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A New Algorithm for Initialization and Training of Beta Multi-Library Wavelets Neural Network InTech
Wajdi Bellil; Mohamed Othmani; Chokri Ben Amar; Mohamed Adel Alimi.
In this chapter, we described a new training algorithm for multi library wavelets network. We needed a selection procedure, a cost function and an algorithm of minimization for the evaluation. To succeed a good training, we showed that it was necessary to unite good ingredients. Indeed, a good algorithm of minimization finds a minimum quickly; but this one is not necessarily satisfactory. The use of a selection algorithm is fundamental. Indeed, the good choice of regressors guarantees a more regular shape of the cost function; the global minima correspond well to the "true" values of the parameters, and avoid the local minimum multiplication. So the cost function present less local minima and the algorithms of evaluation find the global minimum more...
Tipo: 11 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_new_algorithm_for_initialization_and_training_of_beta_multi-library_wavelets_neural_network
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A New Load Adjustment Approach for Job-Shops InTech
Zied Bahroun; Mourad Fendouli; Jean-Pierre Campagne.
The most common approach used in production planning remains MRP II (Manufacturing Resource Planning). The proposed approach in this paper constitutes an alternative to the traditional load adjustment approaches used in the CRP (Capacity Requirement Planning) modules in software based on MRP II philosophy. The new heuristic presented in this paper, in comparison with the usual middle and/or long-term planning and scheduling approaches, has the following advantages: not setting a long-term tasks scheduling to assure that the planning can be properly carried out; exploiting and distributing judiciously the job's margins on their tasks and trying to respect the just-in-time principles; permitting the postponement of the final scheduling job's problems until...
Tipo: 09 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_new_load_adjustment_approach_for_job-shops
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A Tree-Climbing Robot Platform: Mechanical Concept, Control Software and Electronic Architectures InTech
Reinaldo de Bernardi; José Jaime da Cruz.
This work presented the Kamanbar? robot, which is a four-legged bionspired platform with the main purpose of climbing trees, for environmental research applications. The mechanical and electronics structure, and the software architecture, were presented as well a Simulink mechanical model and simulations results. Based on its special design, this platform offers the possibility of investigating reptile-like walking and climbing. As a control approach, just a gait generator based on the chameleon mode of movement was presented, but it was demonstrated that is sufficient to obtain results on legs movement interference and realistic torque estimates.
Tipo: 12 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_tree-climbing_robot_platform__mechanical_concept__control_software_and_electronic_architectures
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An Implementation of High Availability in Networked Robotic Systems InTech
Florin Daniel Anton; Theodor Borangiu; Silvia Anton.
Fault-tolerance is provided to the cell communication system (Fig. 14), and therefore redundancy at both Station Controller level (a break down of a Robot Controller is detectable, the production tasks can be rescheduled to the remaining valid units for graceful degraded behaviour) and Station Computer level (replication of data bases for the IBM PCtype device terminals, reassignment of computers in case of break downs). The fault tolerance solution presented in this paper is worth to be considered in environments where the production structure has the possibility to reconfigure, and where the manufacturing must assure a continuous production flow at batch level (job shop flow). There are also some drawbacks in this solution, like the need of an additional...
Tipo: 04 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/an_implementation_of_high_availability_in_networked_robotic_systems
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Attentional Selection for Action in Mobile Robots InTech
Pilar Bachiller; Pablo Bustos; Luis J. Manso.
In this chapter, a novel computational model of visual attention based on the selection for action theory has been presented. In our system, attention is conceived as an intermediary between visual perception and action control, solving two fundamental behavioural questions:
Tipo: 07 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/attentional_selection_for_action_in_mobile_robots
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Cognitive Approach to Control in Ill-Structured Situation and the Problem of Risks InTech
Abramova N.A.; Avdeeva Z.K.; Kovriga S. V..
