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Application of Neural Networks to Modeling and Control of Parallel Manipulators InTech
Ahmet Akbas.
This chapter is mainly concerned with the application of ANNs to modeling and control of parallel manipulators. A practical implementation is completed to emulate the operation of
Tipo: 2 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/application_of_neural_networks_to_modeling_and_control_of_parallel_manipulators
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Combinatorial Models for Multi-Agent Scheduling Problems InTech
Alessandro Agnetis; Dario Pacciarelli; Andrea Pacifici.
In this chapter we have described a number of models which are useful when several agents have to negotiate processing resources on the basis of their scheduling performance. Research in this area appears at a fairly initial stage. Among the topics for future research we can mention: An experimental comparison of different auction mechanisms for scheduling problems, in terms of possibly addressing general systems (shops, parallel machines...) Analyzing several optimization problems, related to finding "good" overall solutions to multi-agent scheduling problems Designing and analyzing effective scheduling protocols and the corresponding agents' strategies.
Tipo: 2 Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/combinatorial_models_for_multi-agent_scheduling_problems
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Active Vision Based Regrasp Planning for Capture of a Deforming Object Using Genetic Algorithms InTech
Ashish Dutta; Goro Obinata; Shota Terachi.
The main contributions of this research are an effective vision based method to compute the optimal grasp points for a 2D prismatic object using GA has been proposed. The simulation and experimental results prove that it is possible to apply the algorithm in practical cases to find the optimal grasp points. In future we hope to integrate the method in a multifinger robotic hand to grasp different types of deforming objects autonomously.
Tipo: 2 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/active_vision_based_regrasp_planning_for_capture_of_a_deforming_object_using_genetic_algorithms
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A Novel Omnidirectional Stereo Vision System via a Single Camera InTech
Chuanjiang Luo; Liancheng Su; Feng Zhu.
We have developed a complete framework of automatically generating omnidirectional depth maps around a mobile robot using a novel designed panoramic vision sensor. Compared to previous vision systems, our system has such significant advantages as its geometry calculating easy and fast and simultaneous acquisition of precise range information without high cost or system complexity. And as the separation between the two hyperbolic mirrors provides a large baseline, the range information obtained from this method has much improved precision. We have proposed an imaging model for
Tipo: 2 Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_novel_omnidirectional_stereo_vision_system_via_a_single_camera
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Ecological, Economic and Marketing Aspects of the Application of Biofertilisers in the Production of Organic Food InTech
Drago Cvijanovic; Gorica Cvijanovic; Jonel Subic.
Tipo: 2 Palavras-chave: Environmental Technologies.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/ecological__economic_and_marketing_aspects_of_the_application_of_biofertilisers_in_the_production_of
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Visually Guided Robotics Using Conformal Geometric Computing InTech
Eduardo Bayro-Corrochano; Luis Eduardo Falcon-Morales; Julio Zamora-Esquivel.
In this chapter the authors have used a single non?standard mathematical framework, the Conformal Geometric Algebra, in order to simplify the set of data structures that we usually use with the traditional methods. The key idea is to define and use a set of products in CGA that will be enough to generate conformal transformations, manifolds as ruled surfaces and develop incidence algebra operations, as well as solve equations and obtain directed distances between different kinds of geometric primitives. Thus, within this approach, all those different mathematical entities and tasks can be done simultaneously, without the necessity of abandoning the system. Using conformal geometric algebra we even show that it is possible to find three grasping points for...
Tipo: 2 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/visually_guided_robotics_using_conformal_geometric_computing
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Attitude and Steering Control of the Long Articulated Body Mobile Robot KORYU InTech
Edwardo F. Fukushima; Shigeo Hirose.
The authors have designed and actually built a mechanical prototype of a class of articulated body mobile robots, 3.3m long, and mass of more than 400kg, called KR-II. Attitude control and steering control has been successfully implemented, and the robot can move stably in the outdoors, even on uneven terrain. The presented steering control method is based on parameter representation for describing trajectories in an inertial reference frame, with travelled distance as a parameter. In doing so, the position of each element (in the case of the articulated body mobile robot KR-II, segment center positions) on the trajectory can be tracked by simple and effective numerical searching algorithms. For the real robot KR-II, the introduced method demonstrated good...
