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A Reconfigurable Mobile Robots System Based on Parallel Mechanism InTech
Wei Wang; Houxiang Zhang; Guanghua Zong; Zhicheng Deng.
The modular reconfiguration robot has the ability of changing its configuration which makes it more suitable for complex environments. In contrast to conventional theoretical research, the project introduced in this paper successfully completes the following innovative work. a) It proposes a robot named JL-I which is based on a modular reconfiguration concept. The advantages and the characteristics of the mechanism are analysed. The robot features a docking mechanism with which the modules can connect or disconnect flexibly. The active spherical joints formed by serial and parallel mechanisms endow the robot with the ability of changing shapes in three dimensions. b) A kinematics model of reconfiguration between two modules is given. The relationship of...
Tipo: 16 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_reconfigurable_mobile_robots_system_based_on_parallel_mechanism
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A Sensors System for Indoor Localisation of a Moving Target Based on Infrared Pattern Recognition InTech
Nikos Petrellis; Nikos Konofaos; George Alexiou.
A novel method for the indoor localisation of a target was presented in this chapter. This method is based on measuring the number of the digital infrared patterns received by the target in a specific time interval (success rate). At least two transmitting devices are placed around the covered area that exceeds 15m2, while a pair of infrared receivers are mounted on the target. This area is supposed to be covered by a virtual grid and can be further extended if more transmitters are employed. The grid nodes are visited by the target during a calibration stage when it familiarises with the retrieved success rates. At real time operation the closer grid node is selected and a refinement step based on a 2D interpolation search follows leading to a more...
Tipo: 16 Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_sensors_system_for_indoor_localisation_of_a_moving_target_based_on_infrared_pattern_recognition
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Acceleration Analysis of 3-RPS Parallel Manipulators by Means of Screw Theory InTech
J. Gallardo; H. Orozco; J.M. Rico; C.R. Aguilar; L. Perez.
In this work the kinematics, including the acceleration analysis, of 3-RPS parallel manipulators has been successfully approached by means of screw theory. Firstly, the forward position analysis was carried out using recursively the Sylvester dialytic elimination method, such a procedure yields a 16-th polynomial expression in one unknown, and therefore all the possible solutions of this initial analysis are systematically calculated. Afterwards, the velocity and acceleration analyses are addressed using screw theory. To this end, the velocity and reduced acceleration states of the moving platform, with respect to the fixed platform are written in screw form through each one of the three limbs of the manipulator. Simple...
Tipo: 16 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/acceleration_analysis_of_3-rps_parallel_manipulators_by_means_of_screw_theory
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Analysing the Difficulty of Learning Goal-Scoring Behaviour for Robot Soccer InTech
Jeff Riley; Vic Ciesielski.
This work has presented a method for the analysis of the fitness landscape described by the problem of learning goal-scoring behaviour using a genetic algorithm. The method described uses landscape measures to examine features of the fitness landscape such as the degree of correlation between, or randomness of, points on the landscape, the modality of the landscape, and the ruggedness of the landscape. These landscape features are used to better understand the reasons for the difficulty of the problem, especially for evolutionary algorithms. The autocorrelation and information content measures are indicative of the ease with which the searcher will be able to identify the most productive areas of the landscape and in which direction (on the landscape) the...
Tipo: 16 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/analysing_the_difficulty_of_learning_goal-scoring_behaviour_for_robot_soccer
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Concurrent Design of Product Modules Structure and Global Supply Chain Configuration InTech
H. A. ElMaraghy; N. Mahmoudi.
Present competitive global market with ever increasing demand for high quality customized product, calls for a more agile response from the organization and its partners in the supply chain along with an optimized and globally integrated configuration for the supply network. The idea in the past was that marketing success was based upon strong brands and innovative technologies. Instead today the winning combination is strong brands and innovative technologies supported by an integrated supply chain capable of responding more quickly to volatile market demand and changing conditions. Manufacturing enterprises need to focus their effort on achieving greater agility and responsiveness planning, predicting and reacting quickly to the market changes by...
Tipo: 16 Palavras-chave: Supply Chain.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/concurrent_design_of_product_modules_structure_and_global_supply_chain_configuration
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Control and Scheduling Software for Flexible Manufacturing Cells InTech
Antonio Ferrolho; Manuel Crisostomo.
