Volume 6, Issue 8 (2010) | Journal of Computer Science

Evolution of Neural Controllers for Robot Navigation in Human Environments

Genci Capi — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.837.843

Problem statement: In this study, we presented a novel vision-based learning approach for autonomous robot navigation. Approach: In our method, we converted the captured image in a binary one, which a...

Model Predictive Approach to Precision Contouring Control for Feed Drive Systems

M.A. El Khalick — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.844.851

Problem statement: High precision machining requires high capability of multi-axis feed drive systems to follow specified contour accurately. Although each feed drive axis is controlled independently ...

Programmable System on Chip Distributed Communication and Control Approach for Human Adaptive Mechanical System

Ahmad ‘Athif Mohd Faudzi — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.852.861

Problem statement: Communication and control are two main components in any Mechatronics system. They can be designed either by centralized or decentralized approach. Both approaches can be chosen bas...

A Self-Tuning Proportional-Integral-Derivative Controller for an Autonomous Underwater Vehicle, Based On Taguchi Method

M. Santhakumar — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.862.871

Problem statement: Conventional Proportional-Integral-Derivative (PID) controllers exhibit moderately good performance once the PID gains are properly tuned. However, when the dynamic characteristic...

Edge Tracing Manipulation of Clothes Based on Different Gripper Types

Khairul Salleh Mohamed Sahari — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.872.879

Problem statement: Edge tracing is considered important for deformable object manipulation in order to spread and reveal the original shape of an object before it can be sorted. It is important in unf...

Design of a Distributed Control System Using a Personal Computer and Micro Control Units for Humanoid Robots

Mitsuhiro Yamano — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.880.885

Problem statement: Humanoid robots have many motors and sensors and many control methods are used to carry out complicated tasks of the robots. Therefore, efficient control systems are required for th...

Control of a Step Walking Combined to Arms Swinging for a Three Dimensional Humanoid Prototype

Amira Aloulou — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.886.895

Problem statement: Present researches focus to make humanoid robots more and more autonomous so they can assist human in daily works like taking care of children, aged or disabled persons. In such soc...

Development of an Ultra-Miniaturized Inertial Measurement Unit for Jaw Movement Analysis during Free Chewing

Zhuohua Lin — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.896.903

Problem statement: Jaw movement analysis, as a clinical aid, can provide an objective basis for understanding and diagnosing jaw musculoskeletal disorders. Therefore, the use and development of device...

Adaptable User Interface Based on the Ecological Interface Design Concept for Multiple Robots Operating Works with Uncertainty

Hiroshi Furukawa — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.904.911

Problem statement: When supervising a team of semi-autonomous robots, the operator’s task is not only the manipulation of each robot but also achievement of the top goal that is assigned to the enti...

Rehabilitation of a Human Arm Supported by a Robotic Manipulator: A Position/Force Cooperative Control

Haifa Mehdi — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.912.919

Problem statement: The assistance of person with limited ability of arm movement is necessary for rehabilitation reasons. This aid is required not only to cover the human performances of the arm in mo...

Lower-Dimensional Feature Sets for Template-Based Motion Recognition Approaches

Md. Atiqur Rahman Ahad — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.920.927

Problem statement: In template-based motion recognition approaches, feature sets are computed from the template for classification. Hu invariants are widely employed for this purpose since its incepti...

Underactuated Anthropomorphic Finger Mechanism for Grasping and Pinching with Optimized Parameter

Norsinnira Zainul Azlan — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.928.933

Problem statement: Underactuated finger mechanism is beneficial in the anthropomorphic applications in which it reduces the finger size, weight and power consumption due to the less number of actuator...

Response of SAI Afferents May Play a Role in the Perception of Velvet Hand Illusion

Abdullah Chami — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.934.939

Problem statement: We revealed the reason behind a haptic illusion called the Velvet Hand Illusion (VHI) by FEM analysis. In VHI, a person rubs his/her hands together on both sides of wires strung thr...

A New Approach in Design and Operating Principle of Silicone Tactile Sensor

Bakri Ali — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.940.945

Problem statement: Research and development in tactile sensor are escalating due to the fact that advanced robot needs to interact with surrounding environments which is very complex, dynamic, uncontr...

Stroke Motion Learning for a Humanoid Robotic Ping-Pong Player Using a Novel Motion Capture System

C. H. Lai — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.946.954

Problem statement: Human ping-pong players determine the stroke trajectory according to their experience before the ball enters their court. However, to enable a humanoid robot to select the appropria...

Sensorization of Robotic Hand Using Optical Three-Axis Tactile Sensor: Evaluation with Grasping and Twisting Motions

Hanafiah Yussof — 2010-08-31

Journal of Computer Science, Published online: 31 August 2010; doi:10.3844/jcssp.2010.955.962

Problem statement: Sensitization of robot hand is still remaining as crucial issue since most of robot hand systems nowadays are only capable to grasp a predefined specific object. It is still difficu...