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Registros recuperados: 44
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A Multi-Robot System Architecture for Trajectory Control of Groups of People InTech
Edgar A. Martinez-Garcia; Akihisa Ohya; Shinichi Yuta.
It has been considered that an important issue of this research work relies on the regarding of this modality for people conduction. A given contribution has been the methodology for conduction, its strategy for accomplishing the task-goal and the implementation of the system itself. It has been considered that most important issues featuring the present architecture are synthesized as: 1.) A framework for people trajectory control model. 2.) Guidance is mainly constrained by being of implicit communication type. 3.) Motions reactions are the means of interaction for trajectory control between robots and people. 4.) Non-active cooperation modality is given by the robots in this architecture. Furthermore, there are some important points of the guiding...
Tipo: 28 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/a_multi-robot_system_architecture_for_trajectory_control_of_groups_of_people
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A Novel Parallel Engraving Machine Based on 6-PUS Mechanism and Related Technologies InTech
Kong Ling-fu; Zhang Shi-hui.
A novel parallel engraving machine is proposed and its some key technologies are studied in this paper. Based on the confirming of mechanism type, a group of mechanisms are obtained by changing the sizes of engraving machine. Performance indices are analyzed by considering both the first and the second order influence coefficient matrix of different sample point in every mechanism's workspace, then mechanism's sizes better for both kinematics and dynamics are achieved, so the theory basis for designing the size of novel engraving machine is established. In addition, method for tool path planning and control technology for engraving force is also studied in the paper. The proposed algorithm for tool path planning on curved surface solves path's mapping...
Tipo: 37 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/a_novel_parallel_engraving_machine_based_on_6-pus_mechanism_and_related_technologies
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A Robot System for High Quality Belt Grinding and Polishing Processes InTech
Bernd Kuhlenkoetter; Xiang Zhang.
Due to the tendency of the globalization of markets and competition from low wage countries, it is profitable for the industry to further automate the robot-controlled grinding and polishing system, especially in the sanitary fitting industry. The high automation level of the robot system not only relieves the human being from laborious tasks, but also elevates the efficiency of the whole manufacturing process by producing a steady product surface quality. A framework of such a robot system is put forward in this paper. The automation of the robot system focuses on two parts. One is to facilitate the grinding and polishing paths planning processes. Software is developed to help the operator to generate the grinding and polishing paths quickly and easily....
Tipo: 44 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/a_robot_system_for_high_quality_belt_grinding_and_polishing_processes
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A Robotic System for Volcano Exploration InTech
Daniele Caltabiano; Giovanni Muscato.
The main innovation of this project is the capability to take measurements during volcanic eruptions by the development of a specific mobile robotic system for this purpose. This robot will have a relevant impact on the mitigation of the volcanic risk both in general, since it contributes to improve knowledge about volcanic phenomena, and in particular because it is now integrated in the volcanic surveillance system to be used when the approach to active vents becomes too dangerous for human live, but information is vital for a correct forecast of dangerous eruptions. For instance, during the volcano unrest that precede a large eruption when the gas emission, thermal variation and ground deformation inside a crater or caldera, related to the ascent of new...
Tipo: 30 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/a_robotic_system_for_volcano_exploration
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A Simulator for Helping in Design of a New Active Catheter Dedicated to Coloscopy InTech
Georges Dumont; Christofer Kuehl.
The simulation with multi-agent controller, presented in Fig. 11, proves the validity of this approach for minimizing contacts into the ducts, furthermore it can be extended to the case where the ducts are not rigid but elastically, or visco-elastically deformable, as in reality (K?hl, C. 2003) (K?hl, C & Dumont, G. 2005). A sigmoid untwisting, that is a classical examination in coloscopy, has been reproduced for testing the simulator. The main part of this examination is done when the endoscopic device is withdrawed. The medical practitioner try to reach the ileocolic valve: this part is very delicate because the practitioner has to align the endoscope with the colon in order to continue the progression. Furthermore, the colic angles are very...
Tipo: 31 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/a_simulator_for_helping_in_design_of_a_new_active_catheter_dedicated_to_coloscopy
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Adaptive Control of Nonlinear Dynamics Systems Based on RBF Network InTech
Ho Dac Loc; Nguyen Thi Phuong Ha; Luong Van Lang.
In this work, we developed an adaptive fuzzy controller which : 1) does not require an accurate mathematical model of plant under control; 2) uses the error vector as controller's input, therefore it does not require all that components of state vector to be measurable; and 3) guarantees the global stability of the close-loop system. The simulation results show that the adaptive fuzzy controller could successful control the unknown nonlinear dynamic system.
Tipo: 21 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/adaptive_control_of_nonlinear_dynamics_systems_based_on_rbf_network
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An Active Stereo Vision-Based Learning Approach for Robotic Tracking, Fixating and Grasping Control InTech
Nan-Feng Xiao; Saeid Nahavandi.
