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Registros recuperados: 23
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A CMPSO Algorithm Based Approach to Solve the Multi-plant Supply Chain Problem InTech
Felix T. S. Chan; Vikas Kumar; Nishikant Mishra.
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Tipo: 25 Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/a_cmpso_algorithm_based_approach_to_solve_the_multi-plant_supply_chain_problem
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Advanced Humanoid Robot Based on the Evolutionary Inductive Self-Organizing Network InTech
Dongwon Kim; Gwi-Tae Park.
The authors thank the financial support of the Korea Science & Engineering Foundation. This work was supported by grant No. R01-2005-000-11044-0 from the Basic Research Program of the Korea Science & Engineering Foundation.
Tipo: 25 Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/advanced_humanoid_robot_based_on_the_evolutionary_inductive_self-organizing_network
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Attitude Compensation of Space Robots for Capturing Operation InTech
Panfeng Huang; Yangsheng Xu.
In this chapter, we studied the dynamic balance control of multi-arm free-floating space robot. According to unique characteristics of free-floating space robot, we presented the dynamics coupling representing the robot arm and base motion and force dependency. Based on the dynamics coupling and measurement method, we proposed the concept of dynamic balance control, the use of the proposed concept is of significance in planing the balance arm's motion for compensate the attitude disturbance of space base. Based on the dynamic balance control concept, we proposed the coordinated control algorithm for the mission arm and the balance arm. During the operation of mission arm, the balance arm can easily compensate the disturbance due to motion of the mission...
Tipo: 25 Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/attitude_compensation_of_space_robots_for_capturing_operation
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Camera Holding Robotic Devices in Urology InTech
Sashi S Kommu; Abhay Rane.
In 1995, Kavoussi et al. (Kavoussi et al., 1995) reported their findings on their experience with the accuracy and use of a robotic surgical arm compared with a human assistant during LUS. They found that the positioning of the camera was significantly steadier with fewer unwanted or abberant movements when under robotic control when compared with the human counterpart. There was no significant difference, however, in the total operative times using the robot or human assistant. In a later study, by the same team looked at the use of surgeon-controlled robotic arms as a substitute for human assistants and found that simultaneous use of remote-controlled robotic arms as surgical assistants was feasible in minimally invasive surgery (Partin et al., 1995)....
Tipo: 25 Palavras-chave: Medical Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/camera_holding_robotic_devices_in_urology
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Facing Visual Tasks Based on Different Cognitive Architectures InTech
Marcos Ruiz-Soler; Francesco S. Beltran.
Tipo: 25 Palavras-chave: Face Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/facing_visual_tasks_based_on_different_cognitive_architectures
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Force Sensors in Hexapod Locomotion InTech
Sathya Kaliyamoorthy; Sasha N. Zill; Roger D. Quinn.
Finite element analysis (FEA) was used to develop a detailed structural model of the cockroach trochanter, a small segment connecting the coxa and femur that incorporates four groups of strain receptors. The detailed structure of the exoskeleton was first reproduced by imaging the cuticle via confocal microscopy. The images were assembled and the cuticle
Tipo: 25 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/force_sensors_in_hexapod_locomotion
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Image Processing Techniques for Unsupervised Pattern Classification InTech
C. Botte-Lecocq; K. Hammouche; A. Moussa; J.-G. Postaire; A. Sbihi; A. Touzani.
All the clustering methods presented in this chapter tend to generalize bi-dimensional procedures initially developed for image processing purpose. Among them, thresholding, edge detection, probabilistic relaxation, mathematical morphology, texture analysis, and Markov field models appear to be valuable tools with a wide range of applications in the field of unsupervised pattern classification. Following the same idea of adapting image processing techniques to cluster analysis, one of our other objectives is to model spatial relationships between pixels by means of other textural parameters derived from autoregressive models (Comer & Delp, 1999), Markov random fields models (Cross & Jain, 1983), Gabor filters (Jain & Farrokhnia, 1991), wavelet...
Tipo: 25 Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/image_processing_techniques_for_unsupervised_pattern_classification
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Imitation Learning Based Talking Heads in Humanoid Robotics InTech
Enzo Mumolo; Massimiliano Nolich.
