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Stabilization of Fuzzy Takagi - Sugeno Descriptor Models; Application to a Double Inverted Pendulum InTech
Thierry Marie Guerra; Sebastien Delprat; Salim Labiod.
The chapter focused on TS fuzzy models in descriptor form stabilization. As for classical TS models, they can be obtained in a systematic way using the sector nonlinearity approach. Their main interest is to remain close to the nonlinear model. Thus, in some cases the number of models involved can be highly reduced in comparison to a classical TS model representing the same nonlinear model. Hence, the results obtained with the conditions of stabilization can allow reducing in a large way the conservatism of preceding classical results. Nevertheless, if we want to outperform basic conditions of stabilization for TS models in the descriptor form, a way is to use specific matrix transformation. The application of matrix transformation allowed outperforming...
Tipo: 20 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/stabilization_of_fuzzy_takagi_-_sugeno_descriptor_models__application_to_a_double_inverted_pendulum
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Applying a Hybrid Data Mining Approach in Machining Operation for Surface Quality Assurance InTech
Tzu-Liang (Bill) Tseng; Yongjin Kwon; Ryan B. Wicker.
Tipo: 20 Palavras-chave: Manufacturing the Future.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/applying_a_hybrid_data_mining_approach_in_machining_operation_for_surface_quality_assurance
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A Non-Contact Method for Detecting On-Line Industrial Robot Position Errors InTech
Gregory C. Smith.
The investigator developed an non-invasive non-contact method for detecting on-line industrial robot position errors. The method uses a low-cost sensor to detect single-axis position errors. The sensor, composed of a low-cost microwave Doppler radar detector and a low-pass filter, converts robot motion into electronic signals that are A/D converted and processed using a computer. Computer processing reduces captured signals into root-sum-of-squares error measures, with respect to a mean sensor calibration signal. Root-sum-of-squares error measures are compared to a threshold value that indicates, statistically, a 99.7% probability that an on-line position error has occurred. The threshold value can be adjusted to meet different application needs. For the...
Tipo: 20 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_non-contact_method_for_detecting_on-line_industrial_robot_position_errors
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The Surgeon's Third Hand an Interactive Robotic C-Arm Fluoroscope InTech
Norbert Binder; Christoph Bodensteiner; Lars Matthaeus; Rainer Burgkart; Achim Schweikard.
Experiments with this world's first fully robotized C-arm show very promising results. Movements in the image plane, longbone images, data acquisition for 3D reconstruction, and landmark based positioning were successfully implemented and tested. The next version of our C-arm will overcome mechanical problems such as lacking positioning accuracy and mechanical deformation. The value of an every-day OR-device can be increased by simple means. The workflow can be optimized and mistakes can be prevented. Operation time is saved and radiation dose for patient and staff is minimized. The experiences of this study have already been transferred to other systems such as OR microscope (Knopp et al. 2004) and showed similar promising results. Chances are that the...
Tipo: 20 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/the_surgeon_s_third_hand_an_interactive_robotic_c-arm_fluoroscope
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Grid Technologies for Intelligent Autonomous Robot Swarms InTech
Fabio P. Bonsignorio.
From a certain respect what is described above can be seen as a generalized grid where some of the resource managed are various kind of intelligent autonomous robotic agents. This seems to show some inherent advantages.
Tipo: 20 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/grid_technologies_for_intelligent_autonomous_robot_swarms
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Parallel Manipulators with Lower Mobility InTech
Raffaele Di Gregorio.
Tipo: 20 Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/parallel_manipulators_with_lower_mobility
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Object Recognition for Obstacles-free Trajectories Applied to Navigation Control InTech
W. Medina-Melendez; L. Fermin; J. Cappelletto; P. Estevez G. Fernandez-Lopez; J. C. Grieco.
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Tipo: 20 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/object_recognition_for_obstacles-free_trajectories_applied_to_navigation_control
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Analysis and Implementation of an Automated Delimiter of "Quranic" Verses in Audio Files using Speech Recognition Techniques InTech
Tabbal Hassan; Al-Falou Wassim; Monla Bassem.