Robust control software is a necessity for an automated FMS and FMC, and plays an important role in the attainable flexibility. Often FMS and FMC are built with very flexible machines (robots, CNC machines, ASRS, etc) but the available control software is unable to exploit the flexibility of adding new machines, parts, changing control algorithms, etc. The present robot control and CNC machines control systems are closed and with deficient software interfaces. Nowadays, the software is typically custom written, very expensive, difficult to modify, and often the main source of inflexibility in FMS. We have developed a collection of software tools: "winRS232ROBOTcontrol", "winEthernetROBOTcontrol", "winMILLcontrol", "winTURNcontrol" and USB software. These...
Tipo: 16 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/control_and_scheduling_software_for_flexible_manufacturing_cells
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Diagnosis of Discrete Event Systems with Petri Nets InTech
Dimitri Lefebvre.
The investigation of diagnosis methods for discrete event systems shows that Petri nets is efficient not only to model the considered systems but also to support the diagnosis methods. Several approaches can be used in order to check diagnosability, to select sensors and to work out diagnosers. The table 5 sums up the main characteristics of these method. As a conclusion it is important to notice the great effort, observed this last years to develop and improve diagnosis methods for DES. The strong connection with observation properties in automata and the use of advances in computer science like the coding theory have played an important role in that development. Now, the challenges are, from our
Tipo: 16 Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/diagnosis_of_discrete_event_systems_with_petri_nets
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Emotion Estimation in Speech Using a 3D Emotion Space Concept InTech
Michael Grimm; Kristian Kroschel.
In this chapter we discussed the recognition of emotions in spontaneous speech. We used a general framework motivated by emotion psychology to describe emotions by means of three emotion "primitives" (attributes), namely valence, activation, and dominance. With these emotion primitives, we proposed a real-valued three-dimensional emotion space concept to overcome the limitations in the state-of-the-art emotion categorization. We tested the method on the basis of 893 spontaneous emotional utterances recorded on a German TV talk-show. For the acoustic representation of the emotion conveyed in the speech signal, we extracted 137 features. These reflected the prosody and the spectral characteristics of the speech. We tested two methods to reduce the problem of...
Tipo: 16 Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/emotion_estimation_in_speech_using_a_3d_emotion_space_concept
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Evolution of Biped Locomotion Using Linear Genetic Programming InTech
Krister Wolff; Mattias Wahde.
This study has been centered on essentially model-free evolution of bipedal gaits, in which the controller was not provided with any model of the bipedal robot, neither any a priori knowledge on how to walk. In both the ODE and EvoDyn implementations, the gaitgenerating controller programs were evolved starting from random sequences of basic LGP instructions (supplemented by initial values of the parameters used for specifying the torques, in the EvoDyn case).
Tipo: 16 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/evolution_of_biped_locomotion_using_linear_genetic_programming
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Evolutionary Computation of Multi-Robot/Agent Systems InTech
Philippe Lucidarme.
This chapter deals with the combination between multi-agent systems and evolutionary computation. The first section describes an experiment of the evolutionary learning of an autonomous obstacle avoidance behavior. This first experiment proves the possibility of distributing a genetic algorithm into a real robot population. In the proposed architecture, new crossovers and mutation techniques have been proposed allowing the distribution of the algorithm. The second part of the chapter deals with the decomposition of a unique robot into a multiagent system. In the distributed proposed architecture, the behavior of the robot is dependant from a set of coefficients influencing the motion of each agent. These coefficients are evolutionary optimized. Several...
Tipo: 16 Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/evolutionary_computation_of_multi-robot_agent_systems
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Evolutionary Optimisation of Mechanical Structures or Systems InTech
Marcelin Jean-Luc.
Tipo: 16 Palavras-chave: Manufacturing the Future.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/evolutionary_optimisation_of_mechanical_structures_or_systems
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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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Habitation and Noise InTech
Vesna Zlatanovic-Tomasevic.
Having insight into planned, technical documentation and by insight into the existing situation on terrain, it is established that Banjica housing project is a quiet city residential district. The measurements, which were carried out inside the housing project, show some deviation on certain measuring places from noise level allowed by regulations. That calls for taking some measures of protection from the urban noise. If the average level of noise in Banjica housing project is taken into consideration, and if the calculations are done on that base, it could be said that the results are satisfying.
