Papers by Author: Gheorghe Mogan

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Authors: Teodora Gîrbacia, Gheorghe Mogan
Abstract: In this paper we present a method of reducing the computational complexity necessary in path planning for a car-like robot in order to generate the optimal path according to the constrains set by the user. The proposed method implies adding the following constrains: setting the maximum and minimum distance between the possible paths and the obstacles placed in the virtual environment in order to reduce the simulation time and to obtain a real-time application and to remove the paths that contain unnecessary turns around the environment without avoiding an obstacle. By applying this method the simulation complexity is reduced and the optimal path is easier to find.
Authors: Gheorghe Daniel Voinea, Gheorghe Mogan
Abstract: Monitoring human motion with magnetic and inertial measurement units is a complex task and there are many factors that must be taken into consideration. In this work, a wearable system for monitoring scoliosis using three inertial measurement units (IMUs) is introduced. The proposed solution can be used indoor and is focused on using the roll angle for measuring lateral movement of the spine, which characterizes the scoliosis spinal disorder.
Authors: Teodora Gîrbacia, Andrei Margarit, Simion Mădălin, Gheorghe Mogan
Abstract: For autonomous vehicles an important problem is to plan and accurately follow the optimal trajectory between the start point and the target, without collision with the obstacles placed in the environment. In order to obtain a continuous motion along the planned path for a vehicle with navigation assistants, especially when avoiding obstacles, the transition between a straight segment and circle arcs has to be done through using an additional curve. This paper present an algorithm based on clothoid curves for optimal steering using as case a vehicle with navigation assistants. The developed algorithm has been tested in a real environment and results have been presented.
Authors: Teodora Girbacia, Florin Girbacia, Gheorghe Mogan
Abstract: In this paper is presented a Virtual Reality application that can be used for automatic generation of robot trajectories for spray painting operations conducted on products with complex surfaces. The trajectory generation for robots that perform painting operations of complex curved surfaces was achieved by implementing a generic algorithm capable of maintaining an optimal distance for painting. The distance between the effecter of the robot and the surface of the CAD model, used to compensate and maintain an optimal painting distance, is determined by a "rayhit" collision detection algorithm that allows the detection of the contact between a linear segment and the mesh of the virtual object. To visualize in the virtual environment the deposition of paint layers, an algorithm was implemented that is based on mapping techniques for dynamically generated textures on the surface that is being painted. A VR software application was developed for generating and visualizing the trajectories of a KUKA robotic system that performs the activity of painting a complex curved product.
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