Download Consulta: repository:"192" Registros recuperados: 900 Máximo de

Consulta: repository:"192"
Registros recuperados: 900
Data/hora: 08/06/2017 17:34:06
3D Cameras: 3D Computer Vision of Wide Scope
Provedor de dados: 192
Autores: Stefan May; Kai Pervoelz; Hartmut Surmann.
First of all, a short comparison of range sensors and their underlying principles was given. The chapter further focused on 3D
cameras. The latest innovations have given a significant improvement for the measurement accuracy, wherefore this technology
has attracted attention in the robotics community. This was also the motivation for the examination in this chapter. On this
account, several applications were presented, which represents common problems in the domain of autonomous robotics. For the
mapping example of static scenes, some difficulties have been shown. The low range, low apex angle and low dynamic range
compared with 3D laser scanners, raised a lot of problems. Therefore, laser scanning is still the preferred technology for this use
case. Based...
Tipo: 11
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/3d_cameras__3d_computer_vision_of_wide_scope
3D Face Recognition
Provedor de dados: 192
Autores: Theodoros Papatheodorou; Daniel Rueckert.
Tipo: 21
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/3d_face_recognition
3D Face Recognition in a Ambient Intelligence Environment Scenario
Provedor de dados: 192
Autores: Andrea F. Abate; Stefano Ricciardi; Gabriele Sabatino.
We presented a 3D face recognition method applied to an Ambient Intelligence Environment. The proposed approach to
acquisition and recognition proved to be suited to the applicative context thanks to high accuracy and recognition speed,
effectively exploiting the advantages of face over other biometrics. As the acquisition system requires the user to look at a specific
target to allow a valid face capture, we are working on a multi-angle stereoscopic camera arrangement, to make this critical task
less annoying and more robust to a wide posing range. This 3D face recognition method based on 3D geometry and color texture
is aimed to improve robustness to presence/absence of beard and to expressive variations. It proved to be simple and fast and
experiments...
Tipo: 1
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/3d_face_recognition_in_a_ambient_intelligence_environment_scenario
A 3-D Rehabilitation System for Upper Limbs "EMUL", and a 6-DOF Rehabilitation System
"Robotherapist" and Other Rehabilitation Systems with High Safety
Provedor de dados: 192
Autores: Junji Furusho; Takehito Kikuchi.
High safety rehabilitation systems using functional fluid were introduced. Two units of EMUL were made in the 5-year NEDO
project, and they were transferred from NEDO to Furusho Laboratory of Osaka University. We continue clinical evaluation of 3-D
rehabilitation system and quasi-3-DOF rehabilitation system by using EMUL, Robotherapist and PLEMO. We have been studying
rehabilitation robotics mainly from the standpoint of mechatronics and virtual reality. Now, we started to study it also from the
standpoint of physical therapy and motion control of human beings.
Tipo: 8
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_3-d_rehabilitation_system_for_upper_limbs_emul_and_a_6-dof
A 4WD Omnidirectional Mobile Platform and its Application to Wheelchairs
Provedor de dados: 192
Autores: 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
A Climbing Robot for Cleaning Glass Surface with Motion Planning and Visual Sensing
Provedor de dados: 192
Autores: Dong Sun; Jian Zhu; Shiu Kit Tso.
This chapter persents an application of a climbing robot for the glass cleaning service. The robot is constructed by two rodless
cylinders and a rotation cylinder. The robot can adjust its orientation to maintain in the desired trajectory path. After finishing the
cleaning work in one section of the glass wall, the robot can cross the window frame to enter another section. A visual sensing
system, which is composed of an omnidirectional CCD camera and two laser diodes, is applied to measure the robot’s position
and orientation on the glass wall. Experiments demonstrate that with the assistance of the proposed motion planning and visual
sensing technologies, the climbing robot can perform cleaning work on the glass wall effectively. Future work will be...
Tipo: 10
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_climbing_robot_for_cleaning_glass_surface_with_motion_planning_and_visual_
sensing
A CMPSO Algorithm Based Approach to Solve the Multi-plant Supply Chain Problem
Provedor de dados: 192
Autores: Felix T. S. Chan; Vikas Kumar; Nishikant Mishra.
250
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_pro
blem
A Comparative Evaluation of Methods for Evolving a Cooperative Team
Provedor de dados: 192
Autores: Takaya Arita; Yasuyuki Suzuki.
This chapter has focused on the methods for evolving a cooperative team by conducting a comparative evaluation of 18 methods.
We have found that some methods performed well, while there are complex correlations among design decisions. Also, further
analysis has
Tipo: 1
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/a_comparative_evaluation_of_methods_for_evolving_a_cooperative_team
A Complete Family of Kinematically-Simple Joint Layouts: Layout Models, Associated Displacement
Problem Solutions and Applications
Provedor de dados: 192
Autores: Scott Nokleby; Ron Podhorodeski.
Tipo: 08
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/a_complete_family_of_kinematically-simple_joint_layouts__layout_models__asso
ciated_displacement_prob
A Comprehensive Framework for Perception in Robotic Soccer
Provedor de dados: 192
Autores: Luciano Oliveira; Augusto Loureiro; Leizer Schnitiman.
A framework for perception in robotics soccer has been presented. The proposed framework has shown been effective in
recognize coloured objects in the soccer field but it might be slightly changed to be used in different approaches, through a new
set of training samples and fuzzy rules. A TS fuzzy engine has been used to integrate information from different sensors,
particularly, an IR distance sensor and a camera. To integrate these sensor data, a novel calibration method, based on a regression
SVM, was developed and it has shown a robust mapping between the calibration map and the obtained values in camera space,
with a low average error of 1.88 degrees. Also, the vision system was evaluated, and the new scheme, with an addition of a
cascade of boost...
Tipo: 12
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_comprehensive_framework_for_perception_in_robotic_soccer
A Design Framework for Sensor Integration in Robotic Applications
Provedor de dados: 192
Autores: Dimitrios I. Kosmopoulos.
In this chapter we have introduced a design framework for developing software for integrating sensors to robotic applications,
provided that open controller architecture is available. The design is general enough and enables the integration of the popular
sensors to any open controller using a wide variety of control schemes. By keeping some simple
Tipo: 1
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/a_design_framework_for_sensor_integration_in_robotic_applications
A Designing Method of the Passive Dynamic Walking Robot via Analogy with Phase Locked Loop
Circuits
Provedor de dados: 192
Autores: Masatsugu Iribe; Koichi Osuka.
In this paper we ascertained the analogous behavior between Phase locked loop circuit and the passive dynamic walking robot,
and showed the effective property to get set-up parameters and initial conditions. Then we proposed one method to fix the
physical parameters and conditions which cause the desired walking gaits, and at last we showed the compensation method which
is effective to stabilize the bifurcated gait of the robot. The proposed method which is inspired by the analogy with Phase locked
loop circuit is probably valuable for designing the passive dynamic walking robot before beginning the actual prototyping. For the
future work, we try to investigate the characteristic behavior of the passive dynamic walking robot which is similar to the Lock...
Tipo: 6
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_designing_method_of_the_passive_dynamic_walking_robot_via_analogy_with_
phase_locked_loop_circuits
A Designing of Humanoid Robot Hands in Endo Skeleton and Exoskeleton Styles
Provedor de dados: 192
Autores: Ichiro Kawabuchi.
To contribute on the evaluative process of searching the appropriate designing paradigms as a mechanical engineer, I bring up in
this paper some of my ideas about the robot hand design concretely. While the designs of my robot hands may seem to be filled
with eccentric, vagarious and serendipitous ideas for some people, I believe they are practical outcomes of flexible ingenuity in
mechanical designing, so that they can take on pre-programmed but robust actuating roles for helping the programmable but
limited actuators, and realize higher total balance in mechatronics. At the same time, for examining their practicability,
reasonability and inevitability through the eyes of many persons, it will need to establish a standard definition and evaluation
items...
Tipo: 23
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_designing_of_humanoid_robot_hands_in_endo_skeleton_and_exoskeleton_style
s
A Dynamic Resource Allocation on Service Supply Chain
Provedor de dados: 192
Autores: Soo Wook Kim; Kanghwa Choi.
Through the study, 6 variables for interactions between causes and effects are found, related to the profit maximization of an
internet based company in management aspect from the internet bookstore, which is one of the most common types of internet
shopping malls. And by connecting all the variables in complex, the map for the cause and effect is systematically constructed.
Furthermore, by verifying the necessary information of system dynamics model for the purpose of testing the resource distributed
decision making model, it made the resource distributed decision making possible. Based on these contents, the relation between
the variable, related to the level of customer's purchase / loyalty in the internet bookstore, and the resource distribution...
Tipo: 19
Palavras-chave: Supply Chain.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/a_dynamic_resource_allocation_on_service_supply_chain
A Facial Expression Imitation System for the Primitive of Intuitive Human-Robot Interaction
Provedor de dados: 192
Autores: Do Hyoung Kim; Kwang Ho An; Yeon Geol Ryu; Myung Jin Chung.
This Chapter has attempted to deal with the issues on establishing a facial expression imitation system for natural and intuitive
interactions with humans. Several real-time cognition abilities are implemented to a robotic system such as face detection, face
tracking, and facial expression recognition. Moreover, a robotic system with facial components is developed, which is able to
imitate human's facial expressions. A method of recognizing facial expressions is proposed through the use of an innovative
rectangle feature. Using the AdaBoost algorithm, an expanded version of Viola and Jones' method has been suggested as a new
approach. We deal with 7 facial expressions: neutral, happiness, anger, sadness, surprise, disgust, and fear. For each facial...
Tipo: 11
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_facial_expression_imitation_system_for_the_primitive_of_intuitive_human-robo
t_interaction
A Factored Language Model for Prosody Dependent Speech Recognition
Provedor de dados: 192
Autores: Ken Chen; Mark A. Hasegawa-Johnson; Jennifer S. Cole.
In this chapter, we proposed a novel approach that improves the robustness of prosody dependent language modeling by
leveraging the dependence between prosody and syntax. In our experiments on Radio News Corpus, a factorial prosody dependent
language model estimated using our proposed approach has achieved as much as 31% reduction of the joint perplexity over a
prosody dependent language model estimated using the standard Maximum Likelihood approach. In recognition experiments, our
approach results in a 1% improvement in word recognition accuracy, 0.7% improvement in accent recognition accuracy and 1.5%
improvement in intonational phrase boundary (IPB) recognition accuracy over the baseline prosody dependent recognizer. The
study in the chapter shows that
Tipo: 18
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_factored_language_model_for_prosody_dependent_speech_recognition
A Feature-Level Fusion of Appearance and Passive Depth Information for Face Recognition
Provedor de dados: 192
Autores: Jian-Gang Wang; Kar Ann Toh; Eric Sung; Wei-Yun Yau.
In this paper, we contributed a stereo face recognition formulation which combines appearance and disparity/depth at feature
level. We showed that the present-day passive stereovision in combination with 2D appearance images can match up to other
methods which rely on active depth data. A Reduced Multivariate Polynomial Model was adopted to fuse the appearance and
disparity images. RMPM is extended so that the problem of newuser registration can be overcome. We evaluated the performance
of such fusion on XM2VTS face database. The evaluation results, which included results from appearance alone, depth alone and
fusion of them respectively, using XM2VTS database, showed improvement of recognition rate from combining 3D information
and 2D information. The...
Tipo: 28
Palavras-chave: Face Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_feature-level_fusion_of_appearance_and__passive_depth_information_for_face_
recognition_
A Framework for Assessing and Managing Large Purchaser - Minority Supplier Relationships in
Supplier Diversity Initiatives
Provedor de dados: 192
Autores: Nicholas Theodorakopoulos; Monder Ram.
Supplier diversity initiatives can function as platforms for EMSs strategic learning (Theodorakopoulos et al., 2005;
Theodorakopoulos & Ram, 2006) and the scant research in supplier diversity underscores the importance of relationship
factors to the success of supplier diversity/development programmes (e.g. Pearson et al., 1993). However, purchaser-supplier
relationship management as a vehicle for enhancing EMSs learning and supply capabilities has not been examined to any length
within the context of supplier diversity. Hence, the aim of this chapter was to consider the characteristics of the relationship
between LPO and EMS that enable or constrain such learning. Our emerging tentative
Tipo: 3
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/a_framework_for_assessing_and_managing_large_purchaser_-_minority_supplier_
relationships_in_supplier
A Fuzzy Logic Controller for Autonomous Wheeled Vehicles
Provedor de dados: 192
Autores: Mohamed B. Trabia; Linda Z. Shi; Neil E. Hodge.
This chapter presents a fuzzy logic control system for steering a two-axle vehicle. Two controllers are presented individually: the
steering controller and the velocity controller. Each fuzzy controller is divided into several modules to represent the distributed
way in which humans deal with different driving tasks. All of these modules are of the Mamdanitype and use sigmoid or product
of sigmoid membership functions. The outputs of the various modules are added together to control the steering angle and the
speed of the vehicle, respectively. Two fuzzy modules in the steering controller are designed to meet the basic driving
requirement: Target Steering Fuzzy module and Collision Avoidance Steering Fuzzy module. The first module steers the vehicle
toward...
Tipo: 10
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/a_fuzzy_logic_controller_for_autonomous_wheeled_vehicles
A General Approximation-Optimization Approach to Large Margin Estimation of HMMs
Provedor de dados: 192
Autores: Hui Jiang; Xinwei Li.
In this paper, we have proposed a general Approximation-optiMization (AM) approach for large margin estimation (LME) of
Gaussian mixture HMMs in speech recognition. Each iteration of the AM method consists of A-step and M-step. In A-step, the
original LME problem is approximated by a simple convex optimization problem in a close proximity of initial model parameters.
In M-step, the approximate convex optimization problem is solved by using efficient convex optimization algorithms. The AM
method is a general approach which can be easily applied for discriminative training of statistical models with hidden variables. In
this paper, we introduce two examples to apply the AM approach to LME of Gaussian mixture HMMs. The first method uses
V-approx and is...
Tipo: 7
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_general_approximation-optimization_approach_to_large_margin_estimation_of_
hmms
A Generalized Robot Path Planning Approach Without The Cspace Calculation
Provedor de dados: 192
Autores: 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
A Geometric Approach to Scheduling of Concurrent Real-time Processes Sharing Resources
Provedor de dados: 192
Autores: Thao Dang; Philippe Gerner.
Tipo: 19
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_geometric_approach_to_scheduling_of_concurrent_real-time_processes_sharing
_resources
A Heuristic Rule-Based Approach for Dynamic Scheduling of Flexible Manufacturing Systems
Provedor de dados: 192
Autores: Gonca Tuncel.
In this study, a new and simple alternate routing heuristics, which would be superior to the conventional routing strategies in terms
of various system performance measures and easier to apply practically, was presented. Because of the high investment costs of
FMSs, it is also definitely worth choosing the best operating policy and system configuration by analyzing the system model, and
adapting to changes over time. In future research, the heuristic rule base will be extended to include other supplementary
constraints such as dynamic tool allocation and sequence dependent setup times. For practical implementation of the proposed
decision support system, additional research in the area of human interfaces could be useful to develop more user friendly...
Tipo: 18
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_heuristic_rule-based_approach_for_dynamic_scheduling_of_flexible_manufactu
ring_systems
A Human Body Model for Articulated 3D Pose Tracking
Provedor de dados: 192
Autores: Steffen Knoop; Stefan Vacek; Rudiger Dillmann.
This paper has proposed a geometric human body model, a joint model and a way for fusion of different input cues for tracking of
an articulated body. The proposed algorithm is able to process 3d as well as 2d input data from different sensors like
ToF-cameras, stereo or monocular images. It is based on a 3d body model which consists of a set of degenerated cylinders, which
are connected by an elastic bands joint model. The proposed approach runs in real-time. It has been demonstrated with a human
body model for pose tracking. The main novelty and contribution of the presented approach lies in the articulated body model
based on elastic bands with soft stiffness constraints, and in the notion of point correspondences as a general measurement and
model...
Tipo: 28
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_human_body_model_for_articulated_3d_pose_tracking
A Human-Animal-Robot Cooperative System for Anti-Personal Mine Detection
Provedor de dados: 192
Autores: 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
A Human-Like Approach to Footstep Planning
Provedor de dados: 192
Autores: 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
A Hybrid Genetic Algorithm for the Re-Entrant Flow-Shop Scheduling Problem
Provedor de dados: 192
Autores: Jen-Shiang Chen; Jason Chao-Hsien Pan; Chien-Min Lin.
