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Registros recuperados: 32
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A 4WD Omnidirectional Mobile Platform and its Application to Wheelchairs InTech
Masayoshi Wada.
Conventional electric wheelchairs can not meet requirements for both maneuverability and high mobility in rough terrain in a single design. Enhancing their mobility could facilitate the use of wheelchairs and other electric mobile machines and promote barrier-free environments without re-constructing existing facilities. To improve wheelchair step-climbing and maneuverability, we introduced a 4WD with a pair of normal wheels in back and a pair of omniwheels in front. A normal wheel and an omniwheel are connected by a transmission and driven by a common motor to make them rotate in unison. To apply the 4WD to a wheelchair platform, we conducted basic analyses on the ability to climb steps. After analyzing the original 4WD statics and kinematics and...
Tipo: 15 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_4wd_omnidirectional_mobile_platform_and_its_application_to_wheelchairs
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A Human-Animal-Robot Cooperative System for Anti-Personal Mine Detection InTech
Thrishantha Nanayakkara; Tharindu Dissanayake; Prasanna Mahipala; K. A. Gayan Sanjaya.
To the best of the author's knowledge, this is the first time a human-robot-animal integrated system is tested for antipersonnel landmine detection. The proposed system tries to integrate distinct capabilities of three different systems to improve the effectiveness of landmine detection in a cluttered environment. The mongoose is found to be a rodent with extremely sensitive olfactory capabilities, dexterous navigation capabilities in a cluttered environment, and small enough to burrow through rubble. The lightweight legged robot (4kg) can move in a minefield without detonating landmines, carry a metal detector, and interact with the mongoose and the human. The remote human operator can analyze the behaviors of the animal-robot system and judge how best...
Tipo: 15 Palavras-chave: Humanitarian Demining.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_human-animal-robot_cooperative_system_for_anti-personal_mine_detection
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A Human-Like Approach to Footstep Planning InTech
Yasar Ayaz; Khalid Munawar; Mohammad Bilal Malik; Atsushi Konno; Masaru Uchiyama.
Our algorithm successfully demonstrates a novel global reactive footstep planning strategy with a human-like approach. Incremental graph expansion from simpler to more complex paths ensures formation of a simpler and more useful graph as compared to that formed by approaches such as the visibility graph. The trajectory generated is more energy-efficient since the robot does not have to lift its foot to a high location in every step as in case of game theory based approaches. The algorithm is considerably fast and reduces computational complexity by minimizing the number of alternate steps considered after planning each step. However, basing the cost of each step on energy or time optimisation criteria instead of just the complexity level of the stepping...
Tipo: 15 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_human-like_approach_to_footstep_planning
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A New Mathematical Model for Flexible Flow Lines with Blocking Processor and Sequence-Dependent Setup Time InTech
R. Tavakkoli-Moghaddam; N. Safaei.
In this chapter, we presented a new mixed-integer programming approach to the flexible flow line problem without intermediate buffers by assuming in-process buffers and sequence-dependent setup time. The proposed mathematical model can provide an optimal schedule by considering blocking processor and idle time as well as sequence-dependent setup time. We solved the proposed model for three problem categories, i.e., classical flow shop (CAT1), stages with an equal number of processors (CAT2), and stages with an unequal number of processors (CAT3). Computation results showed that solving CAT3 problems requires low computational time, since there are less complex than CAT1 and CAT2 problems. On the other hand, in the classical flow shop case (i.e., CAT1), a...
Tipo: 15 Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_new_mathematical_model_for_flexible_flow_lines_with_blocking_processor_and_sequence-dependent_setu
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Applications of a Fluidic Artificial Hand in the Field of Rehabilitation InTech
Artem Kargov; Oleg Ivlev; Christian Pylatiuk; Tamim Asfour; Stefan Schulz; Axel Graeser; Ruediger Dillmann; Georg Bretthauer.
Tipo: 15 Palavras-chave: Rehabilitation Robotics.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/applications_of_a_fluidic_artificial_hand_in_the_field_of_rehabilitation
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Assembly Sequence Planning Using Neural Network Approach InTech
Cem Sinanoglu; Huseyin Riza Borklu.
Tipo: 15 Palavras-chave: Manufacturing the Future.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/assembly_sequence_planning_using_neural_network_approach
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Basic Concepts of the Control and Learning Mechanism of Locomotion by the Central Pattern Generator InTech
Jun Nishii; Tomoko Hioki.
