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A Novel Modeling Method for Cooperative Multirobot Systems Using Fuzzy Timed Agent Based Petri Nets InTech
Hua Xu.
CMRS is a kind of usual manufacturing equipments in manufacturing industries. In order to model, analyze and simulate this kind of systems, this chapter proposes fuzzy timed agent based Petri net (FTAPN) on the base of FTOPN (Xu & Jia, 2005-1) and FTPN (Pedrycz & Camargo, 2003). In FTAPN, one of the active objects-- ACTALK is introduced and used as the basic agent object to model CMRS, which is a typical MAS. Every abstract object in FTOPN can be trained and reduced independently according to the modeling and analysis requirements for OO concepts supported in FTOPN. The validity of this modeling method has been used to model Brooks CMRS platform in etching tools. The FTAPN can not only model complex MAS, but also be refined into the object-oriented...
Tipo: 13 Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_novel_modeling_method_for_cooperative_multirobot_systems_using_fuzzy_timed_agent_based_petri_nets
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Artificial Ants in the Real World: Solving On-line Problems Using Ant Colony Optimization InTech
Bruno R. Nery; Rodrigo F. de Mello; André P. L. F. de Carvalho; Laurence T. Yang.
The behavior of real ants motivated Dorigo et al. [DMC96] to propose the Ant Colony Optimization (ACO) technique, which can be used to solve problems in dynamic environments. This technique has been successfully applied to several optimization problems [FMS05, PB05, BN06, SF06, PLF02, WGDK06, CF06, HND05]. Such results have motivated this chapter which presents ACO concepts, case studies and also a complete example on process scheduling optimization. Besides the successful adoption of ACO, it presents some relevant questions which have been motivating future directions such as: how to adjust parameters which depend on the optimization problem [SocOSj; how to reduce the execution time [G.N06, MBSD06]; the optimization improvement by using incremental local...
Tipo: 13 Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/artificial_ants_in_the_real_world__solving_on-line_problems_using_ant_colony_optimization
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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 Parallel Manipulator Modeling, Control and Simulation InTech
Ayssam Elkady; Galal Elkobrosy; Sarwat Hanna; Tarek Sobh.
The research presented in this chapter establishes the CPM as a viable robotic device for three degrees of freedom manipulation. The manipulator offers the advantages associated with other parallel manipulators, such as light weight construction; while avoiding some of the traditional disadvantages of parallel manipulators such as the extensive use of spherical joints and coupling of the platform orientation and position. The CPM employs only revolute and prismatic joints to achieve translational motion of the moving platform. The main advantages of this parallel manipulator are that all of the actuators can be attached directly to the base, closed-form solutions are available for the forward and inverse kinematics, and the moving platform maintains the...
Tipo: 13 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/cartesian_parallel_manipulator_modeling__control_and_simulation
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Climbing with Parallel Robots InTech
R. Saltaren; R. Aracil; O. Reinoso; E. Yime.
Tipo: 13 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/climbing_with_parallel_robots
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Cognitive Robotic Engine: Behavioral Perception Architecture for Human-Robot Interaction InTech
Sukhan Lee; Seung-Min Baek; Jangwon Lee.
In this paper, we described the robotic architecture for dependable perception and action for service robot in dynamic environment. This architecture is organized to accomplish perception mission in spite of the integration of imperfect perception processes, and updated for managing multi-missions. The next step, we are planning to research on automatic discrimination method of system dependability.
Tipo: 13 Palavras-chave: Human Robot Interaction.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/cognitive_robotic_engine__behavioral_perception_architecture_for_human-robot_interaction
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Cognitive Robotics: Robot Soccer Coaching Using Spoken Language InTech
Alfredo Weitzenfeld; Peter Ford Dominey.
The stated objective of the current research is to develop a generalized approach for humanmachine interaction via spoken language that exploits recent developments in cognitive science particularly notions of grammatical constructions as form-meaning mappings in language, and notions of shared intentions as distributed plans for interaction and collaboration. In order to do this, we tested human-robot interaction initially with the Event Perceiver system and later on with the Sony AIBOs under soccer related behaviors. We have presented the system architecture for the Eagle Knights Four-Legged team as a testbed for this work. With respect to social cognition, shared intentions represent distributed plans in which two or more collaborators have a common...