The estimation of articulatory static and dynamic configuration is one of the most difficult problems in voice technology. Several approaches have been attemped during the past years, and most of the difficulties are due to the fact that the articulatory-acoustic relation is not unique: different articulatory configurations can produce the same signal. The problem can be faced with suitable constraints which are needed to avoid the unrealistic configurations. One on the last work in this area has been reported in [60], which estimated articulatory parameters by finding the maximum a posteriori estimate of articulatory parameters for a given speech spectrum and the state sequence of a HMM--based speech production model. This model consists of HMMs of...
Tipo: 25 Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/imitation_learning_based_talking_heads_in_humanoid_robotics
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Impossibles: A Fully Autonomous Four-Legged Robot Soccer Team InTech
Hamid Reza Vaezi Joze; Jafar Habibi; Nima Asadi.
In this chapter we presented the Impossibles main architecture and its modules to create a fully autonomous team of 4-legged robots for playing soccer. This architecture includes different modules such as World Model, Vision, Decision Making, Motion Controller, Communication, and Localization which are all independent of the robot platform. This chapter presented the integration of our researches in different fields which came together to create fully autonomous robots for specific purpose that is playing soccer as humans do. And this could be a primitive attempt to developing intelligent robots. Participated in two years of RoboCup competitions in Bremen and Atlanta in RoboCup 2006 and 2007, the team gained some valuable experiences which led to designs...
Tipo: 25 Palavras-chave: Robotic Soccer.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/impossibles__a_fully_autonomous_four-legged_robot_soccer_team
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Market-Driven Multi-Agent Collaboration in Robot Soccer Domain InTech
Hatice Kose; Kemal Kaplan; Cetin Mericli; Utku Tatlidede; Levent Akin.
In this work, the target is the coordination problem among the members of a robot soccer team. In order to solve this problem several methods which are extensions of a marketdriven approach are implemented. In this work these approaches are studied and compared in detail. The first developed method was the method with static role assignment. Since it has many drawbacks, a novel market-driven approach was implemented to increase the team success by using the full benefits of collaboration. In this first version, roles are fixed, and the agents are assigned suitable roles according to the available cost functions to increase success, in the current situation. This strategy was quite successful and takes good results in during the matches done by other teams,...
Tipo: 25 Palavras-chave: Cutting Edge Robotics.
Ano: 2005 URL: http://www.intechopen.com/articles/show/title/market-driven_multi-agent_collaboration_in_robot_soccer_domain
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Mechanical Design of Step-Climbing Vehicle with Passive Linkages InTech
Daisuke Chugo; Kuniaki Kawabata; Hayato Kaetsu; Hajime Asama; Taketoshi Mishima.
In this paper, we proposed the mechanical design for passive linkages. We discuss the moment force which is applied on the vehicle body when the vehicle contacts the step and we derive the moment force using the position of free joint point. From the derivation, we design new passive linkage mechanism and utilize it to our prototype. We verified the effectiveness of our proposed design on passive linkages by computer simulations and experiments. Utilizing our proposed mechanical design on the prototype, the moment force becomes positive, all wheels are grounded and step-climbing ability increases. From these results, our proposed mechanical design for passive linkages improves the mobile performance.
Tipo: 25 Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/mechanical_design_of_step-climbing_vehicle_with_passive_linkages
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Multidimensional of Manufacturing Technology, Organizational Characteristics, and Performance InTech
Tritos Laosirihongthong.
Tipo: 25 Palavras-chave: Manufacturing the Future.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/multidimensional_of_manufacturing_technology__organizational_characteristics__and_performance
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New Measures for Supply Chain Vulnerability: Characterizing the Issue of Friction in the Modelling and Practice of Procurement InTech
N.C. Simpson; P.G. Hancock.
Tipo: 25 Palavras-chave: Supply Chain.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/new_measures_for_supply_chain_vulnerability__characterizing_the_issue_of_friction_in_the_modelling_a
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Optimization of a 2 DOF Micro Parallel Robot Using Genetic Algorithms InTech
Sergiu-Dan Stan; Vistrian Maties; Radu Balan.
