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A Generalized Robot Path Planning Approach Without The Cspace Calculation InTech
Yongji Wang; Matthew Cartmell; QingWang; Qiuming Tao.
Tipo: 20 Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_generalized_robot_path_planning_approach_without_the_cspace_calculation
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A Non-Contact Method for Detecting On-Line Industrial Robot Position Errors InTech
Gregory C. Smith.
The investigator developed an non-invasive non-contact method for detecting on-line industrial robot position errors. The method uses a low-cost sensor to detect single-axis position errors. The sensor, composed of a low-cost microwave Doppler radar detector and a low-pass filter, converts robot motion into electronic signals that are A/D converted and processed using a computer. Computer processing reduces captured signals into root-sum-of-squares error measures, with respect to a mean sensor calibration signal. Root-sum-of-squares error measures are compared to a threshold value that indicates, statistically, a 99.7% probability that an on-line position error has occurred. The threshold value can be adjusted to meet different application needs. For the...
Tipo: 20 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/a_non-contact_method_for_detecting_on-line_industrial_robot_position_errors
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A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information InTech
Feng Chen; Yong Yu; Yunjian Ge; Jian Sun; Xiaohong Deng.
We like to thank the support from the National Science Foundation of China (Grant No. 60575054).
Tipo: 20 Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_pawl_for_enhancing_strength_and_endurance_during_walking_using_interaction_force_and_dynamical_inf
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An Introduction to Model-Based Pose Estimation and 3-D Tracking Techniques InTech
Christophe Doignon.
With this article, we have addressed some issues in pose estimation with geometrical features and a modelbased approach in the context of monocular vision. While the 3-D tracking/estimation may be performed with optimal estimators (with the Kalman filter and its extended/nonlinear versions or with the particle filter also referred to as the sequential Monte Carlo method), system models and state vectors need the pose parameters recovery or the 3-D motion recovery from the motion field. The pose determination is needed for applications with high accurate 3-D positioning requirements, when occlusions, shadows or abrupt motions have to be handle. To this purpose, several geometrical featurebased approaches have been reviewed for solving the pose with various...
Tipo: 20 Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/an_introduction_to_model-based_pose_estimation_and_3-d_tracking_techniques
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Analysis and Implementation of an Automated Delimiter of "Quranic" Verses in Audio Files using Speech Recognition Techniques InTech
Tabbal Hassan; Al-Falou Wassim; Monla Bassem.
The system that we developed showed promising results although it was only tested against small Quran’ chapters. We think that the incorporation of morphological knowledge of the Arabic language with a more sophisticated statistical model deduced from the full scope of
Tipo: 20 Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/analysis_and_implementation_of_an_automated_delimiter_of__quranic__verses_in_audio_files_using_speec
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Application on Reinforcement Learning for Diagnosis Based on Medical Image InTech
Stelmo Magalhaes Barros Netto; Vanessa Rodrigues Coelho Leite; Aristofanes Correa Silva; Anselmo Cardoso de Paiva; Areolino de Almeida Neto.
This work presents an overview of current work applying reinforcement learning in medical image applications, presenting a detailed illustration of a particular use for lung nodules classification. The addressed application of reinforcement learning to solve the problem of lung nodules classification used the 3D geometric nodules characteristics to guide the classification. Even though the results are preliminary we may see that the obtained results are very encouraging, demonstrating that the reinforcement learning classifier using characteristics of the nodules’ geometry can effectively classify benign from malignant lung nodules based on CT images. On the other side, we may observe that this is a machine learning that is not commonly applied to medical...
Tipo: 20 Palavras-chave: Reinforcement Learning.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/application_on_reinforcement_learning_for_diagnosis_based_on_medical_image
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Applying a Hybrid Data Mining Approach in Machining Operation for Surface Quality Assurance InTech
Tzu-Liang (Bill) Tseng; Yongjin Kwon; Ryan B. Wicker.
Tipo: 20 Palavras-chave: Manufacturing the Future.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/applying_a_hybrid_data_mining_approach_in_machining_operation_for_surface_quality_assurance
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Collective Motion of Multi-Robot System based on Simple Dynamics InTech
Ken Sugawara; Yoshinori Hayakawa; Tsuyoshi Mizuguchi; Masaki Sano.
In this article, we proposed a mathematical model which show several types of collective motions, and validated it. Firstly we constructed a model in which each element obeys the Newton equation with resistive and interactive force and has a degree of freedom of the heading vector which is parallel to the element axis, in addition to its position and velocity. Performance of the model was confirmed by numerical simulation, and we obtained several types of collective behavior, such as regular cluster motions, chaotic wandering and swarming of cluster without introducing random fluctuations. By introducing a set of dimensionless parameters, we formulated the collective motions and obtained the phase diagram and a new dimensionless parameter G. Lastly, we...
Tipo: 20 Palavras-chave: Human Robot Interaction.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/collective_motion_of_multi-robot_system_based_on_simple_dynamics
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Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach InTech
Jee-Hwan Ryu; Dong-Soo Kwon; Blake Hannaford.
In this paper, we propose a stability guaranteed control scheme of noncollocated feedback control systems without any model information. The main contribution of this research is proposing a method to implement the PO/PC for a possibility active plant due to the noncollocated feedback. We separate the active plant into passive one and a transfer function from the collocated output to the noncollocated output. Therefore, the control system can be fit to our PO/PC framework. As a result, we can achieve stable control even for the noncollocated control system.
Tipo: 20 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/control_of_a_flexible_manipulator_with_noncollocated_feedback__time_domain_passivity_approach
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Directional Change Issues in Multivariable State-Feedback Control InTech
Dariusz Horla.