Experience of applying of various models and methods on the basis of cognitive approach (in Russia and abroad), as well as increasing interest of practical specialists to developments in this directions show expediency of development of this approach in control. At that, we should note some unsolved (or partially solved) problems. The problem of risks due to the human factor in the field of formal methods of searching and making decisions in the control of complex and ill-structured situations is considered as the general problem for diverse models of subject-matter experts' knowledge and related formal methods (Abramova & Novikov, 2006; Abramova, 2007a). Let us outline some directions of research planned by the authors within the framework of...
Tipo: 06 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/cognitive_approach_to_control_in_ill-structured_situation_and_the_problem_of_risks
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Discovering Strategic Behaviors in Multi-Agent Scenarios by Ontology-Driven Mining InTech
Davide Bacciu; Andrea Bellandi; Barbara Furletti; Valerio Grossi; Andrea Romei.
We have introduced an ontology-based approach for association analysis in the context of behavior mining in multi-agent systems. Our proposal is based on the idea of the ontological description of the domain as an essential via-point for accessing the expert knowledge concealed underneath massive amounts of "flat" data. The introduction of a multi-layered and multi-relational representation of the domain allows approaching the information content from several, diverse, viewpoints. Within the multi-agent area, this approach offers considerable advantages since it allows the agents to gather personalized views of the extracted knowledge, represented by means of rule ontologies. By exploiting this "relativistic" representation, an agent can dynamically...
Tipo: 10 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/discovering_strategic_behaviors_in_multi-agent_scenarios_by_ontology-driven_mining
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Estimation of Tire-Road Forces and Vehicle Sideslip Angle InTech
Guillaume Baffet; Ali Charara; Daniel Lechner.
This study deals with two vehicle-dynamic observers constructed for use in a two-block estimation process. Block 1 mainly estimates tire-forces (without an explicit tire-force model), while block 2 calculates sideslip angle and corrects cornering stiffnesses (with an adaptive tire-force model). The first observer O1,4w (block 1), an extended Kalman Filter, is constructed with a random walk force model. The experimental evaluations of O1,4w are satisfactory, showing excellent estimations close to the measurements and good convergence properties. The second observer O2,LAM (block 2), developed with an adaptive tire-force model, was evaluated for different cornering stiffness settings and was compared with an observer constructed with a fixed tire-force model...
Tipo: 08 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/estimation_of_tire-road_forces_and_vehicle_sideslip_angle
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Fault Diagnosis in Discrete Event Systems Using Interpreted Petri Nets InTech
Jesús Arámburo-Lizárraga; Antonio Ramírez-Treviño; Ernesto López-Mellado; Elvia Ruiz-Beltrán.
This chapter introduced the diagnosability property in DES modeled using IPN. It presented a structural characterization of this property using the T-semiflows of the IPN. The approach herein presented exploits the IPN structure to determine when it is diagnosable, this approach leads to polynomial characterization of diagnosability. Based on the DES model, three different types of diagnosers were presented. The first one was a centralized version, allowing to detect and locate faults. Sometimes, however, the system could very large; leading to large diagnoser models thus the other two diagnosers are designed to tackle this problem. The second diagnoser is a reduced scheme. It uses one place; however the number of tokens could be large. The third diagnoser...
Tipo: 05 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/fault_diagnosis_in_discrete_event_systems_using_interpreted_petri_nets
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Humanoid Robot Balancing InTech
Youngjin Choi; Doik Kim.
This work was supported by IT R & D program of MIC & IITA (2006-S-028-01, Development of Cooperative Network-based Humanoids Technology), Republic of Korea.
Tipo: 18 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/humanoid_robot_balancing
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Interception and Rendezvous Between Autonomous Vehicles InTech
Yechiel J. Crispin.
The interception and rendezvous problems between two autonomous vehicles moving in an underwater environment has been treated using an optimal control formulation with terminal constraints. The vehicles have a constant thrust propulsion system and use the direction of the thrust vector for steering and control. We use a genetic algorithm to determine directly the control history of the vehicle by evolving populations of possible solutions of initial value problems. In order to fulfill the final boundary conditions as terminal constraints, a mini-max objective function has been defined. An interception problem, where one vehicle moves along a circular trajectory at constant speed and the second vehicle acts as a chaser, maneuvering such as to capture the...
