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3D Face Recognition in a Ambient Intelligence Environment Scenario InTech
Andrea F. Abate; Stefano Ricciardi; Gabriele Sabatino.
We presented a 3D face recognition method applied to an Ambient Intelligence Environment. The proposed approach to acquisition and recognition proved to be suited to the applicative context thanks to high accuracy and recognition speed, effectively exploiting the advantages of face over other biometrics. As the acquisition system requires the user to look at a specific target to allow a valid face capture, we are working on a multi-angle stereoscopic camera arrangement, to make this critical task less annoying and more robust to a wide posing range. This 3D face recognition method based on 3D geometry and color texture is aimed to improve robustness to presence/absence of beard and to expressive variations. It proved to be simple and fast and experiments...
Tipo: 1 Palavras-chave: Face Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/3d_face_recognition_in_a_ambient_intelligence_environment_scenario
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A Comparative Evaluation of Methods for Evolving a Cooperative Team InTech
Takaya Arita; Yasuyuki Suzuki.
This chapter has focused on the methods for evolving a cooperative team by conducting a comparative evaluation of 18 methods. We have found that some methods performed well, while there are complex correlations among design decisions. Also, further analysis has
Tipo: 1 Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_comparative_evaluation_of_methods_for_evolving_a_cooperative_team
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A Design Framework for Sensor Integration in Robotic Applications InTech
Dimitrios I. Kosmopoulos.
In this chapter we have introduced a design framework for developing software for integrating sensors to robotic applications, provided that open controller architecture is available. The design is general enough and enables the integration of the popular sensors to any open controller using a wide variety of control schemes. By keeping some simple
Tipo: 1 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_design_framework_for_sensor_integration_in_robotic_applications
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A Model Reference Based 2-DOF Robust Observer-Controller Design Methodology InTech
Salva Alcantara; Carles Pedret; Ramon Vilanova.
A new 2-DOF control configuration based on a right coprime factorization of the model of the plant has been presented. The approach has been introduced as an alternative to the commonly encountered strategy of setting the two controllers arbitrarily, with internal stability the only restriction, and parameterizing the controller in terms of the Youla parameters. An non-minimal-observer-based state feedback control scheme has been designed first to guarantee some levels of robust stability and output disturbance rejection by solving a constrained
Tipo: 1 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_model_reference_based_2-dof_robust_observer-controller_design_methodology
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A Networking Framework for Multi-Robot Coordination InTech
Antonio Chella; Giuseppe Lo Re; Irene Macaluso; Marco Ortolani; Daniele Peri.
This paper presented a framework for the coordination of a group of robots moving in a structured indoor environment in order to manage automatically guided museum tours. The design of a hybrid wireless networking architecture, composed by WiFi devices interoperating with wireless sensor nodes has been discussed, and it has been shown how it can operate as a whole in order both to provide a communication backbone for the robots, and to extract useful information from the environment. The robustness of the communication protocol implemented in the proposed framework has been enforced through a fault-tolerant leader election mechanism, which allows for an easy extension process of the innate system knowledge with new information acquired during run-time....
Tipo: 1 Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_networking_framework_for_multi-robot_coordination
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Biosensors for Life Sciences InTech
Mihaela Badea; Liliana Rogozea; Mihaela Idomir; Nicoleta Taus.
The biosensors offer the possibility to toxicological investigations from different matrices: water, biological liquids, foods, detecting specific and with very good sensitivities low concentrations of organophosphorus and carbamates pesticides. The applicability of the method is also in environmental protection (Coman et al., 2000), but also in analysis with medical interest (Nivolini et al., 1995; Akyilmaz et al., 2006). The biosensors obtained and characterised have been used PVA-SbQ and sol-gel immobilisation method. Sol-gel method was optimised for immobilisation of different kind of acetylcholinesterase to be able to be use in sensitive detection of some organophosphorus pesticides (methyl paraoxon, clorpyrifos methyl oxon, diazinon) from synthetic...
Tipo: 1 Palavras-chave: Environmental Technologies.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/biosensors_for_life_sciences
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Chaotic Rough Particle Swarm Optimization Algorithms InTech
Bilal Alatas; Erhan Akin.
