This paper deals with the dynamics and control of a novel 3-degrees-of-freedom (DOF) parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equation is formulated in the task space ...
Sensor Faults Observer Design with H∞ Performance for Non-linear T-S systems
This paper deals with the problem of the state estimation and the sensor faults detection for nonlinear perturbed systems described by Takagi-Sugeno (T-S) fuzzy models with unmeasurable premise variables. Indeed, a T-S observer is synthesized, in ...
Output Feedback Stabilization of Switched Stochastic Nonlinear Systems Under Arbitrary Switchings
This paper is concerned with the problem of global output feedback stabilization in probability for a class of switched stochastic nonlinear systems under arbitrary switchings. The subsystems are assumed to be in output feedback form and driven by ...
A New Compression Scheme for Secure Transmission
Encryption techniques ensure security of data during transmission. However, in most cases, this increases the length of the data, thus it increases the cost. When it is desired to transmit data over an insecure and bandwidth-constrained channel, ...
The Case of Using Multiple Streams in Streaming
Off-chip replacement (capacity and conflict) and coherent read misses in a distributed shared memory system cause execution to stall for hundreds of cycles. These off-chip replacement and coherent read misses are recurring and forming sequences of two ...
Resource Virtualization Model Using Hybrid-graph Representation and Converging Algorithm for Cloud Computing
Cloud computing can provide a great capacity for massive computing, storage as well as processing. The capacity comes from the cloud computing system itself, which can be likened to a virtualized resource pool that supports virtualization ...