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Tipo: 20 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/directional_change_issues_in_multivariable_state-feedback_control
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Evolutionary Strategies Combined With Novel Binary Hill Climbing Used for Online Walking Pattern Generation in Two Legged Robot InTech
Lena Mariann Garder; Mats Hovin.
In this chapter an incremental search algorithm combining ES and binary hill climbing has been presented. The ESBH algorithm is compared to simple GA and ES, and stochastic search. We see that the ESBH algorithm is in average superior to the other approaches in this application where the focus is fast learning in less than 20 generations. A possible objection to the proposed ESBH algorithm is that heavy noise in the fitness calculations may cause the algorithm to derail and search in a non optimal region of the search space. Although various simulations has shown that the ESBH algorithm develop proper gaits significantly faster than standard GA/ES based algorithms, practical side effects in a physical environment, such as...
Tipo: 20 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/evolutionary_strategies_combined_with_novel_binary_hill_climbing_used_for_online_walking_pattern_gen
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Evolved Navigation Control for Unmanned Aerial Vehicles InTech
Gregory J. Barlow; Choong K. Oh.
Using multi-objective GP, we were able to evolve navigation controllers for UAVs capable of flying to a target radar, circling the radar site, and maintaining an efficient flight path, all while using inaccurate sensors in a noisy environment. Controllers were evolved for five radar types using both direct evolution and incremental evolution: continuously emitting, stationary radars; continuously emitting, mobile radars; intermittently emitting, stationary radars with regular periods; intermittently emitting, stationary radars with irregular periods; and intermittently emitting, mobile radars with regular periods. The use of incremental evolution dramatically increased the chances of producing successful controllers compared to direct evolution....
Tipo: 20 Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/evolved_navigation_control_for_unmanned_aerial_vehicles
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Geminoid: Teleoperated Android of an Existing Person InTech
Shuichi Nishio; Hiroshi Ishiguro; Norihiro Hagita.
This work was supported in part by the Ministry of Internal Affairs and Communications of Japan.
Tipo: 20 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/geminoid__teleoperated_android_of_an_existing_person
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Grid Technologies for Intelligent Autonomous Robot Swarms InTech
Fabio P. Bonsignorio.
From a certain respect what is described above can be seen as a generalized grid where some of the resource managed are various kind of intelligent autonomous robotic agents. This seems to show some inherent advantages.
Tipo: 20 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/grid_technologies_for_intelligent_autonomous_robot_swarms
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Human Hand as a Parallel Manipulator InTech
Vladimir M. Zatsiorsky ad Mark L. Latash.
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Tipo: 20 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/human_hand_as_a_parallel_manipulator
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Interception and Rendezvous Between Autonomous Vehicles InTech
Yechiel J. Crispin.
The interception and rendezvous problems between two autonomous vehicles moving in an underwater environment has been treated using an optimal control formulation with terminal constraints. The vehicles have a constant thrust propulsion system and use the direction of the thrust vector for steering and control. We use a genetic algorithm to determine directly the control history of the vehicle by evolving populations of possible solutions of initial value problems. In order to fulfill the final boundary conditions as terminal constraints, a mini-max objective function has been defined. An interception problem, where one vehicle moves along a circular trajectory at constant speed and the second vehicle acts as a chaser, maneuvering such as to capture the...
Tipo: 20 Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/interception_and_rendezvous_between_autonomous_vehicles
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Job-shop Scheduling and Visibility Studies with a Hybrid ACO Algorithm InTech
Heinonen; J.; Pettersson; F..
When paired with the local search the ACO produces noteworthy results very fast (typically 5% from optimum within 200 rounds of calculations). The Max-Min Ant System outperformed all other ACO versions, and it did so for all types of visibility tested, showing that it is indeed a leading candidate for choosing your ant system. There are various version of ACO available and this chapter served its purpose to both do an attempt at ranking them, showing the impact of various visibility methods as well as proving that pure ACO methods produce good results, but even better when combined with the postprocessing algorithm shown. Naturally, not every combination of ACO and a local search is guaranteed to work better than a pure ACO, but a hybrid version can...
Tipo: 20 Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/job-shop_scheduling_and_visibility_studies_with_a_hybrid_aco_algorithm
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Machine Analysis of Facial Expressions InTech
Maja Pantic; Marian Stewart Bartlett.
Tipo: 20 Palavras-chave: Face Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/machine_analysis_of_facial_expressions
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Methods for Environment Recognition Based on Active Behaviour Selection and Simple Sensor History InTech
Takahiro Miyashita; Reo Matsumura; Kazuhiko Shinozawa; Hiroshi Ishiguro; Norihiro Hagita.
In this paper, we proposed a method for recognizing environment and selecting appropriate behaviours for humanoid robots based on sensor histories. By using the method, the robot could select effective behaviours to recognize current environment. For ten different environments that are typical in a Japanese family's house, the results of these experiments indicated that the robot successfully recognized them by five basic motions shown in Table 3. However, we should consider the case when number of candidates of current environment does not converge to one. In the case, the robot should acquire new sensor data and rebuild the decision trees, then recognize the environment, again. After these processes, when the number of candidates of the environment...
Tipo: 20 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/methods_for_environment_recognition_based_on_active_behaviour_selection_and_simple_sensor_history
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Object Recognition for Obstacles-free Trajectories Applied to Navigation Control InTech
W. Medina-Melendez; L. Fermin; J. Cappelletto; P. Estevez G. Fernandez-Lopez; J. C. Grieco.
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Tipo: 20 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/object_recognition_for_obstacles-free_trajectories_applied_to_navigation_control
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