The following conclusions are drawn from the above experiments: (1) There exist many-to-one mapping relationships between the joint angles of the active stereo vision system and the spatial representations of the object in the workspace frame. (2) ART_NN and FF_NN can learn the mapping relationships in an invariant manner to the changing joint angles. The vision and joint angle signals of the active vision system corresponding to the object correspond to the same spatial representation of the object. 181
Tipo: 11 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/an_active_stereo_vision-based_learning_approach_for_robotic_tracking__fixating_and_grasping_control
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Autonomous Navigation of Unmanned Vehicles: A Fuzzy Logic Perspective InTech
Nikos C. Tsourveloudis; Lefteris Doitsidis; Kimon P. Valavanis.
The technology of unmanned vehicles, in all its aspects, is an exciting one, especially since it holds the promise of saving human lives by letting machines do dull, dirty or dangerous missions into high-threat environments or just unknown environments
Tipo: 18 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/autonomous_navigation_of_unmanned_vehicles__a_fuzzy_logic_perspective
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Behaviour Based Mobile Robot Navigation with Dynamic Weighted Voting Technique InTech
Shamsudin H.M. Amin; Rosbi Mamat; Tan Chee Kwong.
Experiments were carried out to prove the effectiveness of the proposed dynamic weighted voting technique. The experiments were carried on fourteen experimental fields with four different behaviour combinations. The results and comparison of the different experiments wee discussed. These results appear to show that the dynamic weighted voting technique was able to handle the problem in action selection. Meanwhile, the design also provided a way to design the mobile robot with dynamic weighted voting technique in an organised manner. Comparison with other behaviour-based approaches was briefly discussed, so as well the advantages and the disadvantages of the dynamic weighted voting technique.
Tipo: 13 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/behaviour_based_mobile_robot_navigation_with_dynamic_weighted_voting_technique
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Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach InTech
Christian Ott; Alin Albu Schaffer; Andreas Kugi; Gerd Hirzinger.
In this work a Cartesian impedance controller for flexible joint robots was proposed. The control approach was based on the stability theory for cascaded systems. In the proposed controller an inner torque feedback loop decouples the torque dynamics from the rigid body dynamics. For the implementation of the impedance behaviour a control law well known from rigid body robotics is used in combination with the torque controller. It should also be mentioned that, apart from the considered impedance control problem, different rigid body controllers can be applied to the flexible joint model analogously to the procedure described herein. For the proof of the asymptotic stability of the closed-loop system one can take advantage of Theorem 2. Appendix In this...
Tipo: 39 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/cartesian_impedance_control_of_flexible_joint_robots__a_decoupling_approach
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Coevolution Based Adaptive Monte Carlo Localization InTech
Luo Ronghua; Hong Bingrong; Li Maohai.
An adaptive localization algorithm CEAMCL is proposed in this paper. Using an ecological competition model, CEAMCL can adaptively adjust the sample size according to the total environment resource, which represents uncertainty of the position of the robot. Coevolution between species ensures that the problem of premature convergence when using MCL in highly symmetric environments can be solved. And genetic operators used for intra-species evolution can search for optimal samples in each species, so the samples can represent the desired posterior density better. Experiments prove that CEAMCL has the following advantages: (1) it can adaptively adjust the sample size during localization; (2) it can make stable localization in highly symmetric environment; (3)...
Tipo: 17 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/coevolution_based_adaptive_monte_carlo_localization
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Collision-Free Path Planning in Robot Cells Using Virtual 3D Collision Sensors InTech
Tomislav Reichenbach; Zdenko Kovacic.
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Tipo: 40 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/collision-free_path_planning_in_robot_cells_using_virtual_3d_collision_sensors
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Comparison of Demosaicking Methods for Color Information Extraction InTech
Flore Faille.
After an overview over state of the art and recent demosaicking methods, selected algorithms were compared using images with various content. To verify if demosaicked images are suitable for computer or robot vision tasks, the average MSE in typical color spaces (RGB, YUV, HSI and Irb) was measured. While the high inter-channel correlation model improves interpolation results significantly, it was also shown to be inaccurate in colored areas. WACPI and MBP (+WACPI) provide the best results. WACPI performs better in colored and in homogeneous areas. MBP better reconstructs texture and reduces wrong color artifacts. The choice between both algorithms should depend on the application, according to the most relevant information and to the image type...
Tipo: 7 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/comparison_of_demosaicking_methods_for_color_information_extraction
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Cooperative Hunting by Multiple Mobile Robots Based on Local Interaction InTech
Zhi-Qiang Cao; Min Tan; Saeid Nahavandi; Nong Gu.
This chapter has mainly focused on the problem of cooperative hunting by multiple mobile robots in unknown environments. Because the positions of the robots are not exchanged among them in order to reduce the communication burden, it is hard for each robot to make a global decision. A better idea is to complete the task by local interaction among the robots. In this chapter, an effective approach called Cooperative Local Interaction (CLI) has been proposed. The approach is robust and independent of the environments. As the invader actively tries to escape by adopting the safety-motion strategy, the difficulty of hunting is increased. The validity of CLI approach is supported by simulations.
