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A Climbing Robot for Cleaning Glass Surface with Motion Planning and Visual Sensing InTech
Dong Sun; Jian Zhu; Shiu Kit Tso.
This chapter persents an application of a climbing robot for the glass cleaning service. The robot is constructed by two rodless cylinders and a rotation cylinder. The robot can adjust its orientation to maintain in the desired trajectory path. After finishing the cleaning work in one section of the glass wall, the robot can cross the window frame to enter another section. A visual sensing system, which is composed of an omnidirectional CCD camera and two laser diodes, is applied to measure the robot’s position and orientation on the glass wall. Experiments demonstrate that with the assistance of the proposed motion planning and visual sensing technologies, the climbing robot can perform cleaning work on the glass wall effectively. Future work will be...
Tipo: 10 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_climbing_robot_for_cleaning_glass_surface_with_motion_planning_and_visual_sensing
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A Fuzzy Logic Controller for Autonomous Wheeled Vehicles InTech
Mohamed B. Trabia; Linda Z. Shi; Neil E. Hodge.
This chapter presents a fuzzy logic control system for steering a two-axle vehicle. Two controllers are presented individually: the steering controller and the velocity controller. Each fuzzy controller is divided into several modules to represent the distributed way in which humans deal with different driving tasks. All of these modules are of the Mamdanitype and use sigmoid or product of sigmoid membership functions. The outputs of the various modules are added together to control the steering angle and the speed of the vehicle, respectively. Two fuzzy modules in the steering controller are designed to meet the basic driving requirement: Target Steering Fuzzy module and Collision Avoidance Steering Fuzzy module. The first module steers the vehicle toward...
Tipo: 10 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_fuzzy_logic_controller_for_autonomous_wheeled_vehicles
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A Linear Logic Based Approach to Timed Petri Nets InTech
Norihiro Kamide.
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Tipo: 10 Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_linear_logic_based_approach_to_timed_petri_nets
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A Tutorial on Parametric Image Registration InTech
Leonardo Romero; Felix Calderon.
A tutorial, with all the details related to the parametric image registration task, has been presented. Also two new methods (Method 1 and Method 3) are presented besides the classical method to compute derivatives of images. Method 1 computes the image derivatives faster than the other two methods, but it does not give accurate estimations. Methods 2 and 3 take more time because they compute derivatives of the transformed image (at each iteration) while method 1 computes derivatives of the input image only once. Method 3 is an improved version of method 2 because it takes into account the exact derivatives needed. However the classical method 2, reported in the literature is the same as the method 3 under translations. Experiments confirm the poor...
Tipo: 10 Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_tutorial_on_parametric_image_registration
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A User Multi-Robot System Interaction Paradigm for a Multi-Robot Mission Editor InTech
Saidi Francois; Pradel Gilbert.
This work aims at modelling the interaction between a user and a multi-robot system in order to give a mission to a team of robots and to determine the set of the driving process leading to its execution. According to some hypotheses among which: ? the indoor structured environment is known, ? the small number of robots, ? the cost which influences the system architecture, ? the user may act on the system decisions, the user can request some missions the system is able to accomplish. We mainly insist on the system participative aspect in order to be accepted by the user in spite of its limitations. This participative aspect implies: ? a human-system interface taking care of the communication in a friendly, click and drag, icon based, high-level language, ?...
Tipo: 10 Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_user_multi-robot_system_interaction_paradigm_for_a_multi-robot_mission_editor
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Abstraction for Genetics-Based Reinforcement Learning InTech
Will Browne; Dan Scott; Charalambos Ioannides.
Abstraction may appear a trivial task for humans and the positive results from this work intuitive, but abstraction has not been routinely used in genetics-based reinforcement learning. One reason is that the time each iteration requires is an important consideration and abstraction increases the time for each iteration. Typically XCS takes 20 minutes to play 1000 games (and remains constant), mXCS with abstraction takes 20 minutes for 100 games (although this can vary greatly depending on the choice of parameters) and the Q-Learning algorithm ranges from 5 minutes for 1000 games initially to 90 minutes for 1000 games after 100,000 games training. However, given a fixed amount of time to train all three algorithms mXCS with abstraction would perform the...