Tipo: 13 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/cognitive_robotics__robot_soccer_coaching_using_spoken_language
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Determination of Location and Path Planning Algorithms for Industrial Robots InTech
Yung Ting; Ho-Chin Jar.
Tipo: 13 Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/determination_of_location_and_path_planning_algorithms_for_industrial_robots
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Distributed Architecture for Intelligent Robotic Assembly Part II: Design of the Task Planner InTech
Jorge Corona Castuera; Ismael Lopez Juarez.
Tipo: 13 Palavras-chave: Manufacturing the Future.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/distributed_architecture_for_intelligent_robotic_assembly_part_ii__design_of_the_task_planner
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Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study InTech
Jorge Gudino-Lau; Marco A. Arteaga.
In this chapter, we developed the model for two cooperative industrial robots holding a rigid object without friction. The dynamic model for the manipulators is obtained independently from each other with the Lagrangian approach. Once the robots are holding the object, their joint variables are kinematically and dynamically coupled. These coupling equations are combined with the dynamic model of the object to obtain a mathematical description for the cooperative system. Besides, the tracking control problem for cooperative robots without velocity measurements is considered. The control law is a decentralized approach which takes into account motion constraints rather than the held object dynamics. By assuming that fingers dynamics are well known and that...
Tipo: 13 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/dynamic_model__control_and_simulation_of_cooperative_robots__a_case_study
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Dynamic Walk of Humanoids: Momentum Compensation Based on the Optimal Pelvic Rotation InTech
Hiroshi Takemura; Akihiro Matsuyama; Jun Ueda; Yoshio Matsumoto; Hiroshi Mizoguchi; Tsukasa Ogasawara.
In this chapter, the trunk-twistless walk of contact sport athletes was described from a motion measurement and the trunk-twistless walk was analyzed by using the mathematical model. The proposed optimal relative phase of the swing leg and the pelvic rotation was applied to the walk of humanoid HRP-2. The walking action including the momentum compensation was completed only by the lower body, so that the upper body DOF can be used for accomplishing a task. Using the proposed walk, the stance foot torque and the energy consumption were both reduced. The future work includes an evaluation of the energy efficiency of the trunk-twistless walk, both in humanoids and human. An optimization program for an efficient walking pattern should be investigated. The...
Tipo: 13 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/dynamic_walk_of_humanoids__momentum_compensation_based_on_the_optimal_pelvic_rotation
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Error Modeling and Accuracy of TAU Robot InTech
Hongliang Cui; Zhenqi Zhu; Zhongxue Gan; Torgny Brogardh.
It can be observed from the results, that Jacobian Matrix is effective with an accuracy up to 1.53 um with an input error of 1 mm (Link 1 of lower arm 1). This was verified using ADAMS simulation results. Results from N-R method match very well with ADAMS simulation with a difference of only 0.06 um. Based on the D-H model and an accurate Jacobian matrix, a series of results have been presented including error analysis, forward kinematic, redundant variable determination, error budget, and Jacobian approximation method. The Jacobian approximation method can be used in on-line control of the robot. For the TAU robot, a closed form solution of a forward kinematic problem is reached with a high accuracy instead of N-R numerical solution. The simulation...
Tipo: 13 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/error_modeling_and_accuracy_of_tau_robot
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Global Navigation of Assistant Robots using Partially Observable Markov Decision Processes InTech
Maria Elena Lopez; Rafael Barea; Luis Miguel Bergasa; Manuel Ocana; Maria Soledad Escudero.
The proposed navigation system, based on a topological representation of the world, allows the robot to robustly navigate in corridor and structured environments. This is a very practical issue in assistance applications, in which robots must perform guidance missions from room to room in environments typically structured in corridors and rooms, such as hospitals or nursing homes. Although the topological map consists of very simple and reduced information about the environment, a set of robust local navigation behaviors (the actions of the model) allow the robot to locally move in corridors, reacting to sensor information and avoiding collisions, without any previous metric information. Another important subject in robot navigation is robustness in...