Tipo: 2 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/attitude_and_steering_control_of_the_long_articulated_body_mobile_robot_koryu
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The Must-Have in Robotic Heart Surgery: Haptic Feedback InTech
Eva U. Braun; Hermann Mayer; Alois Knoll; Ruediger Lange; Robert Bauernschmitt.
Robots have a number of advantages over humans in performing routine manipulation tasks. Their accuracy and repeatability allow robots to succeed in the medical and surgical market. Some of the weaknesses in current robotic devices, such as substantial lack of haptic feedback and adaptability are to be highlighted. Currently it is not possible to “program” a robot to perform steps of a surgical operation autonomously. Nevertheless, some of these limitations do not prevent robots from being useful in the operating room; rather considerable human, technical and surgical input, guidance and advancement are needed. Surgical robots can be viewed as “extending and enhancing human capabilities” rather than replacing surgeons, in contrast to the example of...
Tipo: 2 Palavras-chave: Medical Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/the_must-have_in_robotic_heart_surgery__haptic_feedback
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Joint Torque Sensory in Robotics InTech
Farhad Aghili.
Motivated by the need for accurate joint torque sensing in robots, we designed a new torque sensor, based on the hollow hexaform geometry. Its key features were its extremely high sti ness and its insensitivity to the set of support forces and moments which persist in a robot joint. These features permit to mount the sensor directly in the joints of a robot manipulator leading to accurate joint torque sensing and to a compact and modular design. The structure of the sensor also exhibits strain concentration to torsion loads which maximizes the sensitivity to torsion without sacrificing torsional sti ness. Other design issues such as practical shape consideration, material properties and overloading also considered. The sensor geometry was analyzed and...
Tipo: 2 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/joint_torque_sensory_in_robotics
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Locomotion of an Underactuated Biped Robot Using a Tail InTech
Fernando Juan Berenguer; Felix Monasterio-Huelin.
We have presented in this work a biped mechanism of easy design and construction that is able to walk with only one actuator. The system is attractive for educational and commercial applications due to the simplicity of the applied concepts. In order to reduce the energy consumption of this system, an important problem in actuated bipedal locomotion, we aim for a gait with smooth contact between feet and ground, reduce the joints friction and
Tipo: 2 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/locomotion_of_an_underactuated_biped_robot_using_a_tail
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Biped without Feet in Single Support: Stabilization of the Vertical Posture with Internal Torques InTech
Formalsky Alexander; Aoustin Yannick.
We defined here control strategies to stabilize the equilibrium vertical posture of a two-link, a three-link and a five-link biped, explicitly taking into account the limits imposed on the amplitudes of the control torques. For each biped we use the Jordan form of its linear model to extract the unstable modes that we want to suppress with the feedback control. For the two-link biped, the control law is optimal. This means that the basin of attraction for its linear system is as large as possible, i.e., it coincides with the controllability domain. For the five-link biped several choices of torques are allowable because we have four torques and three unstable modes. Therefore, we define a criteria to compute these torques. All the numerical results in this...
Tipo: 2 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/biped_without_feet_in_single_support__stabilization_of_the_vertical_posture_with_internal_torques
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Nonlinear Model-Based Control of a Parallel Robot Driven by Pneumatic Muscle Actuators InTech
Harald Aschemann; Dominik Schindele.
In this contribution, a cascaded trajectory control based on differential flatness is presented for a parallel robot with two degrees of freedom driven by pneumatic muscles. The modelling of this mechatronic system leads to a system of nonlinear differential equations of eighth order. For the characteristics of the pneumatic muscles polynomials serve as good approximations. The inner control loops of the cascade involve a flatness-based control of the internal muscle pressure with high bandwidth. For the outer control loop three different control approaches have been investigated leading to a decoupling of the crank angles and the mean pressures as controlled variables. Simulation results emphasize the excellent closed-loop performance with maximum...
Tipo: 2 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/nonlinear_model-based_control_of_a_parallel_robot_driven_by_pneumatic_muscle_actuators
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An Adaptive Penalty Method for Genetic Algorithms in Constrained Optimization Problems InTech
Helio J. C. Barbosa; Afonso C. C. Lemonge.
From the experiments performed here one can see that the original APM found more often the best solutions. Among the new variants, the variants 3 and 5 were the most successful. As the performance of variant 4 was slightly inferior to that of variants 3 and 5, one may suspect that the inclusion of the damping procedure was not advantageous. A more important conclusion may be that there were not large discrepancies among the results obtained by the original APM and the four new variants, which provide computational savings, and that robust variants can be obtained from the overall family of adaptive penalty methods considered here.
