A5042123030- Robotic Mechanisms and Dynamics
- Advanced Surface Polishing Techniques
- Robotic Path Planning Algorithms
- Piezoelectric Actuators and Control
- Modular Robots and Swarm Intelligence
- Soft Robotics and Applications
- Advanced Manufacturing and Logistics Optimization
- Dynamics and Control of Mechanical Systems
- Robot Manipulation and Learning
- Robotics and Sensor-Based Localization
- Biofuel production and bioconversion
- Robotic Locomotion and Control
- Thermochemical Biomass Conversion Processes
- Extraction and Separation Processes
- Inertial Sensor and Navigation
- Multimodal Machine Learning Applications
- Catalysts for Methane Reforming
- Microbial Metabolites in Food Biotechnology
- Social Robot Interaction and HRI
- Algal biology and biofuel production
- Robotics and Automated Systems
- VLSI and FPGA Design Techniques
- Catalysis for Biomass Conversion
- Teleoperation and Haptic Systems
- Membrane Separation and Gas Transport
Le Quy Don Technical University
2021-2024
Centre National de la Recherche Scientifique
2012-2014
Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
2013-2014
Université de Montpellier
2014
Korea Institute of Science and Technology
2007
In this paper, a new type of large-dimension reconfigurable suspended cable-driven parallel robots (CDPR) is introduced as means to substitute for conventional methods handing large and heavy parts across wide workspaces. The reconfigurability the proposed CDPR offers better performances in term workspace, flexibility power consumption. A systematic procedure solve complex nonlinear optimization problem find optimal reconfiguration robot presented. Critical issues regarding various...
This paper discusses the use of large-dimension reconfigurable suspended cable-driven parallel robots (CDPR) to substitute for conventional gantry nacelles that carry workers in an airplane maintenance workshop. The reconfiguration CDPR is considered as a multi-objective optimization problem with two performance indices. One criterion sum cable tensions which directly related power consumption CDPR. other normalized upper bound on infinitesimal displacement mobile platform, used here means...
This paper addresses the simplification of cable model in static analysis large-dimension cable-driven parallel robots (CDPR). An approach to derive a simplified hefty is presented. The provides an insight into limitation such simplification. resulting tension computation then used solve inverse kinematic problem CDPR. A new expression length taking account both non-negligible mass and elasticity also introduced. Finally, simulations experiments on large CDPR prototype are provided. results...
In this paper, we propose an integrated approach to robot vision: a key frame-based skeleton feature estimation and action recognition network (KFSENet) that incorporates with face emotion enable social robots engage in more personal interactions. Instead of extracting the human features from entire video, for their extraction using pose models. We select frames gradient proposed total motion metric is computed dense optical flow. use extracted selected train deep neural (i.e.,...
Various types of multi-functional zwitterionic compounds containing both ester and sulfonate groups were prepared their silver nitrate salts tested as carriers for facilitated olefin transport membranes in the separation ethylene–ethane propylene–propane mixtures. Ester group-containing exhibited much higher performances comparison with methyl compounds. A FT-IR study showed that ester-containing interact ions through functional groups.
Serial 3R orthogonal manipulators have been studied recently and it has proved that they can exhibit good performances in term of workspace size kinematic properties. The aim this work is to analyze their dynamic performances, compare them with anthropomorphic manipulators, which are very popular industry. Static analyses based on the evaluation maximal input torques required for moving manipulator achieved. It shown that, as kinematics, serial better.
This paper investigates a dual-stage Gough-Stewart platform. The lower platform is responsible for simulating the oscillations of moving vehicles such as cars, ships, and airplanes. upper connected to devices that require either balance stabilization or motion according specific requirements. dynamic model robot system derived in general form based on Lagrange equations with multipliers. Using these compact form, PD controller forces compensation task space designed system. Oscillation...
This article presents a positioning solution for mobile robot system, the Vibot-2 robot, in docking problem where must move backwards precisely to charging position or location pick up delivery cart (or return cart) during execution tasks. The localization system needs calculate robot's posture (including coordinates and heading angle) fixed coordinate attached station with an accuracy within allowable limit. build module uses stereo camera combination AprilTags mounted on locator plate at...
This paper presents the hardware and control software architectures of an intelligent humanoid robot. The robot has a mobile base consists three omnidirectional wheels that allows it to move freely with degree-of-freedom (DOF), two 6-DOF arms 3-DOF neck head perform most common movements human. Detail components are given show our mechanical design solution structure robotic system is constructed in operating (ROS) framework which mainly used as bridge connect modules various peripheral...
This article presents the design of mechatronic system for an intelligent humanoid robot, which is employed teaching English language. The robot’s appearance looks like a boy, at 1.2 m tall and 40 kg weight. robot consists upper-body with 21 degrees freedom, head, two arms, hands, ribcage; mobile platform three omnidirectional wheels. control computer that controls entire operation including motion planning, voice recognition synchronization, face recognition, gestures, receiving commands...