An optimization design of 2-dof micro parallel robot is performed with reference to kinematic objective function. Optimum dimensions can be obtained by using the optimization method. Finally, a numerical example is carried out, and the simulation result shows that the optimization method is feasible. The main purpose of the chapter is to present kinematic analysis and to investigate the optimal dynamic design of 2-dof micro parallel robot by deriving its mathematical model. By means of these equations, optimal design for 2-dof micro parallel robot is taken by using GA. Optimal design is an important subject in designing a 2-dof micro parallel robot. Here, intended to show the advantages of using the GA, we applied it to a multicriteria optimization problem...
Tipo: 25 Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/optimization_of_a_2_dof_micro_parallel_robot_using_genetic_algorithms
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Possibilities of Force based Interaction with Robot Manipulators InTech
Alexander Winkler; Jozef Suchy.
In this paper some possibilities and features of force based human robot interaction were presented. First, it was assumed that the robot manipulator is equipped with a six component force/torque wrist sensor to measure the interaction forces and torques caused by an operator. He or she tries to guide the robot throughout the work space by taking the
Tipo: 25 Palavras-chave: Human Robot Interaction.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/possibilities_of_force_based_interaction_with_robot_manipulators
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Pseudogradient Estimation of Digital Images Interframe Geometrical Deformations InTech
A. G. Tashlinskii.
The considered PGAs can be directly used in various applied problems of image processing. The algorithms of this class can be applied to image processing in the conditions of a priori uncertainty, they assume small computational expenses and do not require the preliminary estimation of the parameters of the image to be studied. The estimates formed through them are immune to impulse interference and converge to optimal values under rather weak conditions. At an unknown set of the parameters of geometrical deformations model PGAs enable to estimate shifts of each node of image sample grid. At a given IIGD model the processing of the image samples can be performed in an arbitrary order, for example, in order of scanning with decimation that is determined by...
Tipo: 25 Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/pseudogradient_estimation_of_digital_images_interframe_geometrical_deformations
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Robot Vision in the Language of Geometric Algebra InTech
Gerald Sommer; Christian Gebken.
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Tipo: 25 Palavras-chave: Vision Systems: Applications.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/robot_vision_in_the_language_of_geometric_algebra
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Sheet Incremental Forming: Advantages of Robotised Cells vs. CNC Machines InTech
Massimo Callegari; Dario Amodio; Elisabetta Ceretti; Claudio Giardini.
The incremental forming of metal sheet parts can be an interesting alternative to manual forging of prototypes and pre-series blanks or to the manufacturing of shells for resin dies used for the production of small batches. Such characteristics of small-volume production would call for an increase in the level of flexibility and automation, possibly leading to the use of CNC machines or robotised cells able to produce or complete the parts. In particular, the use of robotised cells, with automatic tool change, can dramatically reduce the process time since on the same fixture it is possible to deform the part, cut the part, bend or flange the borders, load/unload the part, etc. The present contribution has described the crossed experiments performed at the...
Tipo: 25 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/sheet_incremental_forming__advantages_of_robotised_cells_vs__cnc_machines
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Spatial Vision-Based Control of High-Speed Robot Arms InTech
Friedrich Lange; Gerd Hirzinger.
Tipo: 25 Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/spatial_vision-based_control_of_high-speed_robot_arms
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Speech Recognition Under Noise Conditions: Compensation Methods InTech
Angel de la Torre; Jose C. Segura; Carmen Benitez; Javier Ramirez Luz Garcia; Antonio J. Rubio.
In this chapter, we have presented an overview of methods for noise robust speech recognition and a detailed description of the mechanism degrading the performance of speech recognizers working under noise conditions. Performance is degraded because of the mismatch between training and recognition and also because of the information loss associated to the randomness of the noise. In the group of compensation methods, we have described the VTS approach (as a representative model-based noise compensation method) and histogram equalization (a nonlinear non-model-based method). We have described the differences and advantages of each one, finding that more accurate compensation can be achieved with model-based methods, while non-model-based ones can deal with...
Tipo: 25 Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007 URL: http://www.intechopen.com/articles/show/title/speech_recognition_under_noise_conditions__compensation_methods
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