This study developed a hybrid genetic algorithm (HGA) for the RFS problems with makespan as the criterion. The computational
experiments have shown that the HGA can favorably improve the results obtained by (NDY, SPT/TWKR) and NEH in RFS
problems. GA is inspired by nature phenomena. If it mimics exactly the way nature works, an unexpected long computational time
must take. Hence the effect of parameters must be studied thoroughly in order to obtain good solution in a reasonable time. The
probability to obtain near-optimal solution increases in the cost of longer computational time when the number of generations or
population size enlarges. When dealing with large size problems or large re-entrant times, the probability to obtain near optimal
solution...
Tipo: 9
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_hybrid_genetic_algorithm_for_the_re-entrant_flow-shop_scheduling_problem
A Learning Approach for Adaptive Image Segmentation
Provedor de dados: 192
Autores: Vincent Martin; Monique Thonnat.
In this chapter, we have proposed a learning approach for three major issues of image segmentation: context adaptation, algorithm
selection and parameter tuning according to the image content and the application need. This supervised learning approach relies
on hand-labelled samples. The learning process is guided by the goal of the segmentation and therefore makes the approach
reliable for a broad range of applications. The user effort is restrained compared to other supervised methods since it does not
require image processing skills: the user has just to click into regions to assign labels; he/she never interacts with algorithm
parameters. For the figure-ground segmentation task in video application, this annotation task is even automatic. When all...
Tipo: 23
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_learning_approach_for_adaptive_image_segmentation
A Linear Logic Based Approach to Timed Petri Nets
Provedor de dados: 192
Autores: Norihiro Kamide.
1
Tipo: 10
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/a_linear_logic_based_approach_to_timed_petri_nets
A Model Reference Based 2-DOF Robust Observer-Controller Design Methodology
Provedor de dados: 192
Autores: Salva Alcantara; Carles Pedret; Ramon Vilanova.
A new 2-DOF control configuration based on a right coprime factorization of the model of the plant has been presented. The
approach has been introduced as an alternative to the commonly encountered strategy of setting the two controllers arbitrarily,
with internal stability the only restriction, and parameterizing the controller in terms of the Youla parameters. An
non-minimal-observer-based state feedback control scheme has been designed first to guarantee some levels of robust stability and
output disturbance rejection by solving a constrained
Tipo: 1
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/a_model_reference_based_2-dof_robust_observer-controller_design_methodology
A Multi-Robot System Architecture for Trajectory Control of Groups of People
Provedor de dados: 192
Autores: Edgar A. Martinez-Garcia; Akihisa Ohya; Shinichi Yuta.
It has been considered that an important issue of this research work relies on the regarding of this modality for people conduction.
A given contribution has been the methodology for conduction, its strategy for accomplishing the task-goal and the
implementation of the system itself. It has been considered that most important issues featuring the present architecture are
synthesized as: 1.) A framework for people trajectory control model. 2.) Guidance is mainly constrained by being of implicit
communication type. 3.) Motions reactions are the means of interaction for trajectory control between robots and people. 4.)
Non-active cooperation modality is given by the robots in this architecture. Furthermore, there are some important points of the
guiding...
Tipo: 28
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/a_multi-robot_system_architecture_for_trajectory_control_of_groups_of_people
A Multitasking Surface Exploration Rover System
Provedor de dados: 192
Autores: Antonios K. Bouloubasis; Gerard T. McKee.
To conclude, the MTR is an advanced surface mobility system, which presents a high degree of internal and external
re-configurability to account for rough terrain stability and multifunctionality. The operational capability of the MTR is enclosed
inside Packs, and is interchangeable and upgradeable. The numbers of robotic Tools and/or Science instruments that can be
utilized by the rover are limited only by the exploration needs. The approach aims to bring down the cost versus functionality ratio
by offering mobility according to demand to smaller modules with dedicated, well-defined operational characteristics. This
reduces the overheads imposed by the necessity of having a dedicated
Tipo: 21
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_multitasking_surface_exploration_rover_system
A Musculoskeletal Flexible-Spine Humanoid Kotaro Aiming at the Future in 15 Years Time
Provedor de dados: 192
Autores: Ikuo Mizuuchi.
This research has been supported by NEDO as a part of "Project for the Practical Application of Next-Generation Robots," and
also partly supported by the Ministry of Education, Culture, Sports, Science and Technology, Grant-in-Aid for Scientific Research
for Young Scientists (A) (#17680015).
Tipo: 3
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/a_musculoskeletal_flexible-spine_humanoid_kotaro_aiming_at_the_future_in_15_
years_time
A Networking Framework for Multi-Robot Coordination
Provedor de dados: 192
Autores: Antonio Chella; Giuseppe Lo Re; Irene Macaluso; Marco Ortolani; Daniele Peri.
This paper presented a framework for the coordination of a group of robots moving in a structured indoor environment in order to
manage automatically guided museum tours. The design of a hybrid wireless networking architecture, composed by WiFi devices
interoperating with wireless sensor nodes has been discussed, and it has been shown how it can operate as a whole in order both to
provide a communication backbone for the robots, and to extract useful information from the environment. The robustness of the
communication protocol implemented in the proposed framework has been enforced through a fault-tolerant leader election
mechanism, which allows for an easy extension process of the innate system knowledge with new information acquired during
run-time....
Tipo: 1
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/a_networking_framework_for_multi-robot_coordination
A NeuroGenetic Approach for Multiprocessor Scheduling
Provedor de dados: 192
Autores: Anurag Agarwal.
In this study we combine two metaheuristic search techniques, the Augmented Neural Networks and Genetic Algorithms approach
to create a hybrid metaheuristic called the NeuroGenetic approach. We apply this hybrid approach to a multiprocessor scheduling
problem, the job-shop scheduling problem to test if the hybridization helps improve the solution. The hybridization of AugNN and
GA is achieved by interleaving the two approaches. Since the GA approach is better at diversification or global search whereas
AugNN is better at intensification or local search, the combination provides improved solutions than either GA or AugNN search
with the same number of iterations. Computational results showed that such hybridization provided improvements in the
solutions,...
Tipo: 7
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_neurogenetic_approach_for_multiprocessor_scheduling
A New Algorithm for Initialization and Training of Beta Multi-Library Wavelets Neural Network
Provedor de dados: 192
Autores: Wajdi Bellil; Mohamed Othmani; Chokri Ben Amar; Mohamed Adel Alimi.
In this chapter, we described a new training algorithm for multi library wavelets network. We needed a selection procedure, a cost
function and an algorithm of minimization for the evaluation. To succeed a good training, we showed that it was necessary to
unite good ingredients. Indeed, a good algorithm of minimization finds a minimum quickly; but this one is not necessarily
satisfactory. The use of a selection algorithm is fundamental. Indeed, the good choice of regressors guarantees a more regular
shape of the cost function; the global minima correspond well to the "true" values of the parameters, and avoid the local minimum
multiplication. So the cost function present less local minima and the algorithms of evaluation find the global minimum more...
Tipo: 11
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/a_new_algorithm_for_initialization_and_training_of_beta_multi-library_wavelets_
neural_network
A New Ant Colony Optimization Approach for the Degree-Constrained Minimum Spanning Tree
Problem Using Pruefer and Blob Codes Tree Coding
Provedor de dados: 192
Autores: Yoon-Teck Bau; Chin-Kuan Ho; Hong-Tat Ewe.
The design and implementation of Blob-coded ACO and Pr?fer-coded ACO for d-MST and lu-dMST problems have been
presented. This ACO approaches is different because it constructs the encoded of the solution and can speed up computation time.
Performance studies have revealed that Blob-coded ACO is almost always better than Pr?fer-coded ACO for both types of
problems for the SHRD graphs. However for the d-MST problem, Blobcoded ACO does not perform better than the enhanced
kruskal-ACO approach in any single
Tipo: 3
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_new_ant_colony_optimization_approach_for_the_degree-constrained_minimum
_spanning_tree_problem_usin
A New Approach to Implicit Human-Robot Interaction Using Affective Cues
Provedor de dados: 192
Autores: Pramila Rani; Nilanjan Sarkar.
An approach to human-robot interaction that can utilize implicit affective communication along with explicit communication is
presented. In this work we focus on the state of anxiety as the target affective state. A set of physiological indices have been
presented that showed good correlation with anxiety. The affect recognition technique infers the underlying affective state of the
human from peripheral physiological signals using regression theoretic methodology. A control architecture is presented that can
integrate the affective information with the operator's explicit information to achieve a versatile and natural human-robot
interaction. An experiment was conducted where human-robot communication was enhanced by enabling the robot to sense
human...
Tipo: 12
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/a_new_approach_to_implicit_human-robot_interaction_using_affective_cues
A New Load Adjustment Approach for Job-Shops
Provedor de dados: 192
Autores: Zied Bahroun; Mourad Fendouli; Jean-Pierre Campagne.
The most common approach used in production planning remains MRP II (Manufacturing Resource Planning). The proposed
approach in this paper constitutes an alternative to the traditional load adjustment approaches used in the CRP (Capacity
Requirement Planning) modules in software based on MRP II philosophy. The new heuristic presented in this paper, in
comparison with the usual middle and/or long-term planning and scheduling approaches, has the following advantages: not setting
a long-term tasks scheduling to assure that the planning can be properly carried out; exploiting and distributing judiciously the
job's margins on their tasks and trying to respect the just-in-time principles; permitting the postponement of the final scheduling
job's problems until...
Tipo: 09
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/a_new_load_adjustment_approach_for_job-shops
A New Mathematical Model for Flexible Flow Lines with Blocking Processor and
Sequence-Dependent Setup Time
Provedor de dados: 192
Autores: 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_an
d_sequence-dependent_setu
A New Rapid Tooling Process
Provedor de dados: 192
Autores: Xiaoping Jiang; Chao Zhang.
Tipo: 22
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/a_new_rapid_tooling_process
A Non-Contact Method for Detecting On-Line Industrial Robot Position Errors
Provedor de dados: 192
Autores: 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
A Novel 4-DOF Parallel Manipulator H4
Provedor de dados: 192
Autores: Jinbo Wu; Zhouping Yin.
Tipo: 19
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/a_novel_4-dof_parallel_manipulator_h4
A Novel Anthropomorphic Robot Hand and its Master Slave System
Provedor de dados: 192
Autores: Tetsuya Mouri; Haruhisa Kawasaki.
We have presented the newly developed anthropomorphic robot hand named the KH Hand type S and its master slave system
using the bilateral controller. The use of an elastic body has improved the robot hand in terms of weight, the backlash of the
transmission, and friction between the gears. We have demonstrated the expression of the Japanese finger alphabet. We have also
shown an experiment of a peg-in-hole task controlled by the bilateral controller. These results indicate that the KH Hand type S
has a higher potential than previous robot hands in performing not only hand shape display tasks but also in grasping and
manipulating objects in a manner like that of the human hand. In our future work, we are planning to study dexterous grasping and
manipulation...
Tipo: 2
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_novel_anthropomorphic_robot_hand_and_its_master_slave_system
A Novel Autonomous Climbing Robot for Cleaning an Elliptic Half-Shell
Provedor de dados: 192
Autores: Houxiang Zhang; Rong Liu; Guanghua Zong; Jianwei Zhang.
In contrast to conventional theoretical research, this project finishes the following innovative work: 1. This paper described a new
kind of auto-climbing robot used for cleaning the complex curved surface of the National Grand Theatre in China. A special
movement mechanism was developed and designed to satisfy weight and dexterity requirements. The robot has been tested on a
demo wall which was built based on real building design. Figure 24 shows the robot climbing up in the same process as Figure 16.
The robot can climb up and down walls reliably with an average climbing speed of 200mm/s, a sideways moving speed of
100mm/s, and has a cleaning efficiency of 150m2/hour. These tests have proven the feasibility of the mechanical design and
control system of...
Tipo: 30
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/a_novel_autonomous_climbing_robot_for_cleaning_an_elliptic_half-shell
A Novel Modeling Method for Cooperative Multirobot Systems Using Fuzzy Timed Agent Based Petri
Nets
Provedor de dados: 192
Autores: 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_tim
ed_agent_based_petri_nets
A Novel Omnidirectional Stereo Vision System via a Single Camera
Provedor de dados: 192
Autores: Chuanjiang Luo; Liancheng Su; Feng Zhu.
We have developed a complete framework of automatically generating omnidirectional depth maps around a mobile robot using a
novel designed panoramic vision sensor. Compared to previous vision systems, our system has such significant advantages as its
geometry calculating easy and fast and simultaneous acquisition of precise range information without high cost or system
complexity. And as the separation between the two hyperbolic mirrors provides a large baseline, the range information obtained
from this method has much improved precision. We have proposed an imaging model for
Tipo: 2
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_novel_omnidirectional_stereo_vision_system_via_a_single_camera
A Novel Omnidirectional Stereo Vision System with a Single Camera
Provedor de dados: 192
Autores: Sooyeong Yi; Narendra Ahuja.
Wide field of view is the most attractive feature of the omnidirectional vision. There exist two approaches to omnidirectional
stereo imaging with a single camera. They use: (1) a double lobed mirror (Fiala & Basu, 2005)(Cabral et al., 2004), or (2)
two mirrors (Jang et al., 2005). In this paper, a third approach is described using a mirror and a concave lens. By adjusting the
position of the concave lens, it is possible to control the disparity between two stereo images and the accuracy of the 3D distance
computation. Since the optical components adopted in the proposed system are commercially available, the proposed
omnidirectional stereo imaging system is compact and cost-effective. Based on the simple optics composed of the reflection and
the...
Tipo: 24
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_novel_omnidirectional_stereo_vision_system_with_a_single_camera
A Novel Parallel Engraving Machine Based on 6-PUS Mechanism and Related Technologies
Provedor de dados: 192
Autores: Kong Ling-fu; Zhang Shi-hui.
A novel parallel engraving machine is proposed and its some key technologies are studied in this paper. Based on the confirming
of mechanism type, a group of mechanisms are obtained by changing the sizes of engraving machine. Performance indices are
analyzed by considering both the first and the second order influence coefficient matrix of different sample point in every
mechanism's workspace, then mechanism's sizes better for both kinematics and dynamics are achieved, so the theory basis for
designing the size of novel engraving machine is established. In addition, method for tool path planning and control technology
for engraving force is also studied in the paper. The proposed algorithm for tool path planning on curved surface solves path's
mapping...
Tipo: 37
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/a_novel_parallel_engraving_machine_based_on_6-pus_mechanism_and_related_te
chnologies
A Parallel Framework for Image Segmentation Using Region Based Techniques
Provedor de dados: 192
Autores: Juan C. Pichel; David E. Singh; Francisco F. Rivera.
In this work a parallel framework for image segmentation using region based techniques is presented. The algorithm is based on
performing several segmentations of the same image using a parallel region-based algorithm. Moreover these segmentations are
also obtained in parallel. This way, our proposal presents a two-level parallel layout. Next, an oversegmented image that collects
all the information from the previous segmentations is created. A region-merging algorithm, developed previously by the authors,
is then applied to this oversegmented image. A relevant aspect is that the information obtained from the partial segmentations will,
in fact, guide the merging process, in such a way that the actual characteristics of each region or pixel are not taken...
Tipo: 5
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_parallel_framework_for_image_segmentation_using_region_based_techniques
A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and
Dynamical Information
Provedor de dados: 192
Autores: 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_interactio
n_force_and_dynamical_inf
A Portable Robot for Tele-Rehabilitation: Remote Therapy and Outcome Evaluation
Provedor de dados: 192
Autores: Park; Hyung-Soon; Zhang; Li-Qun.
A portable rehabilitation robot for the elbow joint of neurologically impaired patients was developed to perform physical
treatment task followed by the outcome evaluation for monitoring the progression of the therapy. The hardware was designed for
portability by using the small actuator and compact electronic components. After defining five tasks, two controllers were
developed and implemented accordingly. For the active range of motion test, a torque controller maintaining zero torque was
developed to make the device back-drivable. For other tests, velocity controller with intelligent velocity adjustment algorithm was
developed in order to stretch the spastic/contractured elbow joint forcefully and safely. The sequence of the tasks was organized
to...
Tipo: 32
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_portable_robot_for_tele-rehabilitation__remote_therapy_and_outcome_evaluatio
n
A Practical Toolbox for Calibrating Omnidirectional Cameras
Provedor de dados: 192
Autores: Davide Scaramuzza; Roland Siegwart.
