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Stereo Vision Camera Pose Estimation for On-Board Applications InTech
A. Sappa; D. Geronimo; F. Dornaika; A. Lopez.
An efficient technique for a real time pose estimation of an on-board camera has been presented. It improves a previous proposal (Sappa et al., 2006) by defining a dynamic threshold for selecting points to be fitted. After an initial mapping and filtering process, a
Tipo: 3 Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/stereo_vision_camera_pose_estimation_for_on-board_applications
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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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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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Reinforcement Evolutionary Learning for Neuro-Fuzzy Controller Design InTech
Cheng-Jian Lin.
A novel reinforcement sequential-search-based genetic algorithm (R-SSGA) is proposed. The better chromosomes will be initially generated while the better mutation points will be determined for performing efficient mutation. We formulate a number of time steps before failure occurs as the fitness function. The proposed R-SSGA method makes the design of TSK-Type fuzzy controllers more practical for real-world applications, since it greatly lessens the quality and quantity requirements of the teaching signals. Two typical examples were presented to show the fundamental applications of the proposed R-SSGA method. Simulation results have shown that 1) the R-SSGA method converges quickly; 2) the R-SSGA method requires a small number of population sizes (only 4);...
Tipo: 3 Palavras-chave: Reinforcement Learning.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/reinforcement_evolutionary_learning_for_neuro-fuzzy_controller_design
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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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Combined Torque and Velocity Control of a Redundant Robot System InTech
Damir Omrcen; Leon Zlajpah; Bojan Nemec.
The use of the robots in the real world mostly depends on the development of a autonomous robotic systems that integrate mobility and manipulability. This chapter has presented a new approach to the robot control. The control is called combined control since it combines (integrates) two different types of robot control, i.e. the torque and the velocity control in a single robot system. Later on the mathematical analysis of the proposed combined control has been shown. Verification has been done on a simulated and a real system composed of a velocity controlled mobile platform and a torque controlled manipulator. The results show good tracking of the desired trajectory in the task space and in the null space depending on the controller gains. Controller...
Tipo: 3 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/combined_torque_and_velocity_control_of_a_redundant_robot_system
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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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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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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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A Musculoskeletal Flexible-Spine Humanoid Kotaro Aiming at the Future in 15 Years Time InTech
Ikuo Mizuuchi.
This research has been supported by NEDO as a part of "Project for the Practical Application of Next-Generation Robots," and also partly supported by the Ministry of Education, Culture, Sports, Science and Technology, Grant-in-Aid for Scientific Research for Young Scientists (A) (#17680015).
Tipo: 3 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_musculoskeletal_flexible-spine_humanoid_kotaro_aiming_at_the_future_in_15_years_time
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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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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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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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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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Evolutionary-Based Control Approaches for Multirobot Systems InTech
Jekanthan Thangavelautham; Timothy D. Barfoot; Gabriele M.T. D'Eleuterio.
The use of a global fitness function shows the possibility of training multirobot controllers with limited supervision to perform self-organized task decomposition. A global fitness function encourages solutions that improve system performance without explicitly biasing for a particular task decomposition strategy. This is advantageous for use with multirobot controllers, where it is often easier to define the global goals over required local coordination behaviours that require task specific information. In addition, such an approach facilitates discovery of novel behaviours that otherwise may be overlooked by a human designer. Such novel behaviours include use of `bucket brigade' behaviours for the multirobot resource gathering task, `error correction'...
Tipo: 3 Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/evolutionary-based_control_approaches_for_multirobot_systems
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New Advances in Voice Activity Detection using HOS and Optimization Strategies InTech
J.M. Gorriz; J. Ramirez; C.G. Puntonet.
This paper showed three different schemes for improving speech detection robustness and the performance of speech recognition systems working in noisy environments. These methods are based on: i) statistical likelihood ratio tests (LRTs) formulated in terms of the integrated bispectrum of the noisy signal. The integrated bispectrum is defined as a cross spectrum between the signal and its square, and therefore a function of a single frequency variable. It inherits the ability of higher order statistics to detect signals in noise with many other additional advantages; ii) Hard decision clustering approach where a set of prototypes is used to characterize the noisy channel. Detecting the presence of speech is enabled by a decision rule formulated in terms of...
Tipo: 3 Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/new_advances_in_voice_activity_detection_using_hos_and_optimization_strategies
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Reduced DOF Type Walking Robot Based on Closed Link Mechanism InTech
Katsuhiko Inagaki.
In this chapter, we have proposed a new type of walking machine by use of reduced DOF mechanical design. Our walking machine is designed for environment that has combination of flat terrain and some steps. This mobile environment is often found in environment for human walking, such as office or factory. Therefore, our walking machine is enough practical, though it has a limitation in walling environment. As the result of our simulations and experiment, we can get the following results. Our walking machine can walk on flat terrain by use of 6 DOF. Then, to realize walking over a step, 7 DOF is minimum required number of DOF. In this case, there exists a limitation about the body direction. If more than 2 DOF are applied, it can remove this limitation. As...
Tipo: 3 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/reduced_dof_type_walking_robot_based_on_closed_link_mechanism
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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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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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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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