Tipo: 16 Palavras-chave: Environmental Technologies.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/habitation_and_noise
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Hybrid Job Shop and Parallel Machine Scheduling Problems: Minimization of Total Tardiness Criterion InTech
Frederic Dugardin; Hicham Chehade; Lionel Amodeo; Farouk Yalaoui; Christian Prins.
In this chapter we have presented different results useful for scheduling tasks trough a hybrid job shop system. At first we have dealt with the parallel machine job shop since its structure is near from the multi processors stages of a Hybrid Job Shop. Then we have presented some theoretical results and their application in the industry. We have developed some examples of modeling industrial lines for a genetic application or an ant colony system application. After this step of modeling, the result show real improvements of the minimization of the total tardiness in an industrial case. These results could be very usefull in the semiconductor manufacturing or in the paper industries since the Hybrid Job Shop structure seem to be common in this area.
Tipo: 16 Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/hybrid_job_shop_and_parallel_machine_scheduling_problems__minimization_of_total_tardiness_criterion
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Mechanism and Control of Anthropomorphic Biped Robots InTech
Hun-ok Lim; Atsuo Takanishi.
The mechanism of a 43 DOF biped humanoid robot WABIAN-RII was described to simulate human motions was described. For the humanoid robot to walk stably on various terrains, its functions should be separated. Its waist and trunk carries out the function of stability, while its legs work out the function of the locomotion. A locomotion pattern generation was discussed which used a polynomial. In the pattern generation, the direction of the walking and the length of the step can be determined by visual and auditory information. Also, a moment compensation control was presented to balance its body, which was based on the motion of the waist and trunk. In addition, an impedance control method was discussed to absorb the impact/contact forces generated between...
Tipo: 16 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/mechanism_and_control_of_anthropomorphic_biped_robots
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Methods of the Definition Analysis of Fine Details of Images InTech
S.V. Sai.
The developed objective methods of the definition analysis of images fine details practically prove to be effective and can be used for adjustment and optimization of codec parameters on high visual sharpness in various vision systems. The main distinctive features of the developed methods should be noted in the summary. 1. The visual sharpness analysis is suggested to be carried out on the test image with low contrast, the initial contrast of fine details being set by a number of minimal color vision thresholds two - three times exceeding the average thresholds values. 2. Reduction in visual sharpness is suggested to be estimated by the normalized to vision thresholds, average value of test image fine details contrast deviation from the initial values of...
Tipo: 16 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/methods_of_the_definition_analysis_of_fine_details_of_images
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Miniature Robotic Guidance for Spine Surgery InTech
Y. Barzilay; L. Kaplan; M. Liebergall.
Tipo: 16 Palavras-chave: Medical Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/miniature_robotic_guidance_for_spine_surgery
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Mixed Logic Dynamical Modeling and On Line Optimal Control of Biped Robot InTech
Yingjie Yin; Shigeyuki Hosoe.
In this study, we proposed a MLD modeling and MPC approach for the on line optimization of biped motion. Such modeling approach possesses advantage that it describes both the continuous dynamics and the impact event within one framework, consequently it provides a unified approach for mathematical, numerical and control investigations. This MLD model allows model predictive control (MPC) and subsequent stability from the numerical analysis viewpoints, by powerful MIQP solver. Hence the biped robot can be on line controlled without pre-defined trajectory. The optimal solution corresponds to the optimal gait for current environment and control requirement. The feasibility of the MLD model based predictive control is shown by simulations. How to effectively...
Tipo: 16 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/mixed_logic_dynamical_modeling_and_on_line_optimal_control_of_biped_robot
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Mobile Robot Team Forming for Crystallization of Proteins InTech
Yuan F. Zheng; Weidong Chen.
In this chapter, we have developed a new theory to explain the growth of protein crystal. The theory is based on the strategy of robot path planning for team forming by multiple mobile robots. Simplicity and locality are two principles in planning the path of the protein robots. The two principles are necessary since we cannot assume proteins to have a high level of intelligence. Based on the two principles, we further have proposed a set of rules which govern the motion trajectory of the protein robot in the process of crystal forming.
Tipo: 16 Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/mobile_robot_team_forming_for_crystallization_of_proteins
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Model-Free Learning Control of Chemical Processes InTech
S. Syafiie; F. Tadeo; E. Martinez.
Tipo: 16 Palavras-chave: Reinforcement Learning.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/model-free_learning_control_of_chemical_processes
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