Tipo: 20 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/interception_and_rendezvous_between_autonomous_vehicles
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JPEG for Arabic Handwritten Character Recognition: Add a Dimension of Application InTech
Abdurazzag Ali Aburas; Salem Ali Rehiel.
All images of handwritten Arabic letters were provided by Prof. Zaki Kheder, University of Jordan. Authors would like also to thank Dr Rafael C. Gonzales for giving permission to use his MATLAB codes published in [R. C. Gonzalez et al (2003)]
Tipo: 02 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/jpeg_for_arabic_handwritten__character_recognition__add_a_dimension_of_application
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Modeling Virtual Reality Web Application InTech
Berta Buttarazzi; Federico Filippi.
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Tipo: 13 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/modeling_virtual_reality_web_application
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MO-Miner: A Data Mining Tool Based on Multi-Objective Genetic Algorithms InTech
Gina M. B. de Oliveira; Luiz G. A. Martins; Maria C.; S. Takiguti.
The application of a multi-objective GA-based environment named MO-miner, inspired by the family of algorithms NSGA and designed to discover accurate and interesting dependence modeling rules, was investigated in this work. Our investigation was performed by applying MO-miner to two distinct public data sets named Nursery and Zoo, composed by 12960 and 101 registers, respectively. The accuracy and the interestingness of the rules mined by MO-miner were compared with those found by a single-objective standard genetic algorithm, based in its turn on the
Tipo: 22 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/mo-miner__a_data_mining_tool_based_on_multi-objective_genetic_algorithms
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Multi-Model Approaches for Bilinear Predictive Control InTech
Anderson Cavalcanti; André Maitelli; Adhemar Fontes.
This chapter showed the importance and the relevance of multi-model approaches. Several researches has been proposed in order to solve design problems in process that operates in a large range (like batch processes). Some proposals of multi-model have been presented in this chapter and its comparison with classic approaches. All multi-model approaches presented better performance when compared to single-model approach. The next step of this research is to adjust these approaches to a robust and stable algorithm of multi-model.
Tipo: 15 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/multi-model_approaches_for_bilinear_predictive_control
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Outlier Detection Methods for Industrial Applications InTech
Silvia Cateni; Valentina Colla; Marco Vannucci.
A description of traditional approaches and of the most widely used methods within each category has been provided. As standard outlier detection methods fail to detect outliers in industrial data, the use of artificial intelligence techniques has also been proposed, because it presents the advantage of requiring poor or no a priori assumption on the considered data. A procedure for outlier detection in a database has been proposed which exploits a Fuzzy Inference System in order to evaluate four features for a pattern that characterize its location within the database. The system has been tested on a real industrial application, where outliers can provide indications on malfunctionings or anomalous process conditions. The presented results clearly...
Tipo: 14 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/outlier_detection_methods_for_industrial_applications
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Predicting Surface Roughness in Grinding Using Neural Networks InTech
Paulo R. Aguiar; Carlos E. D. Cruz; Wallace C. F. Paula; Eduardo C. Bianchi.
The technique of surface roughness prediction has been developed using multi-sensor method with AE sensor and power meter for grinding process. Based on the results presented in this research, it can be concluded that acoustic emission and cutting power signals are very good input parameters to the neural network for surface roughness prediction of ground parts. Thus, the implementation of these signals is feasible in the control of grinding process in industry, provided that very low percentage of "bad" errors presented by the neural network was found. From the sets used in the training of the neural networks, and for the grinding conditions and methods employed, the set number 3 composed only by the DPO parameter and depth of cut has presented the best...
Tipo: 03 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/predicting_surface_roughness_in_grinding_using_neural_networks
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The Holonic Production Unit: an Approach for an Architecture of Embedded Production Process InTech
Edgar Chacón; Isabel Besembel; Dulce M. Rivero; Juan Cardillo.
In a natural manner the business model, the chain of value, the product flow and the holonic approach allow us to capture a coherent model of the production process in all of their globallity and complexity giving origin to the shown embedded model.
Tipo: 16 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/the_holonic_production_unit__an_approach_for_an_architecture_of_embedded_production_process
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