Simulation model of general human and humanoid motion

In the last decade we have witnessed a rapid growth of Humanoid Robotics, which has already constituted an autonomous research field. Humanoid robots (or simply humanoids) are expected in all situations of humans’ everyday life, “living” and cooperating with us. They will work in services, in homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and control of these systems. Another important fact is that today’s, and especially tomorrow’s, humanoid robots will be more and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start from a human/humanoid considered as a free spatial system (“flier”). Particular problems (walking, jumping, etc.) are then considered as different contact tasks – interaction between the flier and various objects (being either single bodies or separate dynamic systems).     

Virtual Mechatronic/Robotic laboratory – A step further in distance learning

The implementation of the distance learning and e-learning in technical disciplines (like Mechanical and Electrical Engineering) is still far behind the grown practice in narrative disciplines (like Economy, management, etc.). This comes out from the fact that education in technical disciplines inevitably involves laboratory exercises and this fact drastically increases the complexity of a potential e-learning system. New approach and new specific knowledge are needed to develop such a system. We expect to meet the requirements of distance learning by developing the software-based laboratory exercises, i.e., a virtual laboratory. To fully substitute a physical system like laboratory equipment, one must emulate its full dynamics. The mathematical model in the form of differential equations will be applied to calculate dynamics and provide the data that would otherwise be measured on a physical system – this means simulation.     

Human-and-Humanoid Postures Under External Disturbances: Modeling,Simulation, and Robustness. Part 2: Simulation and Robustness

The sophisticated method for mathematical modeling of humanoid robots formulated in Part 1 of this paper is applied here to the dynamic task of keeping a posture under disturbance, which is equally important to humans and humanoid robots. The idea of this work is to develop and realize a simulator tool for dynamic analysis of human-or-humanoid behavior under disturbances. To show the potentials and verify this tool, we comparatively analyze the robustness of some postures to external disturbance. At this stage of research we do not conduct real experiments with humans/humanoids but try to verify our simulation tool by relying on available experience. Therefore, the postures for comparison are taken from everyday life and from sports: upright standing, squat posture, and three karate postures. As the external disturbance we choose an impulse and a permanent force, both with variable direction and magnitude.     

Millimeter-Wave Wideband Channel Estimation Using Analog True-Time-Delay Array Under Hardware Impairments

Journal of Signal Processing Systems - Millimeter-wave (mmW) systems require fast and accurate channel estimation to establish a high-rate directional link between the base station and user...     

The dependence of the photocatalytic activity of TiO2/carbon nanotubes nanocomposites on the modification of the carbon nanotubes

Nanostructural TiO₂/modified multi-wall carbon nanotubes photocatalysts were prepared by hydrolysis of Ti(iso-OC₃H₇)₄ providing chemical bonding of anatase TiO₂ nanoparticles onto oxidized- or amino-functionalized multi-wall carbon nanotubes (MWCNT). The processes of functionalization of the MWCNT and the deposition of TiO₂ influence the photocatalytic activity of the synthesized nanocomposites. The phase composition, crystallite size, and the structural and surface properties of the obtained TiO₂/modified-MWCNT nanocomposite were analyzed from XRD, FEG-SEM, TEM/HRTEM and FTIR data, as well low temperature N₂ adsorption. In the photocatalytic study, the TiO₂/oxidized-MWCNT catalyst showed the highest and the TiO₂/amino functionalized-MWCNT catalysts somewhat lower degradation rates, indicating that the enhancement of photocatalysis was supported by the more effective electron transfer properties of the oxygen- than amino-containing functional groups, which support the efficient charge transportation and separation of the photogenerated electron-hole pairs.     

Modeling Robot “Psycho-Physical” State and Reactions – A New Option in Human–Robot Communication Part 2: Modeling and Simulation

This part of the paper examines numerically the possibility of modeling robot fatigue being representative of a human psychophysical state that can be applied to robots. Temperatures of driving motors are suggested as analogs to fatigue in muscles. Simulation of robot behavior is performed on a typical human task, namely handwriting. Three phases of task execution, characteristic for humans, are observed, i.e. regular motion, reconfiguration after symptoms of fatigue, and degeneration caused by the too long, hard work.     

A new concept of the SCARA robot

Based on the SCARA concept, accepted worldwide, this paper considers the possibility of realizing SCARA with a full circle working area. The basis of the approach is a mechanism with two eccentrically positioned rotating discs instead several tools (hands) is also facilitated. This paper analyzes the advantages of the proposed solution and the possibilities of its realization.     

Investigation of solar declination

A new expression for solar declination angle calculation has been developed using data for four years of periodical changes. The accuracy of the proposed formula related to astronomical ephemerides is obtained using the method of the minimum sum of square errors. The calculated values vary between 1.285 and 2.776° for the selected whole year while the value for four years is 6.686°. The mean bias error differs between −0.009 and −0.050°. The standard deviation is 0.128 and 0.181, respectively. The equation proposed in this study can easily be used for solar declination computation for each day of a selected year.