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The Role of 3D Simulation in the Advanced Robotic Design, Test and Control InTech
Laszlo Vajta; Tamas Juhasz.
In this paper we presented an overview about modern visualization approaches in the field of telerobotics and interactive robotics simulation. We have made a comparison presenting the advantages and disadvantages between the (binocular) anaglyph and the (monocular) motion stereo methods in our robot simulator application. At this time, our team in the Mobile- and Microrobotics Laboratory is in the very center of experimenting with some of the great amount of available devices supporting advanced monocular and binocular 3D techniques to find one that is the nearest to our requirements. From this aspect we presented the RobotMAX simulator, which is currently under development at our laboratory: it will integrate robotics...
Tipo: 3 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/the_role_of_3d_simulation_in_the_advanced_robotic_design__test_and_control
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Mine-suspected Area Reduction Using Aerial and Satellite Images InTech
Acheroy Marc; Yvinec Yann.
This Chapter concentrates on the mine action technology problem and more specifically on the description of the processing algorithms used in the SMART project on area reduction. Nevertheless, the SMART approach has its limitations. The general knowledge used in SMART is strongly context-dependent. It has been currently derived from the study of three different test sites in Croatia chosen to be representative of South-East of Europe. In the case of another context a new field campaign is needed in order to derive and implement new
Tipo: 3 Palavras-chave: Humanitarian Demining.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/mine-suspected_area_reduction_using_aerial_and_satellite_images
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One Approach to the Fusion of Inertial Navigation and Dynamic Vision InTech
Stevica Graovac.
The algorithm of fusion of data originating from the strap-down inertial navigation system (INS) and the dynamic vision based visual navigation system (VNS) has been suggested for the general case when the appropriate landmarks are in the field of a TV camera's view. The procedure is of weighted averaging type, allowing the adjustment of weighting factors having in mind the physical nature of errors characterizing both systems and according to the self-evaluation of some intermediate estimates made inside the VNS. The overall procedure could be reasonably reduced according to the particular application and to some
Tipo: 3 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/one_approach_to_the_fusion_of_inertial_navigation_and_dynamic_vision
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Environmental Problems Induced by Pollutants in Air, Soil and Water Resources InTech
Murat Deveci; and Fusun Ekmekyapar.
Natural resources such as soil, water and air play an important role in preserving the existence as well as the development of our planet and its people. Currently, pollution of the agricultural environment is one of the serious environmental concerns in our planet. Proposed strategies for the protection of water, soil and air are as follows: At first, environmental education for all people is necessary. Growing ornamental plants, such as flowers, grasses, and woody plants in heavily polluted lands. The application of biodegradable pesticides in agriculture should be encouraged. In sustainable, or ecological agriculture, rather than only chemical pesticides is advocated, and fertilization is recommended with an emphasis on organic matter cycling. To...
Tipo: 3 Palavras-chave: Environmental Technologies.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/environmental_problems_induced_by_pollutants_in_air__soil_and_water_resources
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Force Field Simulation Based Laser Scan Alignment InTech
Rolf Lakaemper; Nagesh Adluru.
We presented a new approach to the problem of multi robot mapping under the constraints given in rescue scenarios. It does not rely on odometry i.e. the relative pose between the robots is unknown. It also can deal with the problem of extremely minimal overlap. Experiments conducted on a real data set of a disaster area from NIST shows the performance of the FFS approach under these complicated constraints and proved its applicability to the problem of multi robot mapping, they also proved the excellent performance of the algorithm correcting effects from wrong pre alignment. The future work will mainly focus on detection of higher level features: the modeling of the correspondence function with respect to the masses opens different ways to interface to...
Tipo: 3 Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/force_field_simulation_based_laser_scan_alignment
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Estimation of the Absolute Orientation of a Five-Link Walking Robot with Passive Feet InTech
Yannick Aoustin; Gaetan Garcia; Philippe Lemoine.
An application of the digital extended Kalman filter has been presented for the problem of estimating the absolute orientation of SemiQuad, a 2D dynamically stable walking robot. There are some differences between simulations and experiments, but the results still prove the ability of our observer to yield a short term estimation of the orientation of the robot. The precision is sufficient for the estimation to be useful for calculating the dynamic model and monitoring the balance of the robot. This task is important for SemiQuad, and vital for bipeds, to which the idea is also applicable (see Lebastard, Aoustin, & Plestan 2006 for a different type of observer). Given the possibility to re-initialize the observer at each double support phase, even if...