In this chapter, we introduced the basic concepts of the control and learning mechanism to realize a desired locomotion by the CPG. As introduced in section 5.1, the control system of locomotion in living bodies assumes a hierarchical structure in which the CPG synchronizes with a physical system and generates motor signals to motor neurons, and higher centers learn a desired motor signal from the performance of locomotion and control the CPG. The control signal from higher centers can also function as a teacher signal for the CPG to acquire neural parameters in the CPG. The concept that the higher centers acquire a motor command appears to be a natural assumption because higher centers such as the motor cortex sends motor commands in order to respond to...
Tipo: 15 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/basic_concepts_of_the_control_and_learning_mechanism_of_locomotion_by_the_central_pattern_generator
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Bimodal Emotion Recognition using Speech and Physiological Changes InTech
Jonghwa Kim.
In this paper, we treated all stages of emotion analysis, from data collection to classification using short-term observations, and evaluated several fusion methods as well as a hybrid decision scheme. We also compared the results from multimodal classification with the unimodal results. As in our earlier work (Kim et al. 2005) where we relied on longer observation phases and a different set of features, the best results were obtained by featurelevel fusion method in combination with feature selection stage. In this case, not only userdependent, but also user-independent emotion classification could be improved compared to the unimodal methods.
Tipo: 15 Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/bimodal_emotion_recognition_using_speech_and_physiological_changes
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Clustered Regression Control of a Biped Robot Model InTech
Olli Haavisto; Heikki Hyotyniemi.
The presented scheme was just a mathematical model applying engineering intuition for reaching good control, and the main goal when constructing the model was simplicity. However, it seems that there is a connection to real neuronal systems. It has been observed (Haykin, 1999; Hy?tyniemi, 2004) that simple Hebbian/anti-Hebbian learning in neuronal grids results in a principal subspace model of the input data. This Hebbian learning is the principle that is implemented by the simple neurons (Hebb, 1949).
Tipo: 15 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/clustered_regression_control_of_a_biped_robot_model
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Continuous Machine Learning in Computer Vision - Tracking with Adaptive Class Models InTech
Rustam Stolkin.
This chapter has explored a number of techniques in vision based tracking, with the common theme of continuous relearning of models of the background and the tracked
Tipo: 15 Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/continuous_machine_learning_in_computer_vision_-_tracking_with_adaptive_class_models
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CSV-PSO and Its Application in Geotechnical Engineering InTech
Bing-Rui Chen; Xia-Ting Feng.
Two modified versions of PSO are introduced: one is CSV-PSO algorithm in which random numbers are generated by the mixed congruential method, and another is PCSVPSO algorithm for recognizing rheological parameters of rockmass. A great deal of numerical simulations show that the CSV-PSO algorithm has better convergence performance and more accurate convergence precision, its run is more stable and it can provide certainty solution in different runtime. Sensitivity analysis of the CSV-PSO algorithm indicates that random seed, stagnancy number and constant α 0 determining flying velocity of particles have a great effect on performance of the algorithm. Proper random seed can accelerate convergence of the algorithm; while bad random seed can not only slow...
Tipo: 15 Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/csv-pso_and_its_application_in_geotechnical_engineering
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Data Fusion in a Hierarchical Segmentation Context: The Case of Building Roof Description InTech
Frederic Bretar.
We have presented a methodology for extracting roof facets over buildings by merging aerial images and 3D lidar data in a hierarchical segmentation framework. Building roof facets are detected using radiometric, semantic and geometric information of images and of
Tipo: 15 Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/data_fusion_in_a_hierarchical_segmentation_context__the_case_of_building_roof_description
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Design and Implementation of Fuzzy Control for Industrial Robot InTech
Muhammad Suzuri Hitam.
Tipo: 15 Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/design_and_implementation_of_fuzzy_control_for_industrial_robot
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Design, Management and Control of Logistic Distribution Systems InTech
Riccardo Manzini; Rita Gamberini.
This chapter presents original analytical models and supporting decision tools for the optimization of multi-echelon production distribution systems. In particular strategic models and methods have been discussed, applied and compared to tactical and operational approaches and applications. Nowadays industrial and service companies need effective and reliable supporting decision tools for the rapid planning, design, and execution of new production system from a strategic, tactical and operational point of view. The literature continuously presents original models for product, process, and system design but these models are rarely based on integrated and system-oriented approaches, so future studies need to integrate simultaneous contributions from...
Tipo: 15 Palavras-chave: Supply Chain.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/design__management_and_control_of_logistic_distribution_systems
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Design, Simulation and Development of Software Modules for the Control of Concrete Elements Production Plant InTech
Georgia Garani; George K. Adam.