Tipo: 13 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/global_navigation_of_assistant_robots_using_partially_observable_markov_decision_processes
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Human Detection and Gesture Recognition Based on Ambient Intelligence InTech
Naoyuki Kubota.
This chapter introduced the methods for human detection and gesture recognition based on ambient intelligence. The experimental results show the effectiveness of the methods for human detection and gesture recognition, but we should use various types of sensory information in addition to visual images. We proposed the concept of evolutionary robot vision. The main sensory information is vision, but we can integrate and synthesize various types of sensory information for image processing. Possible sensory information to improve the performance is distance. We developed a 3D modeling method based on CCD cameras and a laser range finder with a small and compact pan-tilt mechanism. We intend to develop a gesture recognition method based on various types of...
Tipo: 13 Palavras-chave: Face Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/human_detection_and_gesture_recognition_based_on_ambient_intelligence
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Integral Approaches to Integrated Scheduling InTech
Ghada A. El Khayat.
In this chapter we have tried to address some integrative views for the production scheduling problem; namely resources integration, cost elements integration and solution methodologies integration. Representative literature was also covered. The integrative views oriented our attention to the necessity of having a diagnosis methodology assessing the criticality among resources and hence guiding to appropriate formulations and solution methodologies. The development of a criticality evaluation tool is hence an important research avenue. More research avenues can be suggested. Relevant costs are of special interest when tackling a scheduling problem. This stresses the need for developing cost estimation tools for this purpose. The study of sequences and...
Tipo: 13 Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/integral_approaches_to_integrated_scheduling
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Land Robotic Vehicles for Demining InTech
Stefan Havlik.
Considering large polluted areas and drawbacks of actual demining technologies main contributions of using robotic vehicles are expected in following topics: - Searching large areas and localization of mines and any explosives (UXO) by fast and reliable way. - Fast and reliable neutralization/destruction of mines without the need of personal assistance to be inside, or close to dangerous places. Demining process remains and will be still one of the most dangerous operations. For this reason new robotic technologies and detection principles should be applied. The paper presents a modular concept and on examples describes the robotic vehicles equipped by the flailing activation mechanism and other accessories used in demining process and other civil...
Tipo: 13 Palavras-chave: Humanitarian Demining.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/land_robotic_vehicles_for_demining
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Mechanism of Emergent Symmetry Properties on Evolutionary Robotic System InTech
Naohide Yasuda; Takuma Kawakami; Hiroaki Iwano; Katsuya Kanai; Koki Kikuchi; Xueshan Gao.
We focused on symmetry properties and performed computational simulations by using an evolutionary robotic system with reconfigurable morphology and intelligence. First, we investigated the mechanism of emergent symmetry properties for two different relative velocities of the robot and the target and the influence by which the genetic noise gives to the symmetry properties. Although, from the viewpoint of physical structure,
Tipo: 13 Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/mechanism_of_emergent_symmetry_properties_on_evolutionary_robotic_system
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Minimum Energy Trajectory Planning for Biped Robots InTech
Yasutaka Fujimoto.
In this chapter, the method to generate a trajectory of a running motion with minimum energy consumption is proposed. It is useful to know the lower bound of the consumption energy when we design the bipedal robot and select actuators. The exact and general formulation of optimal control for biped robots based on numerical representation of motion equation is proposed to solve exactly the minimum energy consumption trajectories. Through the numerical study of a five link planar biped robot, it is found that big peak power and torque is required for the knee joints but its consumption power is small and the main work is done by the hip joints.
Tipo: 13 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/minimum_energy_trajectory_planning_for_biped_robots
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Modeling Virtual Reality Web Application InTech
Berta Buttarazzi; Federico Filippi.
1
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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Optical Correlator based Optical Flow Processor for Real Time Visual Navigation InTech
Valerij Tchernykh; Martin Beck; Klaus Janschek.
The conceptual design of an advanced embedded optical flow processor has been presented. Preliminary performance evaluation based on a detailed simulation model of the complete optical processing chain shows unique performances in particular applicable for visual navigation tasks of mobile robots. The detailed optoelectronic design work is currently started.
Tipo: 13 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/optical_correlator_based_optical_flow_processor_for_real_time_visual_navigation
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