Tipo: 3 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/estimation_of_the_absolute_orientation_of_a_five-link_walking_robot_with_passive_feet
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Non-Monotonic Reasoning on Board a Sony AIBO InTech
David Billington; Vladimir Estivill-Castro; Rene Hexel; Andrew Rock.
One of the most satisfying aspects of our implementation is that it has proven efficient enough to be running on board a Sony AIBO while in competition in the soccer 4-legged league or in RoboCup@Home. Table 1 shows the CPU-timings on board an ERS-7 running our C++ implementation with three different models and two situations. It may be surprising that while the robot was in the playing state, chasing the ball and executing kicks, the execution is faster than while standing as a goalie. However, the standing situations have usually on average 2 landmarks per frame. But while playing, frames with 2 objects in sight are less frequent. In all cases, the inference engine is executed six times per frame, to verify if each of the landmarks is consistent. Model...
Tipo: 3 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/non-monotonic_reasoning_on_board_a_sony_aibo
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Petri Net Based Modelling of Communication in Systems on Chip InTech
Holger Blume; Thorsten von Sydow; Jochen Schleifer; Tobias G. Noll.
It is a key task of modern System-on-Chip (SoC) and Network-on-Chip (NoC) design to efficiently explore this design space regarding aspects like performance, flexibility and power consumption presumably in an early stage of the design flow in order to reduce design time and design costs. In this chapter several examples for modelling of on-chip communication using Petri Net based modelling techniques have been presented. These examples include modelling of internal processor communication and modelling of inter-processor communication using a crossbar switch fabric. For these examples deterministic and stochastic Petri Nets have been applied as modelling technique. More complex NoC communication has been modelled applying Coloured Petri Nets. The results...
Tipo: 3 Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/petri_net_based_modelling_of_communication_in_systems_on_chip
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Asymptotic Motions of Three-Parametric Robot Manipulators with Parallel Rotational Axes InTech
Jan Baksa.
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Tipo: 3 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/asymptotic_motions_of_three-parametric_robot_manipulators_with_parallel_rotational_axes
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Scheduling under Unavailability Constraints to Minimize Flow-time Criteria InTech
Imed Kacem.
In this chapter, we considered the non-resumable version of scheduling problems under availability constraint. We addressed the criterion of the weighted sum of the completion times. We presented the main works related to these problems. This presentation shows that some problems can be efficiently solved (as an example, some proposed FPTAS have a strongly polynomial running time). As future works, the idea to extend these results to other variants of problems is very interesting. The development of better approximation algorithms is also a challenging subject.
Tipo: 3 Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/scheduling_under_unavailability_constraints_to_minimize_flow-time_criteria
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Neural-Based Navigation Approach for a Bi-Steerable Mobile Robot InTech
Azouaoui Ouahiba; Ouadah Noureddine; Aouana Salem; Chabi Djeffer.
In the implemented neural-based navigation, the two intelligent behaviors necessary to the navigation, are acquired by learning using GBP algorithm. They enable Robucar to be more autonomous and intelligent in partially structured environments. Nevertheless, there are a number of issues that need to be further investigated. At first, the Robucar must be endowed with one or several actions to come back to eliminate a stop in a dead zone situation. Another interesting alternative is the use of a better localization not only based on odometry but by fusing data of other sensors such as laser scanner.
Tipo: 3 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/neural-based_navigation_approach_for_a_bi-steerable_mobile_robot
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Automatic Facial Feature Extraction for Face Recognition InTech
Paola Campadelli; Raffaella Lanzarotti; Giuseppe Lipori.
The subject of this chapter is the presentation of a novel method for the automatic and precise localization of facial features in 2D still images. The method follows the top-down paradigm and consists of subsequent steps to decompose the initial problem in increasingly easier tasks: assuming a rough localization of the face in the image, first comes the application of an eye detector with the aim of discriminating between real face regions and possible false positives. The accuracy of the detection is nearly optimal. Successively, an eye locator is applied on a small neighborhood of the detector output to improve the localization precision. Finally, the eye center positions are used to derive 27 facial fiducial points, either extracted directly from the...
Tipo: 3 Palavras-chave: Face Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/automatic_facial_feature_extraction_for_face_recognition
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Design and Validation of a Universal 6D Seam Tracking System in Robotic Welding Based on Laser Scanning InTech
Mikael Fridenfalk; Gunnar Bolmsjo.
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Tipo: 3 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/design_and_validation_of_a_universal_6d_seam_tracking_system_in_robotic_welding_based_on_laser_scann
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Moving Cast Shadow Detection InTech
Wei Zhang; Q.M. Jonathan Wu; Xiangzhong Fang.
