The state-of-the-art graph searching algorithm applied to the optimal global path planning problem for mobile robots is A* with heap structured open list. In this paper, we present a novel algorithm, called L* which can be and faster than algorithm. structure of list use bidirectional sublists (buckets) ensures linear computational complexity because nodes in current bucket processed any sequence it not necessary sort bucket. Our approach maintain optimality cost expressed by floating-point...

This article describes a data fusion algorithm that uses fuzzy logic techniques. The involves weighting factors, the values of which change depending on whether conditions dictated by processes have been met. By modifying one can achieve measurement signal with expected properties. includes general description and an example its application. was developed for purposes contactless linear angular position automatic laparoscopic device or camera (hereinafter Laparoscope sleeve LS). These...

This paper presents a new method of the path planning for robots with nonholonomic constraints in partially known workspace. The has been discussed car like robot three dimensional configuration space. algorithm presented is based on A* graph searching nodes placed discretised generation process driven by heuristic cost which found aid propagation procedure. accelerates without losing optimality. equipped procedures fast replanning especially important cases workspaces.

The developments in surgical robotics suggest that it will be possible to entrust robots with a wider range of tasks. So far, has not been automate the surgery procedures related soft tissue. Thus, objective conducted studies was confirm hypothesis telemanipulator can equipped certain routines supporting surgeon leading tools and increasing motion accuracy during stereotypical movements. As first step facilitating surgery, an algorithm developed which concurrently provide automation allow...

This letter presents an incremental algorithm to generate triangle meshes from Light Detection and Ranging (LiDAR) point clouds with mesh refinement. The produces directly LiDAR output without storing a dense cloud create high-quality mesh. In our algorithm, as the number of captured points increases during operation robot movement, new scan refine or extend existing Such approach is suitable for computationally-constrained systems like aerial vehicles, mobile robots, smartphones, it...

Abstract Recently, minimally invasive surgery (MIS) robotics enters the phase of autonomous operation. However, because high variability environment, conducting a fully is still extremely difficult. This paper presents share control system, objective which to suggest optimum path tool guidance through use force on master manipulator (hereinafter as master), meaning surgeon's hand. Owing this type control, surgeon has full over position entire time and supported by system better faster guide...

Technical University of Lodz in cooperation with the Foundation for Cardiac Surgery Development conducts research on design and control method Polish Robin Heart cardiosurgical robots family. One major problems telemanipulation is intuitiveness control. methods to ensure it using systems that duplicate master displacement manipulator displacement. The selection proper when not possible predict what will be position camera observing work area relation arm especially important. Transformations...

Presented in this article is the project of manipulator, named RobIn Heart, which run by Foundation Cardiac Surgery Development Zabrze, Poland, cooperation with specialists from Technical University Lodz and Warsaw Technology assumes realisation original prototype a robot for usage cardiac surgery development operation planning system. The brief history robotic fundamental advantages employing robots field follow assumptions Polish Cardio-Robot project. detailed mechanical analysis...

In this paper, we introduce a real-time parallel-serial algorithm for autonomous robot positioning GPS-denied, dark environments, such as caves and mine galleries. To achieve good complexity-accuracy trade-off, fuse data from light detection ranging (LiDAR) an inertial measurement unit (IMU). The proposed algorithm’s main novelty is that, unlike in most algorithms, apply extended Kalman filter (EKF) to each LiDAR scan point calculate the location relative triangular mesh. We also three...

The paper presents an innovative construction of Pneumatic Artificial Muscles. Due to transverse deformation the muscle, it allows obtaining a linear displacement by changing diameter muscle. new type drive, which is represented this solution, can be used in robot designed for exploration human intestine. On basis investigation, there are presented results research, differences between traditional and transversal pneumatic muscles profits construction.

The new tool for off-line estimation of the state discrete linear systems is presented. algorithm Finite Impulse Response (FIR) smoother described and its optimality proven. this means that error covariance matrix minimal. It places method in Least Square Estimation (LSE) methods group, which are much better than frequently used Mean (LMS) methods. This can also be as FIR filter or predictor. In paper simple simulation, showing mode actions smoother, compared with others presented literature.

In this paper we discuss the construction and work principle of a system to be used in terms an automatic balancing process shafts being motion. The presented solution is characterized by easy installation, compact tight structure, which makes it possible successfully power plants, cement etc. includes state art presentation, short outline existing systems along with their drawbacks, description novel device, discussion summary.

Three faces of balancing: the development automatic balancing devices for shafts in motion

The paper presents the average path estimation algorithm. This algorithm is based on approximation curve, which shape should by defined as closely possible to of analyzed path. With use this initial data space divided into intervals. All interval paths points are averaged individually. After calculations, there only one point for each Next, these in interval. set define Thanks input can be non-linear and independent time. begin end any 6DOF space, well reverse loop. general model description...

In the paper hybrid control for Polish cardiosurgical robot RobIn Heart 3 has been presented. Classical position-force with modification introduced by Fisher and Mujtaba simulated dynamics model of this robot. It conducted extensive simulation study, which should give an answer to question, if selected motion patterns, so-called "motion primitives", could be prepared support human reactions. Such patterns surgeon possibility make a process cutting or needling more precisely precise force...

Abstract The issues of medical robots have been approached for 12 years in the Institute Machine Tools and Production Engineering Technical University Lodz. In last two years, scope research related to miniaturization surgical tools, automated changing these tools with use a tool depot designed this purpose, equipping robot sense touch developing software which provides ergonomic intuitive control all its functions. telemanipulator control, strong emphasis is placed on intuitiveness hard be...

In this paper simulation and experimental results of a new localization method mobile robot are presented. The handles both tasks mapping simultaneously. Its main feature is no assumption about the shape obstacles. objects in workspace can be any shape. phase 3D laser rangefinder was used as source data.