In this chapter, we presented a method for calibrating any central omnidirectional camera both dioptric or catadioptric. The
method relies on a generalized parametric function that describes the relation between a given pixel point and the correspondent
3D vector emanating from the single effective view point of the camera. We describe this function by means of a polynomial
expansion whose coefficients are the parameters to be calibrated. Furthermore, we presented a toolbox for Matlab (named
OcamCalib) that implements the mentioned calibration procedure. The toolbox is available on-line. We described the tools and the
main features of our toolbox, one of which being the capability to automatically identify the center of the omnidirectional image.
The...
Tipo: 17
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_practical_toolbox_for_calibrating_omnidirectional_cameras
A Pseudo Stereo Vision Method using Asynchronous Multiple Cameras
Provedor de dados: 192
Autores: Shoichi Shimizu; Hironobu Fujiyoshi; Yasunori Nagasaka; Tomoichi Takahashi.
We proposed a method of pseudo-stereo vision method using cameras with different shutter timings, where the previous two
frames were calculated using a spline curve. The method can output a 3D position at 90 fps using three cameras, and using
multiple cameras is expected to enhance the output of the 3D positions. We confirmed that our method was better than stereo
vision with the time delay in simulation experiments. The error was 9.2 mm in experiments using real cameras. However, the error
was within a useful range, because the object’s radius was 20 mm. Moreover, it is clear that our method is better than the stereo
vision with asynchronous shutter timing.
Tipo: 11
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_pseudo_stereo_vision_method_using_asynchronous_multiple_cameras
A Pursuit-Rendezvous Approach for Robotic Tracking
Provedor de dados: 192
Autores: Fethi Belkhouche; Boumediene Belkhouche.
We presented a method for robotic navigation and tracking of an unpredictably moving object. Our method is kinematics-based,
and combines the pursuit law with the rendezvous law. First a kinematics model is derived. This kinematics model gives the
motion of the goal with respect to the robot. The first equation gives the range rate between the robot and its goal. The second
equation gives the turning rate of the goal with respect to the robot. The control law is then derived based on this kinematics
model. This law is controlled by a real variable, which may be constant or time-varying. The most important properties of the
control law are discussed. The dynamic coverage of the target is also discussed, where a second law for the robot's linear
velocities...
Tipo: 21
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_pursuit-rendezvous_approach_for_robotic_tracking
A Quantitative Analysis of Memory Usage for Agent Tasks
Provedor de dados: 192
Autores: DaeEun Kim.
The number of states in finite state machines in the experiments may not be exactly the same as the number of states that the
evolved controllers actually use for exploration. It specifies a maximum limit over the number of finite states. Especially for a
large number of states, controllers that do not use all memory states are sometime evolved even though a given maximum memory
limit is specified. The same can be true of the genetic programming structure. When the maximum number of terminal nodes was
set up for evolutionary runs, some best controllers used a smaller number of nodes than the limit size, or had a redundant
expression. Thus, our analysis of memory states may have a little discrepancy with the actual usage of memory. Genetic
programming has a...
Tipo: 14
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/a_quantitative_analysis_of_memory_usage_for_agent_tasks
A Real-Time Framework for the Vision Subsystem in Autonomous Mobile Robots
Provedor de dados: 192
Autores: Paulo Pedreiras; Filipe Teixeira; Nelson Ferreira; Luis Almeida Armando Pinho; Frederico Santos.
Computer vision applied to guidance of autonomous robots has been generating large interest in the research community as a
natural and rich way to sense the environment and extract from it the necessary features. However, due to the robots motion,
vision-based sensing becomes a real-time activity that must meet deadlines in order to support adequate control performance and
avoid collisions. Unfortunately, most vision-based systems do not rely on real-time techniques and exhibit poor temporal
behavior, with large variations in execution time that may lead to control performance degradation and even sensing blackout
periods caused by skipped image frames. In this chapter, the referred problem is identified in the scope of the CAMBADA
middle-size robotic...
Tipo: 6
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_real-time_framework_for_the_vision_subsystem_in_autonomous_mobile_robots
A Real-Time Solution to the Image Segmentation Problem: CNN-Movels
Provedor de dados: 192
Autores: Giancarlo Iannizzotto; Pietro Lanzafame; Francesco La Rosa.
In this work we have described a re-formulation of a 2D still-image segmentation algorithm, implemented on a single-layer CNN,
previously proposed (Iannizzotto, 2003). This algorithm is able to step-over limitation inherent to the class of active contours:
sensitivity to insignificant false edges or "edge fragmentation". The approach features an iterative process of uniform shrinking
and deformation of the active contour. Guided by statistical properties of edgeness of the image pixels, the chain adapts itself to
the image contours. Undesirable smoothing of the edges of the objects are prevented by the absence of any particular rigidity
constraints on the chain. The technique used for uniform shrinking, which automatically handles any splitting, allows the...
Tipo: 6
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_real-time_solution_to_the_image_segmentation_problem__cnn-movels
A Reconfigurable Mobile Robots System Based on Parallel Mechanism
Provedor de dados: 192
Autores: 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
A Reference Control Architecture for Service Robots as applied to a Climbing Vehicle
Provedor de dados: 192
Autores: Francisco Ortiz; Diego Alonso; Juan Pastor; Barbara Alvarez; Andres Iborra.
7.1 Conclusions and Lessons Learned In this chapter we have described our experiences using an architectural framework in the
development of robotic applications, with discussion of the importance of system architecture to handle the inherent complexity of
robotic systems. Among the robots developed in the EFTCoR project, two versions of the climbing vehicle Lázaro have been
described, starting from the special requirements of the shipyards to develop cleaning systems that can free human operators from
those dangerous tasks, and, at the same time, minimizing the emissions of pollutants into the environment. Among the many
lessons learned in the development of such software architectures and frameworks it is important to highlight two in particular: (1)
it...
Tipo: 12
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_reference_control_architecture_for_service_robots_as_applied_to_a_climbing_v
ehicle
A Reusable UART IP Design and its Application in Mobile Robots
Provedor de dados: 192
Autores: Ching-Chang Wong; Yu-Han Lin.
A reusable UART IP design and its application in mobile robots are presented in this chapter. The UART IP is composed of a
baud rate generator, a receiver module, and a transmitter module. These modules are reusable and synthesizable and they are used
to be a data detector of IR ranging system to receive the distance information of objects, a data detector of digital compass to
receive the head direction of robot, and a transceiver of a wireless modem to communicate with the other robots and host
computer. These application circuits have been implemented on a FPGA chip to illustrate the robot can detect data from the IR
ranging system and the digital compass exactly and communicate with the host computer and other robots successfully.
Tipo: 8
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/a_reusable_uart_ip_design_and_its_application_in_mobile_robots
A Robot System for High Quality Belt Grinding and Polishing Processes
Provedor de dados: 192
Autores: Bernd Kuhlenkoetter; Xiang Zhang.
Due to the tendency of the globalization of markets and competition from low wage countries, it is profitable for the industry to
further automate the robot-controlled grinding and polishing system, especially in the sanitary fitting industry. The high
automation level of the robot system not only relieves the human being from laborious tasks, but also elevates the efficiency of the
whole manufacturing process by producing a steady product surface quality. A framework of such a robot system is put forward in
this paper. The automation of the robot system focuses on two parts. One is to facilitate the grinding and polishing paths planning
processes. Software is developed to help the operator to generate the grinding and polishing paths quickly and easily....
Tipo: 44
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/a_robot_system_for_high_quality_belt_grinding_and_polishing_processes
A Robotic System for Volcano Exploration
Provedor de dados: 192
Autores: Daniele Caltabiano; Giovanni Muscato.
The main innovation of this project is the capability to take measurements during volcanic eruptions by the development of a
specific mobile robotic system for this purpose. This robot will have a relevant impact on the mitigation of the volcanic risk both
in general, since it contributes to improve knowledge about volcanic phenomena, and in particular because it is now integrated in
the volcanic surveillance system to be used when the approach to active vents becomes too dangerous for human live, but
information is vital for a correct forecast of dangerous eruptions. For instance, during the volcano unrest that precede a large
eruption when the gas emission, thermal variation and ground deformation inside a crater or caldera, related to the ascent of new...
Tipo: 30
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/a_robotic_system_for_volcano_exploration
A Robust and Scalable Pareto Optimal Ball Passing Algorithm for the Robotic Soccer
Provedor de dados: 192
Autores: Vadim Kyrylov.
Tipo: 8
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_robust_and_scalable_pareto_optimal_ball_passing_algorithm_for_the_robotic_s
occer
A Sensors System for Indoor Localisation of a Moving Target Based on Infrared Pattern Recognition
Provedor de dados: 192
Autores: 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_infrare
d_pattern_recognition
A Simulator for Helping in Design of a New Active Catheter Dedicated to Coloscopy
Provedor de dados: 192
Autores: Georges Dumont; Christofer Kuehl.
The simulation with multi-agent controller, presented in Fig. 11, proves the validity of this approach for minimizing contacts into
the ducts, furthermore it can be extended to the case where the ducts are not rigid but elastically, or visco-elastically deformable,
as in reality (K?hl, C. 2003) (K?hl, C & Dumont, G. 2005). A sigmoid untwisting, that is a classical examination in
coloscopy, has been reproduced for testing the simulator. The main part of this examination is done when the endoscopic device is
withdrawed. The medical practitioner try to reach the ileocolic valve: this part is very delicate because the practitioner has to align
the endoscope with the colon in order to continue the progression. Furthermore, the colic angles are very...
Tipo: 31
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/a_simulator_for_helping_in_design_of_a_new_active_catheter_dedicated_to_colos
copy
A Smith Factorization Approach to Robust Minimum Variance Control of Nonsquare LTI MIMO
Systems
Provedor de dados: 192
Autores: Wojciech P. Hunek; Krzysztof J. Latawiec.
The Smith factorization approach to the robust minimum variance control has been presented in this paper. The new method
appears much better than others, designed by
Tipo: 21
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/a_smith_factorization_approach_to_robust_minimum_variance_control_of_nonsqu
are_lti_mimo_systems
A Teaching-Free Robot System Utilizing Three-Dimensional CAD Product Data
Provedor de dados: 192
Autores: Yoichi Nagao; Hideaki Ohta; Fumihiro Honda.
A welding robot system for large box structures has been developed and put to practical use to automate welding and to reduce
labor requirements. The system automatically generates the robot operation data based on the design information from a
three-dimensional CAD unit without the need for teaching by humans. This system was delivered to a client in September, 1999,
since which time the system has been operating smoothly, allowing the factory to automate more than 80% of its welding work. In
order to save the effort of preparation of welding information on a three-dimensional CAD unit, the authors have already
implemented KCONG on Solidworks, a mechanical three-dimensional CAD. This new version has a function of definition of
welding paths with which...
Tipo: 19
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/a_teaching-free_robot_system_utilizing_three-dimensional_cad_product_data
A Tree-Climbing Robot Platform: Mechanical Concept, Control Software and Electronic
Architectures
Provedor de dados: 192
Autores: Reinaldo de Bernardi; José Jaime da Cruz.
This work presented the Kamanbar? robot, which is a four-legged bionspired platform with the main purpose of climbing trees,
for environmental research applications. The mechanical and electronics structure, and the software architecture, were presented
as well a Simulink mechanical model and simulations results. Based on its special design, this platform offers the possibility of
investigating reptile-like walking and climbing. As a control approach, just a gait generator based on the chameleon mode of
movement was presented, but it was demonstrated that is sufficient to obtain results on legs movement interference and realistic
torque estimates.
Tipo: 12
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/a_tree-climbing_robot_platform__mechanical_concept__control_software_and_ele
ctronic_architectures
A Tutorial on Parametric Image Registration
Provedor de dados: 192
Autores: Leonardo Romero; Felix Calderon.
A tutorial, with all the details related to the parametric image registration task, has been presented. Also two new methods
(Method 1 and Method 3) are presented besides the classical method to compute derivatives of images. Method 1 computes the
image derivatives faster than the other two methods, but it does not give accurate estimations. Methods 2 and 3 take more time
because they compute derivatives of the transformed image (at each iteration) while method 1 computes derivatives of the input
image only once. Method 3 is an improved version of method 2 because it takes into account the exact derivatives needed.
However the classical method 2, reported in the literature is the same as the method 3 under translations. Experiments confirm the
poor...
Tipo: 10
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/a_tutorial_on_parametric_image_registration
A User Multi-Robot System Interaction Paradigm for a Multi-Robot Mission Editor
Provedor de dados: 192
Autores: Saidi Francois; Pradel Gilbert.
This work aims at modelling the interaction between a user and a multi-robot system in order to give a mission to a team of robots
and to determine the set of the driving process leading to its execution. According to some hypotheses among which: ? the indoor
structured environment is known, ? the small number of robots, ? the cost which influences the system architecture, ? the user may
act on the system decisions, the user can request some missions the system is able to accomplish. We mainly insist on the system
participative aspect in order to be accepted by the user in spite of its limitations. This participative aspect implies: ? a
human-system interface taking care of the communication in a friendly, click and drag, icon based, high-level language, ?...
Tipo: 10
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/a_user_multi-robot_system_interaction_paradigm_for_a_multi-robot_mission_edit
or
A Visual Based Extended Monte Carlo Localization for Autonomous Mobile Robots
Provedor de dados: 192
Autores: Wen Shang; Dong Sun.
An extended Monte Carlo localization (EMCL) method is proposed in this book chapter by introducing two validation
mechanisms to apply a resampling strategy to conventional MCL. Two validation mechanisms, uniformity validation and
over-convergence validation, are effectively used to check abnormity of the distribution of weight values of sample set, e.g.,
observation deviation or over-convergence problem. The strategy of employing different resampling processes is proposed to
construct more consistent posterior distribution with observations. This new approach is aimed to improve localization
performance particularly with smaller sample size in the non-modeled robot movements, and thus achieve global localization
more efficiently. A vision-based extended...
Tipo: 12
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/a_visual_based_extended_monte_carlo_localization_for_autonomous_mobile_rob
ots
Abstraction for Genetics-Based Reinforcement Learning
Provedor de dados: 192
Autores: Will Browne; Dan Scott; Charalambos Ioannides.
Abstraction may appear a trivial task for humans and the positive results from this work intuitive, but abstraction has not been
routinely used in genetics-based reinforcement learning. One reason is that the time each iteration requires is an important
consideration and abstraction increases the time for each iteration. Typically XCS takes 20 minutes to play 1000 games (and
remains constant), mXCS with abstraction takes 20 minutes for 100 games (although this can vary greatly depending on the
choice of parameters) and the Q-Learning algorithm ranges from 5 minutes for 1000 games initially to 90 minutes for 1000 games
after 100,000 games training. However, given a fixed amount of time to train all three algorithms mXCS with abstraction would
perform the...
Tipo: 10
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/abstraction_for_genetics-based_reinforcement_learning
Acceleration Analysis of 3-RPS Parallel Manipulators by Means of Screw Theory
Provedor de dados: 192
Autores: 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 and compact expressions were
derived...
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
Accuracy and Calibration Issues of Industrial Manipulators
Provedor de dados: 192
Autores: Mohamed Abderrahim; Alla Khamis; Santiago Garrido; Luis Moreno.
This chapter discussed the accuracy issues of robot manipulators and the importance of searching for absolute accuracy for
industrial manipulators. It shows how there is an increased need to use off-line programming and robotic and manufacturing
simulation
Tipo: 7
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/accuracy_and_calibration_issues_of_industrial_manipulators
Accurate Color Classification and Segmentation for Mobile Robots
Provedor de dados: 192
Autores: Raziel Alvarez; Erik Millan; Alejandro Aceves-Lopez; Ricardo Swain-Oropeza.
The presented color classification technique shows a good approximation for color subspaces without the need of transforming the
color signal of pixels. The produced implicit surface binds tightly the cloud of color samples, reducing possible overlapping
problems with other color classes. The use of a look-up table was an efficient method that allows the classification of a single
pixel with a single lookup on a 3D array. In addition, evaluation of this algorithm under varying lighting conditions showed a
better color classification than that produced by other color classification methods. The main reason behind this benefit is the tight
approximation of the color class to the cloud of
Tipo: 8
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/accurate_color_classification_and_segmentation_for_mobile_robots
Achieving Illumination Invariance Using Image Filters
Provedor de dados: 192
Autores: Ognjen Arandjelovic; Roberto Cipolla.
