The objective of this paper is to describe the modeling of a single degree-of-freedom (DOF) teleoperation system by using the Matlab software tool. Modeling a teleoperation system consists of the modeling of the dynamics and kinematics of two subsystems as well as the communication line between them to couple the systems and user interface to interact with the system. The subsystems of a teleop...

--The aim of this work is to implement on real-time a speech recognition module in order to control the movements of a five degree of freedom manipulator arm using a Kalman filter as a selector in noisy environment and HHM model to recognise 12 Arabic spotted words. The methodology adopted is based on detecting and spotting vocabulary words within a phrase generated by user, the system recognis...

In this paper a novel tuning procedure for Two-Degree-of-Freedom (2-DOF) PID controllers is proposed. The methodology based on an Uncertainty and Disturbance Estimator. As result, equivalent 2-DOF controller with simpler rules obtained. One advantage of the proposed method that tracking performance disturbance rejection can be accommodated separately in control synthesis. Moreover, trade-off be...

Robotic manipulators with diverse structures find widespread use in both industrial and medical applications. Therefore, designing an appropriate controller is of utmost importance when utilizing such robots. In this research, we present a robust data-driven control method for the regulation 2-degree-of-freedom (2-DoF) robot manipulator. The nonlinear dynamic model 2-DoF arm linearized using Ko...

This paper presents the design and prototyping of a fully decoupled 3-DOF variable-configuration parallel manipulator with self-aligning called TRIFLEX. This parallel manipulator can change their form to carry out different tasks in different places, this change is managed by additional self-aligning degrees-of freedom. These degrees-of-freedom of self-aligning do not interfere in the motion of...

stroke is one of the most common diseases among the elderly with high personal and societal costs. in recent years, robotic rehabilitation for stroke has become an active area of research for assistance, monitoring and qualifying the rehabilitation treatments. the key issue needed for improving rehabilitation system is that patient feedback should be taken into account by the robotic rehabilita...

In this paper the effect of a force control law in the transparency of a five degree-of-freedom (dof) haptic mechanism is investigated. The mechanism, which is a part of a training medical simulator for urological operations, consists of a two-dof, five bar linkage and a three-dof spherical joint. The force control algorithm is described and discussed. The open and closed loop schemes are compa...

This paper addresses the problem of controlling a mobile robot using a small, portable user interface. In some applications, including security and military, a user might command a mobile robot in the field using a wearable computer. The wearable computer may have a small display that would make information delivery difficult. Also, full video feedback from the robot may not be available due to...

This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial 6-DOF robotic manipulator, using feedback of only the 3-DOF capsule position measured by a localization system, with application in capsule endoscopy of a fluid-dist...

For a K-user interference channel with M antenna at each transmitter and each receiver, the maximum total DoF of this channel has been previously determined to be max ∑ K k=1 dk = MK/2. However, the DoF region remains to be unknown. In this short note, through a simple time-sharing argument, we obtain the degrees of freedom (DoF) region of this channel. Index Terms Interference alignment, Degre...