Tipo: 10 Palavras-chave: Reinforcement Learning.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/abstraction_for_genetics-based_reinforcement_learning
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Advanced Synthesis of the DELTA Parallel Robot for a Specified Workspace InTech
M.A. Laribi; L. Romdhane; S. Zeghloul.
An optimal dimensional synthesis method suited for the DELTA robot was presente in this paper. An objective function, used the concept of the power of a point,which reflects the position of a point with respect to the boundary of the workspace. This objective function allowed us to find the robot having the smallest workspace containing a prespecified region.
Tipo: 10 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/advanced_synthesis_of_the_delta_parallel_robot_for_a_specified_workspace
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Air Radioactivity Monitoring in Serbia InTech
Dragana Popovic; Dragana Todorovic; Vesna Spasic Jokic; Gordana Djuric.
It can be concluded that monitoring natural and anthropogenic radionuclides in ground level air provide important information on the content of radionuclides due to their origin, weather and climate conditions (rate of precipitation, washout effects, temperature differences and inverstion, wind direction and intensity, troposphere-to-stratosphere transport and exchange, etc). The local topology, as well as anthropogenic factors such as the effects of traffic and heating plants are highly important, especially when monitoring radionuclides in air in urban areas. Sampling procedures, adequate measuring techniques and calibration are essential for providing reliable results and data. National and international standards regarding sampling sites and measuring...
Tipo: 10 Palavras-chave: Environmental Technologies.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/air_radioactivity_monitoring_in_serbia
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An Effective 3D Target Recognition Imitating Robust Methods of the Human Visual System InTech
Sungho Kim; In So Kweon.
We propose a new object recognition paradigm based on the robust properties of the HVS, especially in scene context and 3D shape context information in a bottom-up and a topdown process. Furthermore, we also propose the cooperative feature map binding by utilizing both bottom-up and top-down processes and validate the system performance with various experiments. The test results on several images demonstrate efficiency in optimal matching as well as feasibility of the proposed recognition paradigm. The same paradigm will be extended to the general object recognition problem by changing the model representation.
Tipo: 10 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/an_effective_3d_target_recognition_imitating_robust_methods_of_the_human_visual_system
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An Evolutionary MAP Filter for Mobile Robot Global Localization InTech
L. Moreno; S. Garrido; M. L. Munoz; D. Blanco.
The proposed algorithm has a range of interesting characteristics: Evolutive filters can deal with non-linear state space dynamics and noise distributions. Due to the set of solutions does not try to approximate posterior density distributions, it does not requires any assumptions on the shape of the posterior density as parametric approaches do. Evolutive filter focus computational resources in the most relevant areas, by addressing the set of solutions to the most interesting areas according to the fitness function obtained. The number of tentative solutions required in the evolving set is much lower than those required in particle filters, and similarly to those filters the evolving set can be reduced when the algorithm has converged to a reduced area...
Tipo: 10 Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/an_evolutionary_map_filter_for_mobile_robot_global_localization
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An Incremental Fuzzy Algorithm for the Balance of Humanoid Robots InTech
Erik Cuevas; Daniel Zaldivar; Ernesto Tapia; Raul Rojas.
Figure 11 shows the controller’s performance and response for an x-direction impulse. The response was fast, approximately 2 seconds, until the controller reached a ZMP value near to zero. This feature allows the biped robot to gain stability even during walking (figure 13), maintaining the ZMP always inside the support polygon. Our experiments with the fuzzy PD incremental controller algorithm demonstrated that it is computationally economic, all running in a PIC microcontroller, and appropriated for balance control. The algorithm was successfully used in real-time with the biped robot “Dany walker” (videos available at http://www.inf.fu-berlin.de/~zaldivar). The algorithm proposed in this chapter could be also used in other robots structures with a...