In this chapter we described a novel framework for automatic face recognition in the presence of varying illumination, primarily
applicable to matching face sets or sequences. The framework is based on simple image processing filters that compete with
unprocessed greyscale input to yield a single matching score between individuals. By performing all numerically consuming
computation offline, our method both (i) retains the matching efficiency of simple image filters, but (ii) with a greatly increased
robustness, as all online processing is performed in closed-form. Evaluated on a large, real-world data corpus, the proposed
framework was shown to be successful in video-based recognition across a wide range of illumination, pose and face motion
pattern...
Tipo: 2
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/achieving_illumination_invariance_using_image_filters
Acquisition of Obstacle Avoidance Actions with Free-Gait for Quadruped Robots
Provedor de dados: 192
Autores: Tomohiro Yamaguchi; Keigo Watanabe; Kiyotaka Izumi.
We experimentally have proved a method for acquiring a path to a destination and obstacle avoidance of a quadruped robot. Robot
actions were determined through an RBFNN, whose input consisted of destination information, obstacle configuration, and
current robot status. Using training data on environmental conditions, focusing on x-, y-, and z-coordinates of different obstacles
and certain destinations, RBFNN design parameters were optimized using a GA so that the robot reached the destination with a
minimum number of walking cycles. For an untrained (unknown) environment, we found that the RBFNN was useful for
acquiring an obstacle avoidance path to the destination. Effectiveness of this approach was examined by actual experiments.
However, free-gait...
Tipo: 27
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/acquisition_of_obstacle_avoidance_actions_with_free-gait_for_quadruped_robots
Acromovi Architecture: A Framework for the Development of Multirobot Applications
Provedor de dados: 192
Autores: Patricio Nebot; Enric Cervera.
In this work, the Acromovi architecture has been explained. This architecture is the support for all the programming and
interaction of the agents that manages our team of robots. The Acromovi architecture is basically an agent-based distributed
architecture for the programming and controlling of teams of mobile robots. This architecture allows the use of native
components, by means of agent wrappers. The agents add the distributed capabilities, with message interchange for cooperation
between robots. This makes possible an important reutilization of code, this being a basic principle in software engineering. Also,
it allows the scalability of the system. That is, if one tested application is of interest for the whole system, it can easily converted
in a...
Tipo: 21
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/acromovi_architecture__a_framework_for_the_development_of_multirobot_applic
ations
Action Selection and Obstacle Avoidance Using Ultrasonic and Infrared Sensors
Provedor de dados: 192
Autores: Fernando Montes-Gonzalez; Daniel Flandes-Eusebio; Luis Pellegrin- Zazueta.
This work has been sponsored by CONACyT-MEXICO grant SEP-2004-C01-45726.
Tipo: 18
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/action_selection_and_obstacle_avoidance_using_ultrasonic_and_infrared_sensors
Active Vision Based Regrasp Planning for Capture of a Deforming Object Using Genetic Algorithms
Provedor de dados: 192
Autores: Ashish Dutta; Goro Obinata; Shota Terachi.
The main contributions of this research are an effective vision based method to compute the optimal grasp points for a 2D
prismatic object using GA has been proposed. The simulation and experimental results prove that it is possible to apply the
algorithm in practical cases to find the optimal grasp points. In future we hope to integrate the method in a multifinger robotic
hand to grasp different types of deforming objects autonomously.
Tipo: 2
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/active_vision_based_regrasp_planning_for_capture_of_a_deforming_object_using
_genetic_algorithms
Adaptive Control of Nonlinear Dynamics Systems Based on RBF Network
Provedor de dados: 192
Autores: Ho Dac Loc; Nguyen Thi Phuong Ha; Luong Van Lang.
In this work, we developed an adaptive fuzzy controller which : 1) does not require an accurate mathematical model of plant under
control; 2) uses the error vector as controller's input, therefore it does not require all that components of state vector to be
measurable; and 3) guarantees the global stability of the close-loop system. The simulation results show that the adaptive fuzzy
controller could successful control the unknown nonlinear dynamic system.
Tipo: 21
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/adaptive_control_of_nonlinear_dynamics_systems_based_on_rbf_network
Adaptive Personal Space for Humanizing Mobile Robots
Provedor de dados: 192
Autores: Janaka Chaminda Balasuriya; Chandrajith Ashuboda Marasinghe; Keigo Watanabe.
In this book chapter, a construction method for an automated system to generate a personal space for specific environmental
condition has been attempted. Although the considered parameters were limited to only three namely, height, appearance, and
familiarity, it will be possible to expand the system for any number of considerable parameters, once a very basic model has been
created as performed by this research. The constructed system gave encouraging results as were seen by the comparison of test
output values with the trained ANFIS output values for the same set of input environmental conditions (i.e. same input values of
height, appearance, and familiarity gave very close output values of original output data values to that of active PS system
output...
Tipo: 01
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/adaptive_personal_space_for_humanizing_mobile_robots
Adaptive Robot Based Reworking System
Provedor de dados: 192
Autores: Bernd Kuhlenkoetter; Carsten Krewet; Thorsten Schueppstuhl.
Tipo: 17
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/adaptive_robot_based_reworking_system
Advanced Humanoid Robot Based on the Evolutionary Inductive Self-Organizing Network
Provedor de dados: 192
Autores: 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
Advanced Synthesis of the DELTA Parallel Robot for a Specified Workspace
Provedor de dados: 192
Autores: M.A. Laribi; L. Romdhane; S. Zeghloul.
An optimal dimensional synthesis method suited for the DELTA robot was presente in this paper. An objective function, used the
concept of the power of a point,which reflects the position of a point with respect to the boundary of the workspace. This objective
function allowed us to find the robot having the smallest workspace containing a prespecified region.
Tipo: 10
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/advanced_synthesis_of_the_delta_parallel_robot_for_a_specified_workspace
Advanced Torque Control
Provedor de dados: 192
Autores: C. Fritzsche; H.-P. Deunow.
In the chapter we discussed a control approach for torque control of gasoline engines. Because of several actuating variables and
control requirements the process to be controlled is multivariable. The actuating variables are usually bounded and the effects on
the engine torque are nonlinear. Hence direct use of the actuator variables for torque control generally produces plenty of
problems. The two layer approach described in the chapter allows the application of standard control methods. The main idea of
the control structure is to compensate or alleviate the nonlinearity behaviour by subordinate control circuits. All the physical
actuating variables are substituted by setpoints of the subordinate systems. The torque controller so can be designed on base...
Tipo: 14
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/advanced_torque_control
Advances in Sea Coverage Methods Using Autonomous Underwater Vehicles (AUVs)
Provedor de dados: 192
Autores: Yeun-Soo Jung; Kong-Woo Lee; Beom-Hee Lee.
This paper presents an on-line coverage method for the exploration of unknown 3dimensional oceanic terrains using multiple
autonomous underwater vehicles (AUVs). Based on the concept of planar algorithm developed by Hert, this study attempts to
develop an improved method. Instead of theoretical research, it focuses on practical aspect of exploration considering the equation
of motion for AUVs that are actually used in oceanic exploration as well as characteristics of complex oceanic topography and
other realistic variables such as sea current. These elements of consideration are used to calculate cross track error (CTE) and path
width. The validity of the improved algorithm for terrain
Tipo: 5
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/advances_in_sea_coverage_methods_using_autonomous_underwater_vehicles__au
vs_
Affective Communication Model with Multimodality for Humanoids
Provedor de dados: 192
Autores: Hyun Seung Yang; Yong-Ho Seo; Il-Woong Jeong; Ju-Ho Lee.
This chapter presented the affective communication model for humanoids that is designed to lead human robot interactions by
recognizing human emotional status and expressing its emotion through multimodal emotion channels like a human, and behaves
appropriately in response to human emotions. We designed and implemented an affective human-robot communication model for
a humanoid robot, which makes a robot communicate with a human through dialogue. Through this proposed model, a humanoid
robot can communicate with humans by preserving emotional memories of users and topics, and it naturally engages in dialogue
with humans. With explicit emotional memories on users and topics, in the proposed system, we successfully improved the
affective interaction between...
Tipo: 28
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/affective_communication_model_with_multimodality_for_humanoids
Air Radioactivity Monitoring in Serbia
Provedor de dados: 192
Autores: Dragana Popovic; Dragana Todorovic; Vesna Spasic Jokic; Gordana Djuric.
It can be concluded that monitoring natural and anthropogenic radionuclides in ground level air provide important information on
the content of radionuclides due to their origin, weather and climate conditions (rate of precipitation, washout effects, temperature
differences and inverstion, wind direction and intensity, troposphere-to-stratosphere transport and exchange, etc). The local
topology, as well as anthropogenic factors such as the effects of traffic and heating plants are highly important, especially when
monitoring radionuclides in air in urban areas. Sampling procedures, adequate measuring techniques and calibration are essential
for providing reliable results and data. National and international standards regarding sampling sites and measuring...
Tipo: 10
Palavras-chave: Environmental Technologies.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/air_radioactivity_monitoring_in_serbia
Algebraic Reconstruction and Post-Processing in Incomplete Data Computed Tomography: from
X-rays to Laser Beams
Provedor de dados: 192
Autores: Alexander B. Konovalov; Dmitry V. Mogilenskikh; Vitaly V. Vlasov; Andrey N. Kiselev.
In this chapter we consider two examples of algebraic reconstruction in incomplete data computed tomography: few-view X-ray
computed tomography and one-step diffuse optical tomography. Multiplicative algebraic reconstruction technique optimizing the
entropy allows the better quality of tomograms to be obtained. It is shown that, to enhance the convergence of iterative
reconstruction procedure and to minimize the artifact level on tomograms, the conventional formulas of solution correction should
be modified. The presented results of reconstruction demonstrate the efficiency of the following our modifications: (a) To
calculate the weight matrix, we use not the lines but the narrow strips which provide the sufficient filling of the reconstruction
area. (b)...
Tipo: 26
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/algebraic_reconstruction_and_post-processing_in_incomplete_data_computed_tom
ography__from_x-rays_to_
Align Agile Drivers, Capabilities and Providers to Achieve Agility: a Fuzzy-Logic QFD Approach
Provedor de dados: 192
Autores: Chwei-Shyong Tsai; Chien-Wen Chen; Ching-Torng Lin.
The agility of an enterprise is perceived as the dominant competitive vehicle. This report has highlighted the following questions:
How close is the enterprise to becoming agile? How can the enterprise effectively improve its agility? Deploying and integrating
agility providers, capabilities and drivers and transforming them into strategic competitive edges are critical for an enterprise to
achieve agility. Although important concepts and steps for achieving agility have been identified, there is still no systematic tool
for integrating these steps. Most of the existing approaches for agility development are structural in nature. Also, conventional
(crisp) evaluation approaches which are unsuitable and ineffective for handling situations which by nature...
Tipo: 12
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/align_agile_drivers__capabilities_and_providers_to_achieve_agility__a_fuzzy-logi
c_qfd_approach
Amphibious NDT Robots
Provedor de dados: 192
Autores: Tariq P. Sattar; Hernando E. Leon-Rodriguez; Jianzhong Shang.
Three prototype robots have been developed to gain entry into a large range of oil, petrochemical and process storage tanks. The
robots are lightweight and compact so that they can be transported by one or two operators and easily inserted through the
smallest manholes. The robots are amphibious, being able to operate in air and while submerged in liquids. They have been tested
in water but the design incorporates the features to enable rapid progression to operation in oil and other flammable and explosive
liquids. Between them, the robots can inspect: (a) The walls of storage tanks that may not be accessible from the outside due to
rain plates and in partially or fully buried tanks. Wall inspection can be performed only when the tank is full of product....
Tipo: 6
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/amphibious_ndt_robots
AMR Vision System for Perception, Job Detection and Identification in Manufacturing
Provedor de dados: 192
Autores: Sarbari Datta; Ranjit Ray.
4.1 Analysis of transmission and reconstruction rate for AMR perception Experimental data of image transmission rate and
reconstruction rate is recorded using the 100 Mbps Ethernet and 11Mbps WLAN for mono-vision and stereovision cameras. The
data is tabulated, analyzed, graphically illustrated and analyzed in this section. A. Image transmission and reconstruction using
mono-vision camera: Using the approach discussed above, several processes are tabulated. First, colour images of resolution
768x576 are transmitted frame by frame from a mono-vision camera over 100 Mbps Ethernet and 11 Mbps WLAN and are
reconstructed on the client side. The grab rate is around 13 fps, which is hardware dependent, comprising a mono-vision
PULNIX-TMC6DSP camera with a Matrox...
Tipo: 27
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/amr_vision_system_for_perception__job_detection_and_identification_in_manufa
cturing
An Active Contour and Kalman Filter for Underwater Target Tracking and Navigation
Provedor de dados: 192
Autores: Muhammad Asif; Mohd Rizal Arshad.
Tipo: 18
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/an_active_contour_and_kalman_filter_for_underwater_target_tracking_and_navig
ation
An Active Stereo Vision-Based Learning Approach for Robotic Tracking, Fixating and Grasping
Control
Provedor de dados: 192
Autores: Nan-Feng Xiao; Saeid Nahavandi.
The following conclusions are drawn from the above experiments: (1) There exist many-to-one mapping relationships between the
joint angles of the active stereo vision system and the spatial representations of the object in the workspace frame. (2) ART_NN
and FF_NN can learn the mapping relationships in an invariant manner to the changing joint angles. The vision and joint angle
signals of the active vision system corresponding to the object correspond to the same spatial representation of the object. 181
Tipo: 11
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/an_active_stereo_vision-based_learning_approach_for_robotic_tracking__fixating
_and_grasping_control
An Adaptive Biped Gait Generation Scheme Utilizing Characteristics of Various Gaits
Provedor de dados: 192
Autores: Kengo Toda; Ken Tomiyama.
A Sensor-Based Gait Generation method was introduced and an experimental system was built. Then, the system was
implemented onto an original humanoid robot to evaluate operations and to demonstrate effectiveness of the proposed method.
Experimental results exhibited successful gait selection corresponding to the road surface condition obtained from sensor
information. Additionally, walking velocity and the energy efficiency are both enhanced without reducing the success rate of
walking. The design approach for Gait Selector based on both ZMP and the angular momentum adopted in this study is a
sufficiently general and valid one. The developed Gait Selector should be applicable to many gaits and humanoids. However,
more conditional branchings based not only...
Tipo: 11
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/an_adaptive_biped_gait_generation_scheme_utilizing_characteristics_of_various_
gaits
An Adaptive Penalty Method for Genetic Algorithms in Constrained Optimization Problems
Provedor de dados: 192
Autores: Helio J. C. Barbosa; Afonso C. C. Lemonge.
From the experiments performed here one can see that the original APM found more often the best solutions. Among the new
variants, the variants 3 and 5 were the most successful. As the performance of variant 4 was slightly inferior to that of variants 3
and 5, one may suspect that the inclusion of the damping procedure was not advantageous. A more important conclusion may be
that there were not large discrepancies among the results obtained by the original APM and the four new variants, which provide
computational savings, and that robust variants can be obtained from the overall family of adaptive penalty methods considered
here.
Tipo: 2
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/an_adaptive_penalty_method_for_genetic_algorithms_in_constrained_optimizatio
n_problems
An Autonomous Decentralized Supply Chain Planning and Scheduling System
Provedor de dados: 192
Autores: Tatsushi Nishi.
Tipo: 28
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/an_autonomous_decentralized_supply_chain_planning_and_scheduling_system
An Effective 3D Target Recognition Imitating Robust Methods of the Human Visual System
Provedor de dados: 192
Autores: Sungho Kim; In So Kweon.
We propose a new object recognition paradigm based on the robust properties of the HVS, especially in scene context and 3D
shape context information in a bottom-up and a topdown process. Furthermore, we also propose the cooperative feature map
binding by utilizing both bottom-up and top-down processes and validate the system performance with various experiments. The
test results on several images demonstrate efficiency in optimal matching as well as feasibility of the proposed recognition
paradigm. The same paradigm will be extended to the general object recognition problem by changing the model representation.
Tipo: 10
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/an_effective_3d_target_recognition_imitating_robust_methods_of_the_human_vis
ual_system
An Embedded Control Platform of a Continuous Passive Motion Machine for Injured Fingers
Provedor de dados: 192
Autores: Zhang Fuxiang.
We bring forward the design philosophy of function modularization design for control platforms. With this thinking we design a
control platform, which is composed of four function modules: an embedded system platform module, a power supply and
management module, a motor control module and a data acquisition module. In the control platform, the embedded system
platform provides a basic platform for different applications. The embedded system platform uses the ARM chip S3C2410 as its
core, and embedded Linux as the OS. The embedded system platform integrates the most common interfaces of the
microprocessors such as RS-232, USB HOST, Ethernet, JTAG and SD card etc. The dada acquisition module and the motor
control module are based on the SPI network, which is...