The system that we developed showed promising results although it was only tested against small Quran’ chapters. We think that the incorporation of morphological knowledge of the Arabic language with a more sophisticated statistical model deduced from the full scope of
Tipo: 20 Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/analysis_and_implementation_of_an_automated_delimiter_of__quranic__verses_in_audio_files_using_speec
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A Generalized Robot Path Planning Approach Without The Cspace Calculation InTech
Yongji Wang; Matthew Cartmell; QingWang; Qiuming Tao.
Tipo: 20 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_generalized_robot_path_planning_approach_without_the_cspace_calculation
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Evolutionary Strategies Combined With Novel Binary Hill Climbing Used for Online Walking Pattern Generation in Two Legged Robot InTech
Lena Mariann Garder; Mats Hovin.
In this chapter an incremental search algorithm combining ES and binary hill climbing has been presented. The ESBH algorithm is compared to simple GA and ES, and stochastic search. We see that the ESBH algorithm is in average superior to the other approaches in this application where the focus is fast learning in less than 20 generations. A possible objection to the proposed ESBH algorithm is that heavy noise in the fitness calculations may cause the algorithm to derail and search in a non optimal region of the search space. Although various simulations has shown that the ESBH algorithm develop proper gaits significantly faster than standard GA/ES based algorithms, practical side effects in a physical environment, such as...
Tipo: 20 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/evolutionary_strategies_combined_with_novel_binary_hill_climbing_used_for_online_walking_pattern_gen
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Robust Feature Detection Using 2D Wavelet Transform under Low Light Environment InTech
Youngouk Kim; Jihoon Lee; Woon Cho; Changwoo Park; Changhan Park; Joonki Paik.
The paper presents a local feature detection method for vSLAM-based self-localization of mobile robots. Extraction of strong feature points enables accurate self-localization under various conditions. We first proposed NAST pre-processing filter to enhance low light-level input images. The SIFT algorithm was modified by adopting wavelet transform instead of Gaussian pyramid construction. The wavelet-based pyramid outperformed the original SIFT in the sense of processing time and quality of extracted keypoints. A more efficient local feature detector and a compensation scheme of noise due to the low contrast images are also proposed. The proposed scene recognition method is robust against scale, rotation, and noise in the local feature space.
Tipo: 20 Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/robust_feature_detection_using_2d_wavelet_transform_under_low_light_environment
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Job-shop Scheduling and Visibility Studies with a Hybrid ACO Algorithm InTech
Heinonen; J.; Pettersson; F..
When paired with the local search the ACO produces noteworthy results very fast (typically 5% from optimum within 200 rounds of calculations). The Max-Min Ant System outperformed all other ACO versions, and it did so for all types of visibility tested, showing that it is indeed a leading candidate for choosing your ant system. There are various version of ACO available and this chapter served its purpose to both do an attempt at ranking them, showing the impact of various visibility methods as well as proving that pure ACO methods produce good results, but even better when combined with the postprocessing algorithm shown. Naturally, not every combination of ACO and a local search is guaranteed to work better than a pure ACO, but a hybrid version can...
Tipo: 20 Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/job-shop_scheduling_and_visibility_studies_with_a_hybrid_aco_algorithm
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An Introduction to Model-Based Pose Estimation and 3-D Tracking Techniques InTech
Christophe Doignon.
With this article, we have addressed some issues in pose estimation with geometrical features and a modelbased approach in the context of monocular vision. While the 3-D tracking/estimation may be performed with optimal estimators (with the Kalman filter and its extended/nonlinear versions or with the particle filter also referred to as the sequential Monte Carlo method), system models and state vectors need the pose parameters recovery or the 3-D motion recovery from the motion field. The pose determination is needed for applications with high accurate 3-D positioning requirements, when occlusions, shadows or abrupt motions have to be handle. To this purpose, several geometrical featurebased approaches have been reviewed for solving the pose with various...