In this chapter chaotic rough PSO, CRPSO, algorithms that use rough decision variables and rough particles that are based on notion of rough patterns have been proposed. Different chaotic maps have been embedded to adapt the parameters of PSO algorithm. This has been done by using of chaotic number generators each time a random number is needed by the classical PSO algorithm. Twelve PSO methods have been proposed and four chaotic maps have been analyzed in the data mining application. It has been detected that coupling
Tipo: 1 Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/chaotic_rough_particle_swarm_optimization_algorithms
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Communication and Collaboration in Heterogeneous Teams of Soccer Robots InTech
Philipp A. Baer; Roland Reichle.
Because of the lack of standard software, which prompts every RoboCup team to develop its own software framework, heterogeneity issues play a decisive role. They cause several problems when establishing a mixed-team of soccer robots involving different hardware and software platforms. In order to cope with theses issues, we presented SPICA, a development environment for communication and collaboration infrastructures for heterogeneous teams of soccer robots. In SPICA, we have adopted a model-driven development approach which is naturally very appropriate to cope with heterogeneity. One of its basic paradigms is the platformindependent specification of software allowing automatic generation of source code for different platforms. Accordingly, SPICA provides...
Tipo: 1 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/communication_and_collaboration_in_heterogeneous_teams_of_soccer_robots
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Control of Cable Robots for Construction Applications InTech
Alan Lytle; Fred Proctor; Kamel Saidi.
This chapter presented new research developments at NIST in control algorithms and controller design for parallel robots applied to Construction applications. In particular, this research focused on the NIST RoboCrane platform for automated placement of construction components. This work was the first to demonstrate the use of a laser-based site measurement system for 6 degree-of-freedom tracking of a robotic crane, and presented new methods for incorporating pose estimation errors in a compensation transform for the NIST GoMotion controller. Finally, this work presented task decomposition approaches for analyzing and automating construction crane operations based on a NIST 4D/RCS approach.
Tipo: 1 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/control_of_cable_robots_for_construction_applications
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Cyclic Scheduling in Robotic Cells: An Extension of Basic Models in Machine Scheduling Theory InTech
Eugene Levner; Vladimir Kats; David Alcaide Lopez De Pablo.
This work has been partially supported by Spanish Government Research Projects DPI20012715-C02-02, MTM2004-07550 and MTM2006-10170, which are helped by European Funds of Regional Development. The first author gratefully acknowledges the partial support by the Spanish Ministry of Education and Science, grant SAB2005-0161.
Tipo: 1 Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/cyclic_scheduling_in_robotic_cells__an_extension_of_basic_models_in_machine_scheduling_theory
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Design of an Assistive Gait Device for Strength Endurance and Rehabilitation InTech
K. H. Low; Xiaopeng Liu; Haoyong Yu.
8.1 Conclusion This chapter has presented the development and control of a wearable lower exoskeleton system for augmentation of human walking ability, which incorporates human as the integral part of the control system and can relieve humans physical fatigue caused by excessive walking and heavy payloads. In this work, xPC Target, together with other toolboxes from MATLAB have been used so as to provide a real-time operating system and an integrated development environment for controlling the exoskeleton. Real-time control of the exoskeleton is implemented in this environment. At last, walking experiments are performed and demonstrated. 8.2 Future Work The first prototype is only a test bed to verify the control...
Tipo: 1 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/design_of_an_assistive_gait_device_for_strength_endurance_and_rehabilitation
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Design of Modules and Components for Humanoid Robots InTech
Albert Albers; Sven Brudniok; Jens Ottnad; Christian Sauter; Korkiat Sedchaicharn.
Methods for the efficient development of modules for a humanoid robot were developed. Future work will be to create a database of system elements for humanoid robot components and the characterization for easier configuration of future humanoids. This database can then be used to generate consistent principle solutions for robot components more efficiently. Topology optimization is a tool for designing and optimizing robot components which need to be light yet stiff. The thorax of ARMAR III was designed with the help of this method. For the simulation of mechatronic systems like humanoid robots, it is necessary to consider mechanical aspects as well as the behaviour of the control system. This is not yet realized in the previously described topology...
Tipo: 1 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/design_of_modules_and_components_for_humanoid_robots
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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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Energy Feature Integration for Motion Segmentation InTech
Raquel Dosil; Xose R. Fdez-Vidal; Xose M. Pardo; Anton Garcia.