Tipo: 31
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/an_embedded_control_platform_of_a_continuous_passive_motion_machine_for_i
njured_fingers
An Embedded Evolutionary Controller to Navigate a Population of Autonomous Robots
Provedor de dados: 192
Autores: Eduardo do Valle Simoes.
Tipo: 24
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/an_embedded_evolutionary_controller_to_navigate_a_population_of_autonomous
_robots
An Empirical Study on Ecological Interface Design for Multiple Robot Operations: Feasibility,
Efficacy, and Issues
Provedor de dados: 192
Autores: Hiroshi Furukawa.
This chapter describes two experiments conducted to reveal basic ability of a human-robot interface design concept, in which the
ecological interface display concept is used as the
Tipo: 2
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/an_empirical_study_on_ecological_interface_design_for_multiple_robot_operation
s__feasibility__effica
An Evaluation Framework for Supply Chains Based on Corporate Culture Compatibility
Provedor de dados: 192
Autores: Khalid Al-Mutawah; Vincent Lee.
We have presented a framework to evaluate the lead-performance of the supply chain management based on the corporate culture
compatibility system. The goal is to implement a supply chain simulation model that has the capability to measure the corporate
culture compatibility of supply chain organizations to achieve an effective supply chain performance. We also described the first
step towards this goal in the form of a simulation study to support our proposition. Therefore, we modelled the proposed
framework as a multi-agent system. In the near future we plan to integrate the current version of the multi-agent model of the
simulation with other supply chain agent based models. According to the literature, corporate culture is defined with different
views,...
Tipo: 4
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/an_evaluation_framework_for_supply_chains_based_on_corporate_culture_compa
tibility
An Evolutionary MAP Filter for Mobile Robot Global Localization
Provedor de dados: 192
Autores: L. Moreno; S. Garrido; M. L. Munoz; D. Blanco.
The proposed algorithm has a range of interesting characteristics: Evolutive filters can deal with non-linear state space dynamics
and noise distributions. Due to the set of solutions does not try to approximate posterior density distributions, it does not requires
any assumptions on the shape of the posterior density as parametric approaches do. Evolutive filter focus computational resources
in the most relevant areas, by addressing the set of solutions to the most interesting areas according to the fitness function
obtained. The number of tentative solutions required in the evolving set is much lower than those required in particle filters, and
similarly to those filters the evolving set can be reduced when the algorithm has converged to a reduced area...
Tipo: 10
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/an_evolutionary_map_filter_for_mobile_robot_global_localization
An Extension of Finite-state Markov Decision Process and an Application of Grammatical Inference
Provedor de dados: 192
Autores: Takeshi Shibata; Ryo Yoshinaka.
In this chapter, we presented two new notions. One is an extension of episodic finite-state MDPs from the point of view of
grammatical formalism. We can extend well-known methods of reinforcement learning and apply them to this extension easily.
The other is the probabilistic generalities of grammars and unifiability of them. This notion plays an important role to apply the
recent results of grammatical inference area. The difficulty with
Tipo: 5
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/an_extension_of_finite-state_markov_decision_process_and_an_application_of_gr
ammatical_inference
An Implementation of High Availability in Networked Robotic Systems
Provedor de dados: 192
Autores: Florin Daniel Anton; Theodor Borangiu; Silvia Anton.
Fault-tolerance is provided to the cell communication system (Fig. 14), and therefore redundancy at both Station Controller level
(a break down of a Robot Controller is detectable, the production tasks can be rescheduled to the remaining valid units for
graceful degraded behaviour) and Station Computer level (replication of data bases for the IBM PCtype device terminals,
reassignment of computers in case of break downs). The fault tolerance solution presented in this paper is worth to be considered
in environments where the production structure has the possibility to reconfigure, and where the manufacturing must assure a
continuous production flow at batch level (job shop flow). There are also some drawbacks in this solution, like the need of an
additional...
Tipo: 04
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/an_implementation_of_high_availability_in_networked_robotic_systems
An Improved GA Based Modified Dynamic Neural Network for Cantonese-Digit Speech Recognition
Provedor de dados: 192
Autores: S.H. Ling; F.H.F. Leung; K.F. Leung; H.K. Lam; H.H.C. Iu.
A proposed Cantonese-digit speech recognizer by using a GA-based modified dynamic recurrent neural network has been
developed. The structure of the modified neural network consists of two parts: a rule-base 3-layer feed-forward neural network
and a classifier 3-layer recurrent neural network. The network parameters are trained by an improved GA. With this specific
network structure, the dynamic feature of the speech signals can be generalized and the parameter values of the network can adapt
to the values of the input data set. Cantonese digits 0 to 10, 12 and 20 have been used to demonstrate the merits of the proposed
network. By using the proposed dynamic network, the dynamic and static information of the speech can be modeled effectively.
Therefore,...
Tipo: 21
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/an_improved_ga_based_modified_dynamic_neural_network_for_cantonese-digit_s
peech_recognition
An Incremental Fuzzy Algorithm for the Balance of Humanoid Robots
Provedor de dados: 192
Autores: Erik Cuevas; Daniel Zaldivar; Ernesto Tapia; Raul Rojas.
Figure 11 shows the controller’s performance and response for an x-direction impulse. The response was fast, approximately 2
seconds, until the controller reached a ZMP value near to zero. This feature allows the biped robot to gain stability even during
walking (figure 13), maintaining the ZMP always inside the support polygon. Our experiments with the fuzzy PD incremental
controller algorithm demonstrated that it is computationally economic, all running in a PIC microcontroller, and appropriated for
balance control. The algorithm was successfully used in real-time with the biped robot “Dany walker” (videos available at
http://www.inf.fu-berlin.de/~zaldivar). The algorithm proposed in this chapter could be also used in other robots structures with
a...
Tipo: 10
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/an_incremental_fuzzy_algorithm_for_the_balance_of_humanoid_robots
An Innovative Method for Robots Modeling and Simulation
Provedor de dados: 192
Autores: Laura Celentano.
In this chapter an innovative method for robots modeling and simulation, based on an appropriate mathematical formulation of the
relative equations of motion and on a new
Tipo: 10
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/an_innovative_method_for_robots_modeling_and_simulation
An Inter-Working Petri Net Model between SIMPLE and IMPS for XDM Service
Provedor de dados: 192
Autores: Jianxin Liao; Yuting Zhang; Xiaomin Zhu.
In this chapter, with the procedure of Protocol Conversion Methodology, a Petri net model is constructed to verify the mapping
and the Enhanced Architectural Model proposed in (Zhang, 2007), find and exclude the possible exceptions in the inter-working.
After the strict mathematical analysis and verification for the model, which prove that the model meets all properties of a correct
Petri net model, the mapping and the Enhanced Architectural Model are proved to be reasonable and viable, and the probable
exceptions in the inter-working can be found and excluded. During the modeling experiences of the inter-working with Petri Nets,
a new coupling criteria for Petri net and some new methods for solving the conflict of a Petri Net are proposed, and the...
Tipo: 4
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/an_inter-working_petri_net_model_between_simple_and_imps_for_xdm_service
An Introduction to Model-Based Pose Estimation and 3-D Tracking Techniques
Provedor de dados: 192
Autores: 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
An Overview of Advances of Pattern Recognition Systems in Computer Vision
Provedor de dados: 192
Autores: Kidiyo Kpalma; Joseph Ronsin.
As mentioned before, pattern recognition does not appear as a new problem. A lot of studies have been performed on this
scientific field and a lot of works are currently developed. Pattern recognition is a wide topic in machine learning. It aims to
classify a pattern into one of a number of classes. It appears in various fields like psychology, agriculture, computer vision,
robotics , biometrics... With technological improvements and growing performances of computer science, its application field has
no real limitation. In this context, a challenge consists of finding some suitable description features since commonly, the pattern to
be classified must be represented by a set of features characterising it. These features must have discriminative properties:...
Tipo: 10
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/an_overview_of_advances_of_pattern_recognition_systems_in_computer_vision
Analysing the Difficulty of Learning Goal-Scoring Behaviour for Robot Soccer
Provedor de dados: 192
Autores: 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
Analysis and Implementation of an Automated Delimiter of "Quranic" Verses in Audio Files using
Speech Recognition Techniques
Provedor de dados: 192
Autores: 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_i
n_audio_files_using_speec
Analysis of Video-Based 3D Tracking Accuracy by Using Electromagnetic Tracker as a Reference
Provedor de dados: 192
Autores: Matjaz Divjak; Damjan Zazula.
When a magnetic tracker is used as a reference for vision-based tracking, a reliable transformation of their coordinate systems is
crucial for proper tracking accuracy estimation. To address this issue in more detail, three different models of coordinate system
alignment were developed. By analyzing the worst-case sensitivity of transformation models a limited comparison of those
models is possible. The most influential model parameters are easy to identify and should be measured with special care.
However, the actual parameter values used also have a significant effect on the final transformation error. With appropriate
selection of parameter values, any model can be manipulated to produce the most accurate transformation. Therefore, such
comparisons are...
Tipo: 6
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/analysis_of_video-based_3d_tracking_accuracy_by_using_electromagnetic_tracke
r_as_a_reference
Analytical Criterions for the Generation of Highly Dynamic Gaits for Humanoid Robots: Dynamic
Propulsion Criterion and Dynamic Propulsion Potential
Provedor de dados: 192
Autores: Olivier Bruneau; Anthony David.
In this paper, we presented an analytical approach for the generation of walking gaits with a high dynamic behavior. This
approach, using the dynamic equations, is based on two dynamic criterions: the dynamic propulsion criterion and the dynamic
propulsion potential. Furthermore, in this method, the intrinsic dynamics of the robot as well as the capability of its joint torques
are taken into account at each sample time. In this paper, in order to satisfy the locomotion constraints, for instance the no-contact
between the tip of the swing's leg and the ground, we selected joint actuators, for instance the knee to avoid this contact during the
single contact phase. Our future work will consist in determining the optimal contribution of each joint actuator by...
Tipo: 7
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/analytical_criterions_for_the_generation_of_highly_dynamic_gaits_for_humanoid
_robots__dynamic_propul
Anisotropic Filtering Techniques applied to Fingerprints
Provedor de dados: 192
Autores: Shlomo Greenberg; Daniel Kogan.
1
Tipo: 26
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/anisotropic_filtering_techniques_applied_to_fingerprints
Ant Colonies for Performance Optimization of Multi-components Systems Subject to Random
Failures
Provedor de dados: 192
Autores: Nabil Nahas; Mustapha Nourelfath; Daoud Ait-Kadi.
Tipo: 26
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/ant_colonies_for_performance_optimization_of_multi-components_systems_subje
ct_to_random_failures
Appearance-Based Processes in Multi-Robot Navigation
Provedor de dados: 192
Autores: Luis Paya; Oscar Reinoso; Jose L. Aznar; Arturo Gil; Jose M. Marin.
In this paper, an appearance-based multi-robot following-route scheme is presented. The proposed solution uses low resolution
panoramic images obtained through a catadioptric system, and techniques for dimensionality reduction to extract the most relevant
information along the environment. To allow a new robot can follow the route that another robot is recording at the same time, an
incremental PCA and a Fourier Domain algorithm are presented.
Tipo: 9
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/appearance-based_processes_in_multi-robot_navigation
Application of Artificial Evolution to Obstacle Detection and Mobile Robot Control
Provedor de dados: 192
Autores: Olivier Pauplin; Arnaud de La Fortelle.
The Fly Algorithm embedded in a CyCab is able to detect obstacles, and to compute stop/go and direction controls accordingly, in
real time. That is largely due to the optimisation of the efficiency conducted in section 3. It is also due to the fact that we have
voluntarily stayed close to the natural output of the algorithm ? a cloud of 3-D points ? and have used it directly, without any prior
processing. The control strategies tested are very simple and may be improved. Future work includes speeding up the frame
processing using CMOS sensors ? which may be well adapted to the computation of the fitness of the flies - instead of CCD, and
to increase the speed using FPGA in the evaluation part of the evolutionary algorithm. Concerning the algorithmic part,...
Tipo: 21
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/application_of_artificial_evolution_to_obstacle_detection_and_mobile_robot_cont
rol
Application of Neural Networks to Modeling and Control of Parallel Manipulators
Provedor de dados: 192
Autores: Ahmet Akbas.
This chapter is mainly concerned with the application of ANNs to modeling and control of parallel manipulators. A practical
implementation is completed to emulate the operation of
Tipo: 2
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/application_of_neural_networks_to_modeling_and_control_of_parallel_manipulat
ors
Application of PSO to Design UPFC-based Stabilizers
Provedor de dados: 192
Autores: Ali T. Al-Awami; Mohammed A. Abido; Youssef L. Abdel-Magid.
In this work, the problem of enhancing the power system dynamic stability through individual and coordinated design of
UPFC-based damping stabilizers has been investigated. The controllability of the electromechanical mode over a wide range of
operating conditions by a given control input has been measured using a singular value decomposition-based approach. Such a
study is very important as it laid the foundations of the requirements of the coordinated design problem. The stabilizer design
problem has been formulated as an optimization problem with an eigenvalue-based as well as a time domainTipo: 14
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/application_of_pso_to_design_upfc-based_stabilizers
Application on Reinforcement Learning for Diagnosis Based on Medical Image
Provedor de dados: 192
Autores: 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
Application Similarity Coefficient Method to Cellular Manufacturing
Provedor de dados: 192
Autores: Yong Yin.
Tipo: 8
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/application_similarity_coefficient_method_to_cellular_manufacturing
Applications of a Fluidic Artificial Hand in the Field of Rehabilitation
Provedor de dados: 192
Autores: 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
Applications of Petri Nets to Human-in-the-Loop Control for Discrete Automation Systems
Provedor de dados: 192
Autores: Jin-Shyan Lee; Pau-Lo Hsu.
Tipo: 7
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/applications_of_petri_nets_to_human-in-the-loop_control_for_discrete_automation
_systems
Applications of Robotics to Assessment and Physical Therapy of Upper Limbs of Stroke Patients
Provedor de dados: 192
Autores: M.-S. Ju; C.-C. K. Lin; S.-M. Chen; I.-S. Hwang; P.-C. Kung; Z.-W. Wu.
5-1 Advantages and Disadvantages of Robotics for Rehabilitation of Stroke Patients One may find that robotics provides an
integral solution to the treatments and objective assessments of some neurological diseases such as stroke. The robots can perform
repeated treatment protocols without the need of continuous involvement of therapists. A robot can save therapists' arduous efforts
by helping with heavy, challenging and repetitious movements. Physical strain and professional injury in therapists can be
minimized. It is cost-effective to strengthen some basic elements, such as muscle strength, range of motion, and sensorimotor
coordination, in preparation for higher skill-level movement patterns on a mass-practice basis. Robotic therapy techniques can
mimic...
Tipo: 14
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/applications_of_robotics_to_assessment_and_physical_therapy_of_upper_limbs_o
f_stroke_patients
Applying a Hybrid Data Mining Approach in Machining Operation for Surface Quality Assurance
Provedor de dados: 192
Autores: 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
Applying Real-Time Survivability Considerations in Evolutionary Behavior Learning by a Mobile
Robot
Provedor de dados: 192
Autores: Wolfgang Freund; Tomas Arredondo V.; Cesar Munoz.
In this work we investigate real-time adaptive extensions of our fuzzy logic based approach for providing biologically based
motivations to be used in evolutionary mobile robot learning. We introduce active battery level sensors and recharge zones to
improve robot's Survivability in environment exploration. In order to achieve this goal, we propose an improvement of our
previously defined model (e.g. SRT), as well as a hybrid controller for a mobile robot (e.g. HRT), combining behavior-based and
mission-oriented control mechanisms. These methods are implemented and tested in action sequence based environment
exploration tasks in a Khepera mobile robot simulator. Experimental results shows that the hybrid method is in general, the
best/safest robot control...
Tipo: 9
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/applying_real-time_survivability_considerations_in_evolutionary_behavior_learni
ng_by_a_mobile_robot
Arc Welding Robot Automation Systems
Provedor de dados: 192
Autores: Beom-Sahng Ryuh; Gordon R. Pennock.
1
Tipo: 30
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/arc_welding_robot_automation_systems
Architecture Design and Optimization of an On-the-Fly Reconfigurable Parallel Robot
Provedor de dados: 192
Autores: Allan Daniel Finistauri; Fengfeng (Jeff) Xi; Brian Petz.