Since most of the modern concrete elements production plants today are often faced with increasing market demands for further automation, as well as the growing international competition, computer-control systems, teleoperation and automation technology, modelling and simulation tools are some of the technologies and techniques used to acquire the desired functionality in operation control and quality in production. The last decade has seen computer technology applied more widely in industrial production, particularly in manufacturing processes not generally associated with high-technology. Often, such technology was not considered because it was difficult to model manufacturing processes using conventional mathematical modelling tools. Here, the operation...
Tipo: 15 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/design__simulation_and_development_of_software_modules_for_the_control_of_concrete_elements_producti
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Environmental, Medical, Technogenic and Computer Technology: Modeling, Risk Assessment and Cost/Benefit Analysis of the Accidents InTech
Yanenko V.M.; Rykhtovsky V.O.; Yanenko N.V..
Tipo: 15 Palavras-chave: Environmental Technologies.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/environmental__medical__technogenic_and_computer_technology__modeling__risk_assessment_and_cost_bene
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Estimation of Mean Response Time of Multi—Agent Systems Using Petri Nets InTech
Tomasz Babczyński; Jan Magott.
The approximation method of the mean response time for layered multi?agent system has been presented. This system has three layers of agents, namely, manager, bidder, and searcher type ones denoted by abreviations MTA, BTA, STA. After receiving a request from an user, the MTA sends the messages to the BTAs in order to inform them about the user request. After receiving a request from the MTA, the BTA sends the messages to all STAs co? operating with this BTA. In the communication, the time?out mechanisms are used. The STA prepares the response for the BTA by the Data Base (DB) searching. The probability of finding the response in the DB is denoted by f_rate. Searching time is expressed by uniform distribution over the time interval [0,b). Message...
Tipo: 15 Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/estimation_of_mean_response_time_of_multi-agent_systems_using_petri_nets
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Evolutionary Parametric Identification of Dynamic Systems InTech
Dimitris Koulocheris; Vasilis Dertimanis.
In this paper a new method for the estimation of SISO ARMAX models was presented. The proposed methodology lies in the context of Evolutionary system identification. It consists of a hybrid optimization algorithm, which interconnects the advantages of its deterministic and stochastic components, providing superior performance in PEM, as well as a two-stage estimation procedure, which yields only stable models. The method's main characteristics can be summarized as follows: ? improvement of PEM is implemented through the use of a hybrid optimization algorithm, ? initial ``guess'' is not necessary for good performance, ? convergence in local minima is avoided, ? computational complexity is sufficiently decreased, compared to similar methods for Evolutionary...
Tipo: 15 Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/evolutionary_parametric_identification_of_dynamic_systems
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Image Magnification Based on the Human Visual Processing InTech
Sung-Kwan Je; Kwang-Baek Kim; Jae-Hyun Cho; Doo-Heon Song.
In image processing, the interpolated magnification method brings about the problem of image loss such as the blocking and blurring phenomenon when the image is enlarged. In this paper, we proposed the magnification method considering the properties of human visual processing to solve such problems. As a result, our method is faster than any other algorithm that is capable of removing the blocking and blurring phenomenon when the image is enlarged. The cubic convolution interpolation in image processing can obtain a high-resolution image when the image is enlarged. But the processing is too slow as it uses the average of 16 neighbor pixels. The proposed algorithm is better than the cubic convolution interpolation in the processing time and performance. In...
Tipo: 15 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/image_magnification_based_on_the_human_visual_processing
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Intelligent Laparoscopic Assistant Robot through Surgery Task Model: How to Give Intelligence to Medical Robots InTech
Dong-Soo Kwon; Seong-Young Ko; Jonathan Kim.
To develop an intelligent laparoscopic assistant robot, the mechanism should be designed so that the robotic system can be easily handled in real operation environment, and to give taskspecific intelligence to medical robot, the robotic system should have well-structured task model of the surgery. On these grounds, this chapter describes the intelligent laparoscopic assistant robot, KaLAR, focusing on (a) its compactness and convenience, and (b) its novel interaction scheme through a surgery task model. Unlike previous robotic systems, the robot uses an internally bending mechanism and constrains the motions within the abdomen. This approach is expected to reduce the potential risk of interfering with surgical staff. The inherent hysteresis characteristics...
Tipo: 15 Palavras-chave: Medical Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/intelligent_laparoscopic_assistant_robot_through_surgery_task_model__how_to_give_intelligence_to_med
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