In this chapter, a new active model for the segmentation of motion patterns from video sequences has been presented. It employs a motion representation based on composite energy features. It consists on the clustering of elementary band-pass features, which can be considered velocity tuned features. Integration is accomplished by extending the notion of phase congruence to spatio-temporal signals. The active model uses this motion information both for image potential definition and initialization of the model in each frame of the sequence.
Tipo: 1 Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/energy_feature_integration_for_motion_segmentation
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Humanitarian Demining: the Problem, Difficulties, Priorities, Demining Technology and the Challenge for Robotics InTech
Maki K. Habib.
The major technical challenge facing the detection of individual mine lies on having the ability to discriminate landmines from metal debris, natural clutters, and other objects without the need for vegetation cutting. Future efforts to improve detection should focus on providing discrimination capabilities that includes the fusion of information coming from multi heterogeneous and/or homogenous sensors, and the incorporation of advanced signal processing techniques to support real-time processing and decision making. For the purpose of mine clearance, there is an urgent need to have cost-effective and efficient clearance techniques and technologies to clear landmines in different types of terrain and under different climate variations. This should be...
Tipo: 1 Palavras-chave: Humanitarian Demining.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/humanitarian_demining__the_problem__difficulties__priorities__demining_technology_and_the_challenge_
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Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle InTech
Hanafiah Yussof; Mitsuhiro Yamano; Yasuo Nasu; Masahiro Ohka.
The development of autonomous navigation system for humanoid robot to solve the problem of "working coexistence" of humans and robots is an important issue. It is apparent that the common living and working environment to be shared by humanoid robots is presently adapted mainly to human, and it cannot be expected that this will be significantly changed to suit the needs of robots. Hence, the problem of human-humanoid robot interaction, and humanoid robot-surrounding environment interaction are become the research topics that are gaining more and more in importance. Furthermore, contact interaction-based navigation system is practically significant for humanoid robots to accurately structure and recognize their surrounding conditions (Ellery, 2005, Salter...
Tipo: 1 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/humanoid_robot_navigation_based_on_groping_locomotion_algorithm_to_avoid_an_obstacle
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Mechanics and Simulation of Six-Legged Walking Robots InTech
Giorgio Figliolini; Pierluigi Rea.
The mechanics and locomotion of six-legged walking robots has been analyzed by considering a simple "technical design", in which the biological inspiration is only given by the trivial observation that some insects use six legs to obtain a static walking, and considering a "biological design", in which we try to emulate, in every detail, the locomotion of a particular specie of insect, as the "cockroach" or "stick" insects. In particular, as example of the mathematical approach to analyze the mechanics and locomotion of six-legged walking robots, the kinematic model of a six-legged walking robot, which mimics the biological structure and locomotion of the stick insect, has been formulated according to the Cruse-based leg control system. Thus, the direct...
Tipo: 1 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/mechanics_and_simulation_of_six-legged_walking_robots
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Micro Vision InTech
Kohtaro Ohba; Kenichi Ohara.
In the field of the micro vision, there are few researches compared with macro environment. However, applying to the study result for macro computer vision technique, you can measure and observe the micro environment. Moreover, based on the effects of micro environment, it is possible to discovery the new theories and new techniques.
Tipo: 1 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/micro_vision
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Multi-Agent Based Distributed Manufacturing InTech
J. Li; J.Y. H. Fuh; Y.F. Zhang; A.Y.C. Nee.
Tipo: 1 Palavras-chave: Manufacturing the Future.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/multi-agent_based_distributed_manufacturing
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Neural Forecasting Systems InTech
Takashi Kuremoto; Masanao Obayashi; Kunikazu Kobayashi.
Though RL has been developed as one of the most important methods of machine learning, it is still seldom adopted in forecasting theory and prediction systems. Two kinds of neural forecasting systems using SGA learning were described in this chapter, and the experiments of training and short-term forecasting showed their successful performances comparing with the conventional NN prediction method. Though the iterations of MLP with SGA and SOFNN with SGA in training experiments took more than that of MLP with BP, both of their computation time were not more than a few minutes by a computer with 3.0GHz CPU. A problem of these RL forecasting systems is that the value of reward in SGA algorithm influences learning convergence seriously, the optimum reward...
Tipo: 1 Palavras-chave: Reinforcement Learning.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/neural_forecasting_systems
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