A novel method for the architecture design of a reconfigurable parallel robot is presented based on common actuation devices.
System design techniques are used to classify parallel robot modules and enumeration rules are established to determine the
feasible robot architectures. Branch kinematics are developed and a workspace analysis is performed. An optimal design is
selected from the remaining discrete robot configurations. The final design is a self-reconfigurable parallel robot that has the
ability to perform on-the-fly reconfiguration. The proposed reconfigurable parallel robot not only provides innovation in
reconfigurable system design but also stimulates new research into parallel robot kinematics.
Tipo: 18
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/architecture_design_and_optimization_of_an_on-the-fly_reconfigurable_parallel_r
obot
Armless Climbing and Walking in Robotics
Provedor de dados: 192
Autores: Maki K. Rashid.
The present work has proven the effectiveness of using the virtual prototyping and real time simulation in investigating the
dynamic of a single wheel mobile robot under different manoeuvring tasks. Intelligent controller implementation has been shown
to be effective in overcoming the difficulties raised from the unpredictable parameters such as friction, and other dynamic forces.
The constructed neurofuzzy controller with ANFIS has indicated improvement over the Takagi-Sugeno fuzzy controller. The
control tactics was tested with a robot passing a platform of three segments. The robot has shown capability in climbing an uphill
ground or passing obstacle with different tilt angles where both friction and restitution coefficients between the wheel and the...
Tipo: 11
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/armless_climbing_and_walking_in_robotics
Articulated Hand Tracking by ICA-based Hand Model and Multiple Cameras
Provedor de dados: 192
Autores: Makoto Kato; Gang Xu; Yen-Wei Chen.
In this chapter, we proposed three new approaches, the ICA-based hand model, articulated hand motion tracking by multiple
cameras, and Particle filtering with prediction. The ICA-based hand model is the ICA-based representation of hand articulation for
tracking hand-finger gestures in image sequences. The dimensionality of the hand motion space is reduced by PCA and then ICA
is applied to extract the local feature vectors. In the ICAbased model, each of the first five basis vectors corresponds to a particular
finger motion, because the joints in each finger have stronger dependencies than the joints across different fingers. In the
ICA-based model, hand poses can be represented by five parameters with each parameter corresponding to a particular finger...
Tipo: 26
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/articulated_hand_tracking_by_ica-based_hand_model_and_multiple_cameras
Artificial Ants in the Real World: Solving On-line Problems Using Ant Colony Optimization
Provedor de dados: 192
Autores: 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_o
ptimization
Artificial Bee Colony Algorithm and Its Application to Generalized Assignment Problem
Provedor de dados: 192
Autores: Adil Baykasoğlu; Lale Özbakır; Pınar Tapkan.
In this study a relatively new member of swarm intelligence family that is named as "artificial bee colony" is explained in detail.
Actually, different names were used in the literature for the algorithms inspired from natural honey bees. Here we prefer to use the
name "artificial bee colony" to reflect population characteristic of the algorithm. A very detailed literature review along with a
categorization is presented in this study. All accessible previous work on bee based optimization algorithms is tried to be
reviewed. Most of the work in the literature is carried out in last two years and researchers mainly concentrated on continuous
optimization and TSP problems. Previous work has presented that bee inspired algorithms have a very promising...
Tipo: 8
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/artificial_bee_colony_algorithm_and_its_application_to_generalized_assignment_
problem
Artificial Muscles for Humanoid Robots
Provedor de dados: 192
Autores: Bertrand Tondu.
The functioning of natural skeletal muscle is based on microscopic phenomena that no technology is at present able to reproduce.
The notion of artificial muscle is as a consequence mainly founded on a macroscopic model of the skeletal muscle. The
mimicking of both tension-length and tension-velocity characteristics is aimed at giving future humanoid robots touch ability
which is so fundamental in the `relational life' of human beings. No definitive technology has as yet emerged in the design of
artificial muscle. It is, however, interesting to note that the most promising ones are based on the use of polymers whose physical
properties (responses to chemical or physical agents, elasticity, etc.) mimic some dynamic properties of animal tissues. In
particular...
Tipo: 5
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/artificial_muscles_for_humanoid_robots
Assembly Sequence Planning Using Neural Network Approach
Provedor de dados: 192
Autores: 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
Assessing Improvement Opportunities and Risks of Supply Chain Transformation Projects
Provedor de dados: 192
Autores: Alessandro Brun; Maria Caridi.
Over the last 5 years, the model has been applied to more than a dozen manufacturing and service organizations belonging to
different sectors. The cases were useful to identify strengths and weaknesses of the methodology. The objectives of completeness
and objectivity are reached and many of the hypotheses of relations between management activities and KPIs were confirmed.
Yet, the methodology in its present form shown a major limitation, in that the analysis considers as given (and, therefore,
deterministic) the characteristics of the APS/SCM solution.
Tipo: 23
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/assessing_improvement_opportunities_and_risks_of_supply_chain_transformation
_projects
Assessment of Air Quality in an Urban Area of Belgrade, Serbia
Provedor de dados: 192
Autores: Mirjana Tasic; Slavica Rajsic; Milica Tomasevic; Zoran Mijic; Mira Anicic; Velibor Novakovic; Dragan M. Markovic;
Dragan A. Markovic; Lazar Lazic; Mirjana Radenkovic; Jasminka Joksic.
Air quality monitoring is used to determine the air pollution levels in urban environments and concentration measurements can be
compared with the national and international guideline values. This review presents an attempt to assess air quality in Belgrade
urban area and identify the possible pollution sources. An integrated monitoring approach has been applied related to the urban
Belgrade locations with the aim to estimate the level of specific pollutants: particulate matter, trace metals and ozone. The
measurements included the PM10 and PM2.5 mass and trace metals concentrations, total atmospheric deposition fluxes, as well
as, biomonitoring of deposition and accumulation of trace elements. The obtained results gave us the first impression of...
Tipo: 14
Palavras-chave: Environmental Technologies.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/assessment_of_air_quality_in_an_urban_area_of_belgrade__serbia
Assessment of the Impressions of Robot Bodily Expressions Using Electroencephalogram
Measurement of Brain Activity
Provedor de dados: 192
Autores: A. Khiat; M. Toyota; Y. Matsumoto; T. Ogasawara.
Tipo: 24
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/assessment_of_the_impressions_of_robot_bodily_expressions_using_electroencep
halogram_measurement_of_
Asymptotic Motions of Three-Parametric Robot Manipulators with Parallel Rotational Axes
Provedor de dados: 192
Autores: Jan Baksa.
1
Tipo: 3
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/asymptotic_motions_of_three-parametric_robot_manipulators_with_parallel_rotati
onal_axes
Attentional Selection for Action in Mobile Robots
Provedor de dados: 192
Autores: Pilar Bachiller; Pablo Bustos; Luis J. Manso.
In this chapter, a novel computational model of visual attention based on the selection for action theory has been presented. In our
system, attention is conceived as an intermediary between visual perception and action control, solving two fundamental
behavioural questions:
Tipo: 07
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/attentional_selection_for_action_in_mobile_robots
Attitude and Steering Control of the Long Articulated Body Mobile Robot KORYU
Provedor de dados: 192
Autores: Edwardo F. Fukushima; Shigeo Hirose.
The authors have designed and actually built a mechanical prototype of a class of articulated body mobile robots, 3.3m long, and
mass of more than 400kg, called KR-II. Attitude control and steering control has been successfully implemented, and the robot
can move stably in the outdoors, even on uneven terrain. The presented steering control method is based on parameter
representation for describing trajectories in an inertial reference frame, with travelled distance as a parameter. In doing so, the
position of each element (in the case of the articulated body mobile robot KR-II, segment center positions) on the trajectory can be
tracked by simple and effective numerical searching algorithms. For the real robot KR-II, the introduced method demonstrated
good...
Tipo: 2
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/attitude_and_steering_control_of_the_long_articulated_body_mobile_robot_koryu
Attitude Compensation of Space Robots for Capturing Operation
Provedor de dados: 192
Autores: 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
Attitude Control of a Six-Legged Robot in Consideration of Actuator Dynamics by Optimal Servo
Control System
Provedor de dados: 192
Autores: H. Uchida; K. Nonami.
In the present study, we examined the attitude control method considering the delay of the hydraulic actuator whereby the mine
detection six-legged robot can realize stable walking on irregular terrain without to make an orbit of the foot for irregular terrain.
The following results were obtained. (1) As an attitude control method considering the delay of the actuator of the thigh links, we
derive a mathematical model in which the inputs are the driving torque of the thigh links in the supporting legs and the outputs are
the height of the body, the pitching angle, and the rolling angle. (2) The 3rd-order delay system is approximated as a 2nd-order
delay system, and an optimal servo control system is applied as the attitude control method. (3) The validity...
Tipo: 14
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/attitude_control_of_a_six-legged_robot_in_consideration_of_actuator_dynamics_b
y_optimal_servo_contro
Audio Visual Speech Recognition and Segmentation Based on DBN Models
Provedor de dados: 192
Autores: Dongmei Jiang; Guoyun Lv; Ilse Ravyse; Xiaoyue Jiang; Yanning Zhang; Hichem Sahli; Rongchun Zhao.
In this chapter, we first implement an audio or visual single stream DBN model proposed in [Bilmes 2005], which we demonstrate
that it can break through the limitation of the state-ofthe-art `whole-word-state DBN' models and output phone (viseme)
segmentation results. Then we expand this model to an audio-visual multi-stream asynchronous DBN (MSADBN) model. In this
MSADBN model, the asynchrony between audio and visual speech is allowed to exceed the timing boundaries of phones/visemes,
in opposite to the multi-stream hidden markov models (MSHMM) or product HMM (PHMM) which constrain the audio stream
and visual stream to be synchronized at the phone/viseme boundaries. In order to evaluate the performances of the proposed DBN
models on word recognition and...
Tipo: 9
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/audio_visual_speech_recognition_and_segmentation_based_on_dbn_models
Augmented Marked Graphs and the Analysis of Shared Resource Systems
Provedor de dados: 192
Autores: King Sing Cheung.
In the past decade, augmented marked graphs have evolved into a sub-class of Petri nets. They are often used for modelling shared
resource systems, such as manufacturing systems. One major reason is that augmented marked graphs possess a special structure
which is desirable for modelling shared resources. However, the properties of augmented marked graphs are not extensively
studied. In the literature, there are a few published works on augmented marked graphs. This paper consolidates our earlier works
on augmented marked graphs with a special focus on liveness, boundedness, reversibility and conservativeness. We provide a
number of characterisations for live and reversible augmented marked graphs. In particulars, some of these characterisations are
based...
Tipo: 17
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/augmented_marked_graphs_and_the_analysis_of_shared_resource_systems
Augmented Reality for Human-Robot Collaboration
Provedor de dados: 192
Autores: Scott A. Green; Mark Billinghurst; XiaoQi Chen; J. Geoffrey Chase.
This chapter began by establishing a need for human-robot collaboration. Human-human communication was discussed; a model
for human-human collaboration created and this model was used as a reference model for human-robot collaboration. The state of
humanrobot interaction was reviewed and how this interaction fits into the model of human-robot collaboration was explored.
Augmented Reality technology was introduced, reviewed and how AR could be used to enhance human-robot collaboration was
explored. Research directions were discussed and then design guidelines were outlined. Finally, a holistic architecture using AR as
an enabling device for human-robot collaboration was presented. The model developed for human communication is based on
three components; the...
Tipo: 04
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/augmented_reality_for_human-robot_collaboration
Autocorrelation-based Methods for Noise-Robust Speech Recognition
Provedor de dados: 192
Autores: Gholamreza Farahani; Mohammad Ahadi; Mohammad Mehdi Homayounpour.
In this chapter, the importance of autocorrelation domain in robust feature extraction for speech recognition was discussed. To
prove the effectiveness of this domain, some recently proposed methods for robust feature extraction against additive noise were
discussed. These methods resulted in cepstral feature sets derived from the autocorrelation spectral domain. The DAS algorithm
used the differentiated filtered autocorrelation spectrum of the noisy signal to extract cepstral parameters. We noted that similar to
RAS and DPS, DAS can better
Tipo: 14
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/autocorrelation-based_methods_for_noise-robust_speech_recognition
Automatic Facial Feature Extraction for Face Recognition
Provedor de dados: 192
Autores: Paola Campadelli; Raffaella Lanzarotti; Giuseppe Lipori.
The subject of this chapter is the presentation of a novel method for the automatic and precise localization of facial features in 2D
still images. The method follows the top-down paradigm and consists of subsequent steps to decompose the initial problem in
increasingly easier tasks: assuming a rough localization of the face in the image, first comes the application of an eye detector
with the aim of discriminating between real face regions and possible false positives. The accuracy of the detection is nearly
optimal. Successively, an eye locator is applied on a small neighborhood of the detector output to improve the localization
precision. Finally, the eye center positions are used to derive 27 facial fiducial points, either extracted directly from the...
Tipo: 3
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/automatic_facial_feature_extraction_for_face_recognition
Automatic Modeling for Modular Reconfigurable Robotic Systems: Theory and Practice
Provedor de dados: 192
Autores: I-Ming Chen; Guilin Yang; Song Huat Yeo.
Tipo: 02
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/automatic_modeling_for_modular_reconfigurable_robotic_systems__theory_and_
practice
Automatic Speech Recognition of Human-Symbiotic Robot EMIEW
Provedor de dados: 192
Autores: Masahito Togami; Yasunari Obuchi; Akio Amano.
We explained noise reduction technique and automatic speech recognition (ASR) under noisy environments. Human symbiotic
robot EMIEW succeeded recognition under noisy environment at EXPO 2005 AICHI JAPAN. For high accuracy of ASR under
noisy environment, noise reduction technique is necessary. In this chapter, robust noise reduction technique with a microphone
array was proposed. Proposed Modified Delay and Sum Beam-Former (MDSBF) can localize sources more accurately than
conventional Delay and Sum Beam-Former (DSBF) . A novel adaptation method of Minimum Variance Beam-Former (MVBF)
with time-variant coefficient (SBMVBF) is proposed. Performance of ASR with proposed method was shown to be higher than
conventional MVBF.
Tipo: 22
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/automatic_speech_recognition_of_human-symbiotic_robot_emiew
Autonomous Navigation of Indoor Mobile Robot Using Global Ultrasonic System
Provedor de dados: 192
Autores: Soo-Yeong Yi; Byoung-Wook Choi.
In this chapter, the global ultrasonic system with an EKF algorithm is presented for the selflocalization of an indoor mobile robot.
Also, the performance of the autonomous navigation based on the self-localization system is thus verified through various
experiments. The global ultrasonic system consists of four or more ultrasonic generators fixed at known positions in the
workspace, two receivers mounted on the mobile robot, and RF modules added to the ultrasonic sensors. By controlling the
ultrasonic signal generation through the RF channel, the robot can synchronize and measure the distance between the ultrasonic
generators and receivers, thereby estimating its own position and heading angle. It is shown
Tipo: 17
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/autonomous_navigation_of_indoor_mobile_robot_using_global_ultrasonic_system
Autonomous Navigation of Unmanned Vehicles: A Fuzzy Logic Perspective
Provedor de dados: 192
Autores: Nikos C. Tsourveloudis; Lefteris Doitsidis; Kimon P. Valavanis.
The technology of unmanned vehicles, in all its aspects, is an exciting one, especially since it holds the promise of saving human
lives by letting machines do dull, dirty or dangerous missions into high-threat environments or just unknown environments
Tipo: 18
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/autonomous_navigation_of_unmanned_vehicles__a_fuzzy_logic_perspective
Autonomous Virtual Mobile Robot for the Exploration of 3D Medical Images
Provedor de dados: 192
Autores: Luca Ferrarini; Hans Olofsen; Johan H.C. Reiber; Faiza Admiraal-Behloul.
The use of an autonomous virtual mobile robot for the exploration of 3D medical datasets represents the main novelty of this
work. Most of the critical issues in central line detection can be elegantly overcome by using an AVMR: the detected path is
always unique, connected, and smooth. Moreover, a virtual camera located on the AVMR provides internal views in real-time,
allowing intuitive interaction during the exploration. The important contribution of prior-knowledge in medical image analysis has
been shown in previous studies (Passat et al., 2006; Hassouna et al., 2006). The AVMR can easily integrate prior-information in
different ways: proper geometrical and kinematics constraints can guide the robot through specific corridors, limit the curvature...