Tipo: 10 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/an_incremental_fuzzy_algorithm_for_the_balance_of_humanoid_robots
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An Innovative Method for Robots Modeling and Simulation InTech
Laura Celentano.
In this chapter an innovative method for robots modeling and simulation, based on an appropriate mathematical formulation of the relative equations of motion and on a new
Tipo: 10 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/an_innovative_method_for_robots_modeling_and_simulation
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An Overview of Advances of Pattern Recognition Systems in Computer Vision InTech
Kidiyo Kpalma; Joseph Ronsin.
As mentioned before, pattern recognition does not appear as a new problem. A lot of studies have been performed on this scientific field and a lot of works are currently developed. Pattern recognition is a wide topic in machine learning. It aims to classify a pattern into one of a number of classes. It appears in various fields like psychology, agriculture, computer vision, robotics , biometrics... With technological improvements and growing performances of computer science, its application field has no real limitation. In this context, a challenge consists of finding some suitable description features since commonly, the pattern to be classified must be represented by a set of features characterising it. These features must have discriminative properties:...
Tipo: 10 Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/an_overview_of_advances_of_pattern_recognition_systems_in_computer_vision
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Can robots replace dogs? Comparison of Temporal Patterns in Dog-Human and Robot-Human Interactions InTech
Andrea Kerepesi; Gudberg K. Jonsson; Eniko Kubinyi; Adam Miklosi.
To investigate whether humans interact with AIBO as a non-living toy rather than a living dog, we have analyzed the temporal patterns of these interactions. We have found that similarly to human interactions (Borrie et al 2002, Magnusson 2000, Grammer et al 1998) and human-animal interactions (Kerepesi et al 2005), human-robot interactions also consist of complex temporal patterns. In addition the numbers of these temporal patterns are comparable to those T-patterns detected in dog-human interactions in similar contexts. One important finding of the present study was that the type of the play partner affected the initialization and termination of T-patterns. Adults initialized T-patterns more frequently when playing with dog while T-patterns terminated by...
Tipo: 10 Palavras-chave: Human Robot Interaction.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/can_robots_replace_dogs_comparison_of_temporal_patterns_in_dog-human_and_robot-human_interactions
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Contour Extraction and Compression-Selected Topics InTech
Andrzej Dziech.
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Tipo: 10 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/contour_extraction_and_compression-selected_topics
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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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Desktop Robot Soccer InTech
Frederic Maire; Joaquin Sitte; Narongdech Keeratipranon.
As discussed above the KheperaSot in its current form poses challenges in motion control, navigation and self-localisation, as well as in higher level autonomous behaviour design and implementation. The reason why we support and encourage the KheperaSot league is the complete autonomy of the robot combined with its small size. The autonomy enhances the educational value of the tournament by putting it on par with prospective autonomous mobile robot applications that have to rely entirely on their own sensors to acquire information of the world around them. The autonomous nature of the KheperaSot league also provides a natural evolutionary pathway for the game, allowing it to maintain challenges as the technology and the experience of the players advance....
Tipo: 10 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/desktop_robot_soccer
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Develop Human Safety Mechanism for Human-Symbiotic Mobile Manipulators: Compliant Hybrid Joints InTech
Zhijun Li; Jun Luo; Shaorong Xie; Jiangong Gu.
Tipo: 10 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/develop_human_safety_mechanism_for_human-symbiotic_mobile_manipulators__compliant_hybrid_joints
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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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Discrete-Mixture HMMs-based Approach for Noisy Speech Recognition InTech
Tetsuo Kosaka; Masaharu Katoh; Masaki Kohda.
This chapter introduced a new method of robust speech recognition using discrete-mixture HMMs (DMHMMs) based on maximum a posteriori (MAP) estimation. The aim of this work was to develop robust speech recognition for adverse conditions which contain both stationary and non-stationary noise. In order to achieve the goal, we proposed two methods.
Tipo: 10 Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/discrete-mixture_hmms-based_approach_for_noisy_speech_recognition
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