In this chapter, we have provided a brief overview of the works about moving cast shadow detection. The state-of-the-art methods have been categories into color model, textural model, and geometric model according to the information and model utilized, which have been disscussed systemically. Furthermore, all kinds of statistical models have been employed to tackle the problem, which are also analyzed in detail. From the results, we can see that different method is fit for different situation and it is very hard to get a method in common use. Therefore, the future work may be the fusion of different information by statistical model to realize robust shadow detection.
Tipo: 3 Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/moving_cast_shadow_detection
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Modular Walking Robots InTech
Ion Ion; Ion Simionescu; Adrian Curaj; Alexandru Marin.
The walking robots are used to unconventional displacement of the technological loads over the unarranged terrains. The modular constructions of the walking robots led to a more suppleness and very good adaptation to any terrain surface. The displacement is carried out at the very most circumstances and with a minimum expenditure of energy if the leg mechanisms are designed in accordance with the above prescriptions
Tipo: 3 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/modular_walking_robots
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Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology (KAIST) InTech
Ill-Woo Park; Jung-Yup Kim; Jungho Lee; Min-Su Kim; Baek-Kyu Cho; Jun-Ho Oh.
In this chapter, The HUBO-series robot platform development is introduced. HUBO, Albert HUBO, and HUBO FX-1 are biped humanoids. Each robot has its own character. HUBO is a biped humanoid robot. The major function of this robot is to walk with its two legs and imitate the human's motions such as hand shaking, bowing, and communicating in sign language. The system components of the control hardware are connected using a CAN communication line. The control system of HUBO is based on the distributed control
Tipo: 3 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/development_of_biped_humanoid_robots_at_the_humanoid_robot_research_center__kaist_
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Multi-Focal Visual Servoing Strategies InTech
Kolja Kuehnlenz; Martin Buss.
In this chapter novel visual servoing strategies have been proposed based on multi-focal active vision systems able to overcome common drawbacks of conventional approaches: a tradeoff between field of view and sensitivity of vision devices and a large variability of the control performance due to distance dependency and singular configurations of the visual controller. Several control approaches to exploit the benefits of multi-focal vision have been proposed and evaluated in simulations: Serial switching between vision devices with different characteristics based on performance- and field-of-view-dependent switching conditions, usage of several of these vision devices at the same time observing different parts of a reference structure, and individual...
Tipo: 3 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/multi-focal_visual_servoing_strategies
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Quantifying and Optimizing Failure Tolerance of a Class of Parallel Manipulators InTech
Chinmay S. Ukidve; John E. McInroy; Farhad Jafari.
6.1 Conclusions This work proves that for a certain class of parallel manipulators functioning about a single point in its workspace, the mean squared relative manipulability over all possible cases of a given number of actuator failures is always constant irrespective of the geometry of the manipulator. In this context, optimal fault tolerant manipulability is defined and quantified using a simple algebraic formulation. The definition is more suited to parallel manipulators since they can retain kinematic stability under failures which constitute loss of actuators. For micromanipulation, symmetric OGSPs can be designed to possess optimal manipulability under actuator failures. OGSP geometries that may be rendered singular due to faults can be identified...
Tipo: 3 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/quantifying_and_optimizing_failure_tolerance_of_a_class_of_parallel_manipulators
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Development of Holonic Manufacturing Execution Systems InTech
Fan-Tien Cheng; Chih-Feng Chang; Shang-Lun Wu.
Tipo: 3 Palavras-chave: Manufacturing the Future.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/development_of_holonic_manufacturing_execution_systems
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A Framework for Assessing and Managing Large Purchaser - Minority Supplier Relationships in Supplier Diversity Initiatives InTech
Nicholas Theodorakopoulos; Monder Ram.
Supplier diversity initiatives can function as platforms for EMSs strategic learning (Theodorakopoulos et al., 2005; Theodorakopoulos & Ram, 2006) and the scant research in supplier diversity underscores the importance of relationship factors to the success of supplier diversity/development programmes (e.g. Pearson et al., 1993). However, purchaser-supplier relationship management as a vehicle for enhancing EMSs learning and supply capabilities has not been examined to any length within the context of supplier diversity. Hence, the aim of this chapter was to consider the characteristics of the relationship between LPO and EMS that enable or constrain such learning. Our emerging tentative
Tipo: 3 Palavras-chave: Supply Chain.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_framework_for_assessing_and_managing_large_purchaser_-_minority_supplier_relationships_in_supplier
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