Tipo: 6
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/autonomous_virtual_mobile_robot_for_the_exploration_of_3d_medical_images
Balance-Keeping Control of Upright Standing in Biped Human Beings and its Application for
Stability Assessment
Provedor de dados: 192
Autores: Yifa Jiang Hidenori Kimura.
Upright standing is a simple and basic posture of human beings. However, the relatively large mass of the upper body and its
elevated position in relation to the area of support during standing accentuate the importance of an accurate control of trunk
movements for the maintenance of equilibrium. The kinematics and control strategy of the central nervous system have been
studied in recent decade, which brought a PID control algorithm to model the balance-keeping in upright standing and had
successfully interpreted the phenomenon of spontaneously body sway. Modeling the human body as two-link inverted pendulum
system, we successfully identified parameters of individual’s PID parameters and make this model analyzable and practicable.
The simulation results,...
Tipo: 26
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/balance-keeping_control_of_upright_standing_in_biped_human_beings_and_its_a
pplication_for_stability_
Ball-Shaped Robots
Provedor de dados: 192
Autores: Tomi Ylikorpi; Jussi Suomela.
Throughout history, ball-shaped toys have been quite popular and they still exist. Developments in computer technology, wireless
data transfer, and digital cameras have given them many advanced operational capabilities. Autonomous ball-shaped robots are
being introduced back into modern homes, this time not only as toys, but also as serving and guarding robots. Future work in this
field will concentrate on analysing and developing the dynamics and control of the ball, as well as on applications and interaction
with the environment and people. The utilisation of large wind-propelled balls for Mars exploration has been widely studied in
many separate institutions. The main advantages are large size, low mass, and autonomous mobility, accompanied by the...
Tipo: 11
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/ball-shaped_robots
Basic Concepts of the Control and Learning Mechanism of Locomotion by the Central Pattern
Generator
Provedor de dados: 192
Autores: 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
Basic Study of Appropriate Knot-Tying Force in the Gastrointestinal Tract for Development of
Haptic Surgical Robot
Provedor de dados: 192
Autores: Junya Oguma; Soji Ozawa; Yasuhide Morikawa; Toshiharu Furukawa; Yuko Kitagawa; Masakazu Ueda; Kouhei
Ohnishi; Masaki Kitajima.
Assessment of the efficiency of wound healing in terms of the extent of angiogenesis and expression of growth factor at the
wound sites in this study revealed that a knot-tying force of 1.5 N may be the most appropriate for optimal wound healing in the
gastrointestinal tract of the Beagle model. Wound healing can be evaluated on the basis of physical parameters and histological
parameters. The physical parameters include shear stress and tensile strength, and some reports have suggested relationships
between these parameters and wound healing (Thijs et al., 1990). Angiogenesis is one of the most important parameters for
measuring wound healing, including the healing of wounds in the gastrointestinal tract (Seifert et al., 1997),
Tipo: 21
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/basic_study_of_appropriate_knot-tying_force_in_the_gastrointestinal_tract_for_de
velopment_of_haptic_
Bearing-only Simultaneous Localization and Mapping for Vision-Based Mobile Robots
Provedor de dados: 192
Autores: Henry Huang; Frederic Maire; Narongdech Keeratipranon.
In this chapter, we proposed a vision-based approach to bearing-only SLAM in a 2dimensional space. We assumed the
environment contained several visually distinguishable landmarks. This approach is inspired from techniques used in stereo vision
and Structure From Motion. Our landmark initialization method relies solely on the bearing measurements from a single camera.
This method does not require information from an odometer or a range sensor. All the object positions can be estimated in a
landmark-based frame. The trade-off is that this method requires the robot to be able to move in a straight line for a short while to
initialize the landmarks. The proposed method is particularly accurate and useful when the robot can guide itself in a straight line
by...
Tipo: 19
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/bearing-only_simultaneous_localization_and_mapping_for_vision-based_mobile_r
obots
Bearing-Only Vision SLAM with Distinguishable Image Features
Provedor de dados: 192
Autores: Patric Jensfelt; Danica Kragic; John Folkesson.
For enabling the autonomy of robotic systems, we have to equip them with the ability to build a map of the environment using
natural landmarks and to be able to use it for localization purposes. Most of the robotic systems capable of SLAM presented so far
in the literature have relied on range sensors such as laser scanners and sonar sensors. For large scale, complex environments with
natural landmarks the problem of SLAM is still an open research problem. More recently, the use of cameras and machine vision
as the only exteroceptive sensor has become one of the most active areas of research in SLAM. The main contributions presented
in this chapter are the feature selection and matching mechanisms that allow for real-time performance even with an EKF...
Tipo: 9
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/bearing-only_vision_slam_with_distinguishable_image_features
Behavior Acquisition in RoboCup Middle Size League Domain
Provedor de dados: 192
Autores: Yasutake Takahashi; Minoru Asada.
This chapter briefly overviewed research activities, especially on behavior acquisition/ emergence based on machine learning
techniques, in RoboCup middle size league. This research area has kept attracting people and been investigated not only in middle
size league but also other ones such as simulation soccer and 4-legged leagues. Many results of applications of machine learning
techniques to robots in the RoboCup domain show promising contributions to generate adaptive behaviors in real situations. On
the other hand, many difficulties in practical use have also been unveiled so far. For example, selection of important features for
purposeful behaviors, purposive behavior discovery through observation of others, self task decomposition and integration,...
Tipo: 21
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/behavior_acquisition_in_robocup_middle_size_league_domain
Behavior-Based Perception for Soccer Robots
Provedor de dados: 192
Autores: Floris Mantz; Pieter Jonker.
1
Tipo: 5
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/behavior-based_perception_for_soccer_robots
Behaviour Based Mobile Robot Navigation with Dynamic Weighted Voting Technique
Provedor de dados: 192
Autores: 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_techn
ique
Bilinear Time Delay Neural Network System for Humanoid Robot Software
Provedor de dados: 192
Autores: Fumio Nagashima.
In this chapter, I describe the neural network suitable for building the total humanoid robot software system and show some
applications. This method is characterized by • uniform implementation for wide variety of applications • simplicity for
dynamically structure modification The software system becomes flexible by these characteristics. Now, I’m working on the
general learning technique for this neural network. There is a possibility free from NFL problem (Wolper, 1997). This chapter is
originally written for the RSJ paper in Japanese (Nagashima, 2006).
Tipo: 26
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/bilinear_time_delay_neural_network_system_for_humanoid_robot_software
Bilinear Time Series in Signal Analysis
Provedor de dados: 192
Autores: Bielinska Ewa.
1
Tipo: 7
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/bilinear_time_series_in_signal_analysis
Bimanual Hand Tracking based on AR-KLT
Provedor de dados: 192
Autores: Hye-Jin Kim; Keun-Chang Kwak; Jae Jeon Lee.
Our ARKLT method is very useful for tracking and gesture recognition. As mentioned before, the ARKLT method consists of
three points for each hand: the shoulder, elbow and hand. Since the model reflects the articulated motion of the human body which
is restrained by the each limb's degree of freedom. That is, the possible region for hand movement is restricted in the elongated
region of the shoulder and elbow movement. Therefore, the proposed method can devise effective prediction method, which
enables to pre-detect crossing hands based on the body structure. In addition, the proposed method applies the KLT features and
their regression line so that the body structure can effectively be fitted into the target. Also, the well-fitted KLT line can provide
the...
Tipo: 19
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/bimanual_hand_tracking_based_on_ar-klt
Bimodal Emotion Recognition using Speech and Physiological Changes
Provedor de dados: 192
Autores: 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
Bio-Inspired Approach for Autonomous Routing in FMS
Provedor de dados: 192
Autores: T. Berger; Y. Sallez; C. Tahon.
Arkin, R.C. (1998). Behaviour-based robotics, The MIT Press Balch, T. & Parker, L.E. (2002). Robot teams: From Diversity
to Polymorphism, Natick, Massachusetts: A K Peters Ltd. Br?ckner, S. (2000). Return from the Ant synthetic ecosystems for
manufacturing control, Thesis Humboldt-University of Berlin, june 2000 Deneubourg, J.L.; Pasteels, J.M. & Verhaeghe, J.C.
(1983). Probabilistic Behaviour in Ants : a Strategy of Errors ? Journal of Theoretical Biology, Vol. 105, pp. 259-271, 1983 Di
Caro, G. & Dorigo, M. (1998). AntNet : Distributed Stigmergic Control for Communications Networks. Journal of
Intelligence Research, 9, pp 317-365, 1998 Dorigo, M. & Colombetti, M. (1998). Robot shaping: An experiment in
Behaviour Engineering, The MIT Press...
Tipo: 4
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/bio-inspired_approach_for_autonomous_routing_in_fms
Bio-Inspired Interaction Control of Robotic Machines for Motor Therapy
Provedor de dados: 192
Autores: Loredana Zollo; Domenico Formica; Eugenio Guglielmelli.
In this chapter basic criteria for the design and implementation of interaction control of robotic machines for motor therapy have
been briefly introduced and two bio-inspired compliance control laws developed by the authors to address requirements coming
from this specific application field have been presented. The two control laws are named the coactivation-based compliance
control in the joint space and the torque-dependent compliance control in the joint space, respectively. They try to overcome
limitations of the traditional interaction control by taking inspiration from biological motor control, with particular attention to the
mechanisms of visco-elastic regulation of the human arm. They basically differ for the strategy of stiffness regulation used...
Tipo: 33
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/bio-inspired_interaction_control_of_robotic_machines_for_motor_therapy
Biologically Inspired Robots
Provedor de dados: 192
Autores: Fred Delcomyn.
7.1 Where we are It should be apparent from this review of biologically inspired robotics, as incomplete as it is, that the field is
active, vibrant, and growing. Even robotics research on problems such as
Tipo: 17
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/biologically_inspired_robots
Biologically Inspired Vision Architectures: a Software/Hardware Perspective
Provedor de dados: 192
Autores: Francesco S. Fabiano; Antonio Gentile; Marco La Cascia; Roberto Pirrone.
A Fast Boundary Web Extraction (fBWE) algorithm was presented in this paper as a fixedpoint, data parallel implementation of
the BWE. fBWE was mapped on SIMPil-K reconfigurable FPGA based platform. Application components and their mapping
details were provided along with a detailed analysis of their performance. Experimental results illustrate the significant gain
achieved over the traditional BWE, with execution times allowing ample room for real-time processing of typical subsequent tasks
in a complete robot vision system. Experimental results on an extensive data set illustrate the significant gain achieved over the
traditional BWE implementation. Execution times are in the order of 170 sec for a 256000 pixel image, thus allowing ample room
for...
Tipo: 24
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/biologically_inspired_vision_architectures__a_software_hardware_perspective
Biologically Motivated Vergence Control System Based on Stereo Saliency Map Model
Provedor de dados: 192
Autores: Sang-Woo Bana; Minho Lee.
We proposed a new biologically motivated vergence control method of an active stereo vision system that mimics human-like
stereo visual selective attention. We used a trainable selective attention model that can decide an interesting area by the low-level
top-down mechanism implemented by Fuzzy ART training model in conjunction with the bottom-up static SM model. In the
system, we proposed a landmark selection method using the lowlevel top-down trainable selective attention model and the IOR
regions. Also, a depth estimation method was applied for reflecting stereo saliency. Based on the proposed algorithm, we
implemented a human-like active stereo vision system. From the computer simulation and experimental results, we showed the
effectiveness of the...
Tipo: 27
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/biologically_motivated_vergence_control_system_based_on_stereo_saliency_map
_model
Biologically-Plausible Reactive Control of Mobile Robots
Provedor de dados: 192
Autores: Zapata Rene; Lepinay Pascal.
This chapter addressed the problem of controlling the reactive behaviours of a mobile robot evolving in unstructured and dynamic
environments. We have carried out successful experiments for determining the distance field of a mobile robot using two
Tipo: 14
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/biologically-plausible_reactive_control_of_mobile_robots
Biomechanical Constraints in the Design of Robotic Systems for Tremor Suppression
Provedor de dados: 192
Autores: Juan-Manuel Belda-Lois; Alvaro Page; Jose-Maria Baydal-Bertomeu Rakel Poveda; Ricard Barbera.
Tremor suppression with robotic devices can be an alternative for people with pathological tremor resistant to conventional
treatments. Common orthotic principles don't fit well for tremor suppression due to the inherent dynamic characteristics of tremor.
In the design of robotic systems for tremor suppression the correct design of load transmission to the bones through the soft
tissues is one of the key aspects for successful performance. We have summarised the design specifications into three guidelines:
a) Length restriction to avoid the low stiffness associated in the shear plane. b) Increase of contact pressure to increase contact
stiffness. c) Increase of the number of contact points to keep the alignments between the orthosis and the body segment.
Tipo: 2
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/biomechanical_constraints_in_the_design_of_robotic_systems_for_tremor_suppres
sion
Bio-Mimetic Finger: Human Like Morphology, Control & Motion Planning for Intelligent
Robot & Prosthesis
Provedor de dados: 192
Autores: Emanuele Lindo Secco; Giovanni Magenes.
We would like to thank professor Antonio Visioli for scientific advice.
Tipo: 17
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/bio-mimetic_finger__human_like_morphology__control__amp__motion_planning
_for_intelligent_robot__amp_
Biosensors for Life Sciences
Provedor de dados: 192
Autores: Mihaela Badea; Liliana Rogozea; Mihaela Idomir; Nicoleta Taus.
The biosensors offer the possibility to toxicological investigations from different matrices: water, biological liquids, foods,
detecting specific and with very good sensitivities low concentrations of organophosphorus and carbamates pesticides. The
applicability of the method is also in environmental protection (Coman et al., 2000), but also in analysis with medical interest
(Nivolini et al., 1995; Akyilmaz et al., 2006). The biosensors obtained and characterised have been used PVA-SbQ and sol-gel
immobilisation method. Sol-gel method was optimised for immobilisation of different kind of acetylcholinesterase to be able to be
use in sensitive detection of some organophosphorus pesticides (methyl paraoxon, clorpyrifos methyl oxon, diazinon) from
synthetic...
Tipo: 1
Palavras-chave: Environmental Technologies.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/biosensors_for_life_sciences
Biped Gait Generation and Control Based on Mechanical Energy Constraint
Provedor de dados: 192
Autores: Fumihiko Asano; Masaki Yamakita; Norihiro Kamamichi; Zhi-Wei Luo.
In this chapter, we have proposed a simple dynamic gait generation method imitating the property of passive dynamic walking.
The control design technique used in this study was shown to be effective to generate a stable dynamic gait, and numerical
simulations and experiments have proved its validity. The authors believe that an energy restoration is the most essential
necessary condition of dynamic walking and its concept is worth to be taken into consideration to generate a natural and
energy-efficient gait. In the future, extensions of our method to high-dof humanoid robots should be investigated.
Tipo: 5
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/biped_gait_generation_and_control_based_on_mechanical_energy_constraint
Biped without Feet in Single Support: Stabilization of the Vertical Posture with Internal Torques
Provedor de dados: 192
Autores: Formalsky Alexander; Aoustin Yannick.
We defined here control strategies to stabilize the equilibrium vertical posture of a two-link, a three-link and a five-link biped,
explicitly taking into account the limits imposed on the amplitudes of the control torques. For each biped we use the Jordan form
of its linear model to extract the unstable modes that we want to suppress with the feedback control. For the two-link biped, the
control law is optimal. This means that the basin of attraction for its linear system is as large as possible, i.e., it coincides with the
controllability domain. For the five-link biped several choices of torques are allowable because we have four torques and three
unstable modes. Therefore, we define a criteria to compute these torques. All the numerical results in this...
Tipo: 2
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/biped_without_feet_in_single_support__stabilization_of_the_vertical_posture_wit
h_internal_torques
Bipedal Walking Pattern Design by Synchronizing the Motions in the Sagittal and Lateral Planes
Provedor de dados: 192
Autores: Chi Zhu; Atsuo Kawamura.
In this paper, a new design approach of bipedal walking pattern based on the synchronization of the motions in the sagittal and
lateral planes are presented. With the discussion on the motions in these two planes, the fact is clarified that the motions in the
sagittal and lateral planes are tightly coupled together. The motion parameters in the sagittal plane such as walking speed, walking
time, and phase stride can be easily adjusted by altering the start and finish points of the double support phase in the lateral plane.