Tipo: 24 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/cooperative_hunting_by_multiple_mobile_robots_based_on_local_interaction
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Design of a Generic, Vectorised, Machine-Vision library InTech
Bing-Chang Lai; Phillip John McKerrow.
Existing generic libraries, such as STL and VIGRA, are difficult to vectorise because iterators do not provide algorithms with information on how data are arranged in memory. Without this information, the algorithm cannot decide whether to use the scalar processor or the VPU to process the data. A generic, vectorised library needs to consider how functors invoke VPU instructions, how algorithms access vectors efficiently, and how edges, unaligned data, and prefetching are handled. The generic, vectorised, machinevision library design presented in this paper addresses these issues. The functors access the VPU through an abstract VPU. An abstract VPU is a virtual VPU that represents a set of real VPUs through an idealised instruction set and common...
Tipo: 10 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/design_of_a_generic__vectorised__machine-vision_library
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Development of a Range of Robot and Automation Prototypes for Service Applications InTech
Bing Lam Luk; Alexandar Djordjevic; Shiu Kit Tso; King Pui Liu.
The MARCH robot, baggage carrying robot, Cleanbot III and safety support vehicle were financially supported by the City University of Hong Kong grant for CIDAM research unit (CityU #9360077), an RGC grant #9040407 and an RGC Central Allocation grant (CUHK 3/98C). Cleanbot I, Cleanbot II and WIC robots were funded by RGC grants #9040407 and #9040711, an ISF grant (AF/76/98) and an ITF grant (ITS/33/01) respectively. The home automation project was supported by an ITF grant (UIM-55). The telemedicine project was funded by an ITF grant (ITS/99/02). The authors would like to express their sincere gratitude to the following persons: ? Prof. Y.T. Zhang and his research team, Mr. D. Lam, Mr. A. Choy and Dr. Y.H. Fung for their important collaboration and advice...
Tipo: 32 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/development_of_a_range_of_robot_and_automation_prototypes_for_service_applications
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Dynamic Modelling and Adaptive Traction Control for Mobile Robots InTech
Abdulgani Albagul; Wahyudi Martono; Riza Muhida.
In this paper two control strategies are developed, and tested on the robot. The `low' level controller performance deteriorated with the changes in the surface condition such as the traction condition (friction coefficient). Meanwhile the combined controller detects the changes and copes with them in an adequate manner, maintaining a largely consistent performance. Some of the issues concerning the environmental structure and the high level control have been presented. Determining the location of the mobile robot plays a vital role in maintaining fast, smooth path-tracking. Measuring the position of the robot in the workspace gives the high level controller an indication of whether the robot is experiencing any slippage or not. All these issues are...
Tipo: 1 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/dynamic_modelling_and_adaptive_traction_control_for_mobile_robots
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Exploring Open-Ended Design Space of Mechatronic Systems InTech
Zhun Fan; Jiachuan Wang; Erik Goodman.
This research has explored a new automated approach for synthesizing designs for mechatronic systems. By taking advantage of genetic programming as a search method for competent designs and the bond graph as a representation for mechatronic systems, we have created a design environment in which open-ended topological search can be accomplished in a semi-automated and efficient manner and the design process thereby facilitated. By incorporating specific design considerations the method can be used to explore design space of special types of mechatronic systems such as robotic systems. The paper illustrates the process of using this approach in detail through a typewriter redesign problem. Bond graphs have proven to be an effective tool for both modeling and...
Tipo: 41 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/exploring_open-ended_design_space_of_mechatronic_systems
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Feature Extraction and Grouping for Robot Vision Tasks InTech
Miguel Cazorla; Francisco Escolano.
Exploiting computer vision for performing robotic tasks, like recognizing a given place in the environment or simply computing the relative orientation of the robot with respect to the environment, requires an in depth analysis of the vision modules involved in such computations. In this paper, we have considered three types of computations: local computations (for the estimation of junctions), local-to-global computations (for finding a geometric sketck) and voting-accumulation computations (for obtaining the relative orientation of the robot). We have addressed the analysis of the latter modules from the point of view of three practical requirements: reliability (robustness), efficiency and flexibility. These requirements are partially fullfiled by the...
Tipo: 6 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/feature_extraction_and_grouping_for_robot_vision_tasks
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Generating Timed Trajectories for Autonomous Robotic Platforms: A Non-Linear Dynamical Systems Approach InTech
Cristina Manuela Peixoto dos Santos.
This paper addressed the problem of generating timed trajectories and sequences of movements for autonomous vehicles when relatively low-level, noisy sensorial information is used to initiate and steer action. The developed architectures are fully formulated in terms of nonlinear dynamical systems. The model consists of a timing layer 275
Tipo: 16 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/generating_timed_trajectories_for_autonomous_robotic_platforms__a_non-linear_dynamical_systems_appro
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