Tipo: 2 Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/an_adaptive_penalty_method_for_genetic_algorithms_in_constrained_optimization_problems
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Positioning in Robots Soccer InTech
Hesam T. Dashti; Shahin Kamali; Nima Aghaeepour.
Tipo: 2 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/positioning_in_robots_soccer
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An Empirical Study on Ecological Interface Design for Multiple Robot Operations: Feasibility, Efficacy, and Issues InTech
Hiroshi Furukawa.
This chapter describes two experiments conducted to reveal basic ability of a human-robot interface design concept, in which the ecological interface display concept is used as the
Tipo: 2 Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/an_empirical_study_on_ecological_interface_design_for_multiple_robot_operations__feasibility__effica
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Rapid Prototyping for Robotics InTech
Imme Ebert-Uphoff; Clement M. Gosselin; David W. Rosen; Thierry Laliberte.
The rapid prototyping framework presented in this chapter provides fast, simple and inexpensivemethods for the design and fabrication of prototypes of robotic mechanisms.As evidenced by the examples presented above, the prototypes can be of great help togain more insight into the functionality of the mechanisms, as well as to convey theconcepts to others, especially to non-technical people. Furthermore, physical prototypescan be used to validate geometric and kinematic properties such as mechanicalinterferences, transmission characteristics, singularities and workspace. Actuated prototypes have also been successfully built and controlled. Actuated mechanisms can be used in lightweight applications or for demonstration purposes. The main limitation in such...
Tipo: 2 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/rapid_prototyping_for_robotics
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Humanitarian Demining: Research Challenges InTech
James Trevelyan.
1
Tipo: 2 Palavras-chave: Humanitarian Demining.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/humanitarian_demining__research_challenges
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Novel Approaches to Speech Detection in the Processing of Continuous Audio Streams InTech
Janez Zibert; Bostjan Vesnicer; France Mihelic.
This chapter addresses the problem of speech detection in continuous audio streams and explores the impact of speech/non-speech segmentation on speech-processing applications. We proposed a novel approach for deriving speech-detection features based on phoneme transcriptions from generic speech-recognition systems. The proposed phoneme-recognition features were designed to be recognizer and language independent and could be applied in different speech/non-speech segmentation-classification frameworks. In our evaluation experiments two segmentation-classification frameworks were tested, one based on the Viterbi decoding of hidden Markov models, where speech/non-speech segmentation and detection were performed simultaneously, and the other framework, where...
Tipo: 2 Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/novel_approaches_to_speech_detection_in_the_processing_of_continuous_audio_streams
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The Cobasa Architecture as an Answer to Shop Floor Agility InTech
Jose Barata.
Almeida, C. F. (2000). Contratos I - Conceitos; Fontes; Forma??o, Almedina, Coimbra. Barata, J., and Camarinha-Matos, L. M. (1994). "Development of a FMS/FAS System." Studies in Informatics and Control, 3(2-3), 231-239. Barata, J., and Camarinha-Matos, L. M. (2000). "Shopfloor Reengineering To Support Agility in Virtual Enterprise Environments." E-Business and Virtual Enterprises, L. M. Camarinha-Matos, H. Afsarmanesh, and R. Rabelo, eds., Kluwer Academic Publishers, London, 287-291.
Tipo: 2 Palavras-chave: Manufacturing the Future.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/the_cobasa_architecture_as_an_answer_to_shop_floor_agility
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Biomechanical Constraints in the Design of Robotic Systems for Tremor Suppression InTech
Juan-Manuel Belda-Lois; Alvaro Page; Jose-Maria Baydal-Bertomeu Rakel Poveda; Ricard Barbera.
Tremor suppression with robotic devices can be an alternative for people with pathological tremor resistant to conventional treatments. Common orthotic principles don't fit well for tremor suppression due to the inherent dynamic characteristics of tremor. In the design of robotic systems for tremor suppression the correct design of load transmission to the bones through the soft tissues is one of the key aspects for successful performance. We have summarised the design specifications into three guidelines: a) Length restriction to avoid the low stiffness associated in the shear plane. b) Increase of contact pressure to increase contact stiffness. c) Increase of the number of contact points to keep the alignments between the orthosis and the body segment.
Tipo: 2 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/biomechanical_constraints_in_the_design_of_robotic_systems_for_tremor_suppression
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