Tipo: 20 Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/an_introduction_to_model-based_pose_estimation_and_3-d_tracking_techniques
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Geminoid: Teleoperated Android of an Existing Person InTech
Shuichi Nishio; Hiroshi Ishiguro; Norihiro Hagita.
This work was supported in part by the Ministry of Internal Affairs and Communications of Japan.
Tipo: 20 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/geminoid__teleoperated_android_of_an_existing_person
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Machine Analysis of Facial Expressions InTech
Maja Pantic; Marian Stewart Bartlett.
Tipo: 20 Palavras-chave: Face Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/machine_analysis_of_facial_expressions
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Robust and Accurate Detection of Object Orientation and ID without Color Segmentation InTech
Hironobu Fujiyoshi; Tomoyuki Nagahashi; Shoichi Shimizu.
This section describes some of the benefits of the proposed method. - Easy set up To register reference patterns for each robot's ID, orientation is obtained by clicking on the fronts of the robots to assign an ID to each one. There is no need to make a rule-based reference table to identify objects. - Easy patch modification Since the white bar is used to estimate the robot's orientation in the general method, there is less space in which to paste sub-marker patches. This means that our method allows for more space on the top of the robot and that is very easy to modify the patch pattern because of its easy set up. - Robustness with respect to varying light conditions There is no perfect color segmentation. Even if the lighting conditions change, because...
Tipo: 20 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/robust_and_accurate_detection_of_object_orientation_and_id_without_color_segmentation
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A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information InTech
Feng Chen; Yong Yu; Yunjian Ge; Jian Sun; Xiaohong Deng.
We like to thank the support from the National Science Foundation of China (Grant No. 60575054).
Tipo: 20 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_pawl_for_enhancing_strength_and_endurance_during_walking_using_interaction_force_and_dynamical_inf
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Sequencing and Scheduling in the Sheet Metal Shop InTech
B. Verlinden; D. Cattrysse; H. Crauwels; J. Duflou; D. Van Oudheusden.
Tipo: 20 Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/sequencing_and_scheduling_in_the_sheet_metal_shop
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Methods for Environment Recognition Based on Active Behaviour Selection and Simple Sensor History InTech
Takahiro Miyashita; Reo Matsumura; Kazuhiko Shinozawa; Hiroshi Ishiguro; Norihiro Hagita.
In this paper, we proposed a method for recognizing environment and selecting appropriate behaviours for humanoid robots based on sensor histories. By using the method, the robot could select effective behaviours to recognize current environment. For ten different environments that are typical in a Japanese family's house, the results of these experiments indicated that the robot successfully recognized them by five basic motions shown in Table 3. However, we should consider the case when number of candidates of current environment does not converge to one. In the case, the robot should acquire new sensor data and rebuild the decision trees, then recognize the environment, again. After these processes, when the number of candidates of the environment...
Tipo: 20 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/methods_for_environment_recognition_based_on_active_behaviour_selection_and_simple_sensor_history
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Collective Motion of Multi-Robot System based on Simple Dynamics InTech
Ken Sugawara; Yoshinori Hayakawa; Tsuyoshi Mizuguchi; Masaki Sano.
In this article, we proposed a mathematical model which show several types of collective motions, and validated it. Firstly we constructed a model in which each element obeys the Newton equation with resistive and interactive force and has a degree of freedom of the heading vector which is parallel to the element axis, in addition to its position and velocity. Performance of the model was confirmed by numerical simulation, and we obtained several types of collective behavior, such as regular cluster motions, chaotic wandering and swarming of cluster without introducing random fluctuations. By introducing a set of dimensionless parameters, we formulated the collective motions and obtained the phase diagram and a new dimensionless parameter G. Lastly, we...
Tipo: 20 Palavras-chave: Human Robot Interaction.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/collective_motion_of_multi-robot_system_based_on_simple_dynamics
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