Therefore, an approach for adjusting the walking speed by controlling the double support phase is naturally developed. Moreover,
it is pointed out that a smooth and fast walking can be obtained by shortening the double support phase...
Tipo: 17
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/bipedal_walking_pattern_design_by_synchronizing_the_motions_in_the_sagittal_a
nd_lateral_planes
Cable-based Robot Manipulators with Translational Degrees of Freedom
Provedor de dados: 192
Autores: Saeed Behzadipour; Amir Khajepour.
Tipo: 07
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/cable-based_robot_manipulators_with_translational_degrees_of_freedom
Calibration of 3-DOF Translational Parallel Manipulators Using Leg Observations
Provedor de dados: 192
Autores: Anatol Pashkevich; Damien Chablat; Philippe Wenger; Roman Gomolitsky.
Recent advances in parallel robot architectures encourage related research on kinematic calibration of parallel mechanisms. This
paper proposes a novel calibration approach based on observations of manipulator leg parallelism with respect to the Cartesian
planes. Presented for the Orthoglide-type mechanisms, this approach may be also applied to other manipulator architectures that
admit parallel leg motions (along the Cartesian axes) or, in more general case, allow locating the leg in several postures with a
common intersection point. The proposed calibration technique employs a simple and low-cost measuring system composed of
standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation
of...
Tipo: 11
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/calibration_of_3-dof_translational_parallel_manipulators_using_leg_observations
Calibration of Parallel Kinematic Machines: Theory and Applications
Provedor de dados: 192
Autores: Giovanni Legnani; Diego Tosi; Riccardo Adamini; Irene Fassi.
The paper has presented a complete methodology for the identification of the geometrical parameter set necessary to describe
inaccuracy in the kinematic structure of a generic parallel manipulator. The methodology, that can be applied to any existing
PKM, supplies a minimum, complete and parametrically continuous model of the manipulators. It can be applied both to intrinsic
(internal) and extrinsic (external) calibration. The methodology identifies the parameters describing geometric errors of the
manipulator, joint offset errors and errors in the external devices used for calibration (e.g. double ball bar). Furthermore, a general
formula to determine the total number of necessary parameters has been presented and discussed. The paper shows how for
some...
Tipo: 9
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/calibration_of_parallel_kinematic_machines__theory_and_applications
Calibration of Serial Manipulators: Theory and Applications
Provedor de dados: 192
Autores: Irene Fassi; Giovanni Legnani; Diego Tosi; Alberto Omodei.
All the steps necessary to perform a kinematic calibration of serial manipulators have been discussed and applied to an actual
manipulator. This first part of the chapter has compared and extended two procedures for the identification of the geometrical
parameters necessary to describe the inaccuracies in the kinematic structure of a generic serial robot . The discussion led to a new
methodology called `Modified Incremental' which holds the positive characteristics of the others. Each procedure generates a
Minimum, Complete and Parametrically Continuous set of parameters. First of all the formula for the determination of the total
number of parameters has been discussed pointing out the distinction between internal and external parameters. The D&H...
Tipo: 8
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/calibration_of_serial_manipulators__theory_and_applications
Camera Holding Robotic Devices in Urology
Provedor de dados: 192
Autores: 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
Can robots replace dogs? Comparison of Temporal Patterns in Dog-Human and Robot-Human
Interactions
Provedor de dados: 192
Autores: Andrea Kerepesi; Gudberg K. Jonsson; Eniko Kubinyi; Adam Miklosi.
To investigate whether humans interact with AIBO as a non-living toy rather than a living dog, we have analyzed the temporal
patterns of these interactions. We have found that similarly to human interactions (Borrie et al 2002, Magnusson 2000, Grammer
et al 1998) and human-animal interactions (Kerepesi et al 2005), human-robot interactions also consist of complex temporal
patterns. In addition the numbers of these temporal patterns are comparable to those T-patterns detected in dog-human interactions
in similar contexts. One important finding of the present study was that the type of the play partner affected the initialization and
termination of T-patterns. Adults initialized T-patterns more frequently when playing with dog while T-patterns terminated by...
Tipo: 10
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/can_robots_replace_dogs_comparison_of_temporal_patterns_in_dog-human_and_r
obot-human_interactions
Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach
Provedor de dados: 192
Autores: Christian Ott; Alin Albu Schaffer; Andreas Kugi; Gerd Hirzinger.
In this work a Cartesian impedance controller for flexible joint robots was proposed. The control approach was based on the
stability theory for cascaded systems. In the proposed controller an inner torque feedback loop decouples the torque dynamics
from the rigid body dynamics. For the implementation of the impedance behaviour a control law well known from rigid body
robotics is used in combination with the torque controller. It should also be mentioned that, apart from the considered impedance
control problem, different rigid body controllers can be applied to the flexible joint model analogously to the procedure described
herein. For the proof of the asymptotic stability of the closed-loop system one can take advantage of Theorem 2. Appendix In
this...
Tipo: 39
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/cartesian_impedance_control_of_flexible_joint_robots__a_decoupling_approach
Cartesian Parallel Manipulator Modeling, Control and Simulation
Provedor de dados: 192
Autores: 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
Case Study Based Convergence Behaviour Analysis of ACO Applied to Optimal Design of Water
Distribution Systems
Provedor de dados: 192
Autores: Aaron C. Zecchin; Holger R. Maier; Angus R. Simpson.
To gain a more complete understanding of ACO algorithms, it is important to not only consider their performance with respect to
their solution quality and computational efficiency, but also the algorithms' searching behaviour. In this chapter, two statistics of
searching behaviour have been considered, (i) the minimum cost found within an iteration, which is an indication of search
quality, and (ii) the mean colony distance, a topological measure that describes the spread of solutions through the solution space
and thus provides an indication of the degree of convergence of an algorithm. Four ACO algorithms were considered in this
chapter, namely, Ant System (AS), Elitist Ant System (ASelite), Elitist-Rank Ant System (ASrank), and Max-Min Ant System...
Tipo: 24
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/case_study_based_convergence_behaviour_analysis_of_aco_applied_to_optimal_d
esign_of_water_distributi
Cellular Non-Linear Networks as a New Paradigm for Evolutionary Robotics
Provedor de dados: 192
Autores: Eleonora Bilotta; Pietro Pantano.
In this chapter, we have shown how dynamical systems can be used to explore the layering of the sensorial and perceptual activity
underlying intelligent behavior in simulated and physical robots. We have described RoVEn, an open, integrated simulation
environment which can be easily extended with additional functionality. We have shown some of the results that can be achieved
by using Genetic Algorithms to evolve controllers for robot controllers. This represents a first direction in the direction we are
seeking to follow. The initial results appear to be satisfactory. Our implementation work represents an extension of previous work
in bio-inspired robotics. As a next step, we intend to build artificial organisms endowed with a cognitive architecture, and...
Tipo: 5
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/cellular_non-linear_networks_as_a_new_paradigm_for_evolutionary_robotics
Central Pattern Generators for Gait Generation in Bipedal Robots
Provedor de dados: 192
Autores: Almir Heralic; Krister Wolff; Mattias Wahde.
Tipo: 17
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/central_pattern_generators_for_gait_generation_in_bipedal_robots
Certified Solving and Synthesis on Modeling of the Kinematics. Problems of Gough-Type Parallel
Manipulators with an Exact Algebraic Method
Provedor de dados: 192
Autores: Luc Rolland.
Tipo: 9
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/certified_solving_and_synthesis_on_modeling_of_the_kinematics__problems_of_
gough-type_parallel_manip
Chaotic Rough Particle Swarm Optimization Algorithms
Provedor de dados: 192
Autores: Bilal Alatas; Erhan Akin.
In this chapter chaotic rough PSO, CRPSO, algorithms that use rough decision variables and rough particles that are based on
notion of rough patterns have been proposed. Different chaotic maps have been embedded to adapt the parameters of PSO
algorithm. This has been done by using of chaotic number generators each time a random number is needed by the classical PSO
algorithm. Twelve PSO methods have been proposed and four chaotic maps have been analyzed in the data mining application. It
has been detected that coupling
Tipo: 1
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/chaotic_rough_particle_swarm_optimization_algorithms
City-Climber: A New Generation Wall-Climbing Robots
Provedor de dados: 192
Autores: Jizhong Xiao; Ali Sadegh.
This chapter highlights some accomplishments of CCNY robotics team in developing novel wall-climbing robots that overcome
the limitations of existing technologies, and surpass them in terms of robot capability, modularity, and payload. The performance
of several City-Climber prototypes are demonstrated by the experimental results recorded in video. By integrating modular design,
high-performance onboard processing unit, the City-Climber robots are expected to exhibit superior intelligence to other small
robot in similar caliber. The next step of the project is to optimize the adhesion mechanism to further increase suction force and
robot payload, and to improve the modularity and transition mechanism to allow the robot re-configure its shape to adapt to...
Tipo: 18
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/city-climber__a_new_generation_wall-climbing_robots
Climbing Robots
Provedor de dados: 192
Autores: Majid M. Moghadam; Mojtaba Ahmadi.
It can be concluded that the MSRox mechanism works properly and can be used for traversing stairs and obstacles and passing
over any uneven terrain.
Tipo: 26
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/climbing_robots
Climbing Service Robots for Improving Safety in Building Maintenance Industry
Provedor de dados: 192
Autores: Bing L. Luk; Louis K. P. Liu; Arthur A. Collie.
Climbing robots for building inspection and maintenance have many advantages over traditional manual approaches because the
formers are more accurate and efficient. For certain hazardous industries such as nuclear or chemical industry, climbing robots
may be the only means for carrying out the inspection and maintenance tasks as the environments are dangerous to human
operators. As a result, climbing robots are becoming more and more popular in doing building maintenance industry in the future.
In this chapter, several climbing robots including WIC, SADIE and Robug III are discussed. These robots have been used in some
practical applications before and have proved their usefulness in building maintenance industry. Currently, most of these robots
are...
Tipo: 9
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/climbing_service_robots_for_improving_safety_in_building_maintenance_industr
y
Climbing with Parallel Robots
Provedor de dados: 192
Autores: 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
Clustered Regression Control of a Biped Robot Model
Provedor de dados: 192
Autores: 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
Coevolution Based Adaptive Monte Carlo Localization
Provedor de dados: 192
Autores: Luo Ronghua; Hong Bingrong; Li Maohai.
An adaptive localization algorithm CEAMCL is proposed in this paper. Using an ecological competition model, CEAMCL can
adaptively adjust the sample size according to the total environment resource, which represents uncertainty of the position of the
robot. Coevolution between species ensures that the problem of premature convergence when using MCL in highly symmetric
environments can be solved. And genetic operators used for intra-species evolution can search for optimal samples in each
species, so the samples can represent the desired posterior density better. Experiments prove that CEAMCL has the following
advantages: (1) it can adaptively adjust the sample size during localization; (2) it can make stable localization in highly symmetric
environment; (3)...
Tipo: 17
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/coevolution_based_adaptive_monte_carlo_localization
Cognitive Approach to Control in Ill-Structured Situation and the Problem of Risks
Provedor de dados: 192
Autores: Abramova N.A.; Avdeeva Z.K.; Kovriga S. V.
Experience of applying of various models and methods on the basis of cognitive approach (in Russia and abroad), as well as
increasing interest of practical specialists to developments in this directions show expediency of development of this approach in
control. At that, we should note some unsolved (or partially solved) problems. The problem of risks due to the human factor in the
field of formal methods of searching and making decisions in the control of complex and ill-structured situations is considered as
the general problem for diverse models of subject-matter experts' knowledge and related formal methods (Abramova &
Novikov, 2006; Abramova, 2007a). Let us outline some directions of research planned by the authors within the framework of...
Tipo: 06
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/cognitive_approach_to_control_in_ill-structured_situation_and_the_problem_of_ri
sks
Cognitive Robotic Engine: Behavioral Perception Architecture for Human-Robot Interaction
Provedor de dados: 192
Autores: 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_i
nteraction
Cognitive Robotics: Robot Soccer Coaching Using Spoken Language
Provedor de dados: 192
Autores: 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
Collaborative Localization and Gait Optimization of SharPKUngfu Team
Provedor de dados: 192
Autores: Qining Wang; Chunxia Rong; Guangming Xie; Long Wang.
We have made improvement in localization, locomotion and behavior modules. In RoboCup 2006, we perform our technical
improvement in open challenge, passing ball and new goal challenge. After RoboCup 2006, we participated in RoboCup China
Open 2006. Advantages in sharPKUngfu 2006 help our team make great success in this event. We got champions both in soccer
competition and technical challenge. After the event, we focus our research on further study in collaborative localization,
navigation and gaits optimization. All the improvement is explained above in detail. We have applied experience-based
collaborative approach for localization which is important to make robots more rational and efficient. In gaits optimization, we
implemented PSO based approach to...
Tipo: 28
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/collaborative_localization_and_gait_optimization_of_sharpkungfu_team
Collaborative MR Workspace with Shared 3D Vision Based on Stereo Video Transmission
Provedor de dados: 192
Autores: Shengjin Wang; Yaolin Tan; Jun Zhou; Tao Wu; Wei Lin.
We have presented a framework of collaborative MR workspace with shared three dimensional vision based on stereo video
transmission, established and experimented for collaborative operation. The system provide a 3D-like operating interface by a CG
indicator. Though the system is tested successfully for the data transmission in both IPv4 LAN and over three layers of node point
with IPv6 environment there still several tasks need to be accomplished in future work. The one is although we regard a CG
indicator as 3D CG models now, for a widely use more 3D CG may need to be added into virtual space and operated in shift,
rotate, and spin, as an extended function in future. The second is that
Tipo: 8
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/collaborative_mr_workspace_with_shared_3d_vision_based_on_stereo_video_tran
smission
Collective Displacement of Modular Robots Using Self-Reconfiguration
Provedor de dados: 192
Autores: Carrillo Elian; Dominique Duhaut.
This study corresponds to futures steeps in the development of modular robots in MAAM. If technology continues to evolve as
well it has done, we can imagine other project can be carried out again in micro-robotics and nanotechnologies. The challenge
could be to reconfigure thousand of units under environmental conditions. We wonder about the generalization of the approach
and the portability of this method in particular if one moves to 3D space. Indeed, it is necessary to add a new Z referring distance
parameters, and to define the order of minimizing the distance on X, Y, Z.
Tipo: 22
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/collective_displacement_of_modular_robots_using_self-reconfiguration
Collective Motion of Multi-Robot System based on Simple Dynamics
Provedor de dados: 192
Autores: 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
Collision Free Path Planning for Multi-DoF Manipulators
Provedor de dados: 192
Autores: Samir Lahouar; Said Zeghloul; Lotfi Romdhane.
Tipo: 12
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/collision_free_path_planning_for_multi-dof_manipulators
Collision-Free Humanoid Reaching: Past, Present and Future
Provedor de dados: 192
Autores: Evan Drumwright; Maja Mataric.
4 Alfhough the goal functions for the reaching problem are given in the global coordinate frame, it is quite natural to use
ego-centric frames instead. As a result, localization is likely not required to perform reaching, except for effectively constructing
the environment model.
Tipo: 12
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/collision-free_humanoid_reaching__past__present_and_future
Collision-Free Path Planning in Robot Cells Using Virtual 3D Collision Sensors
Provedor de dados: 192
Autores: Tomislav Reichenbach; Zdenko Kovacic.
1
Tipo: 40
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/collision-free_path_planning_in_robot_cells_using_virtual_3d_collision_sensors
Color Classification and Object Recognition for Robot Soccer Under Variable Illumination
Provedor de dados: 192
Autores: Nathan Lovell; Vladimir Estivill-Castro.
We have discussed an approach to object recognition inspired on the vision analysis pipeline. However, the linear organization of
the pipeline is a model that propagates the decision of each filter, and therefore, it propagates mistakes. It is natural that after one
pass over the pipeline, feedback from the result to one or several of the filters would improve the overall result. For example,
finding a large circular orange ball may facilitate finding yellow goals and red AIBOs in the image since now we have
information of where the ball is. Also, we have illustrated that not every pixel in the image most be processed by the entire
pipeline and thus we can avoid processing some regions of the image. These remarks suggest two avenues for expanding our
work....
Tipo: 4
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/color_classification_and_object_recognition_for_robot_soccer_under_variable_illu
mination
Combinatorial Models for Multi-Agent Scheduling Problems
Provedor de dados: 192
Autores: Alessandro Agnetis; Dario Pacciarelli; Andrea Pacifici.
In this chapter we have described a number of models which are useful when several agents have to negotiate processing
resources on the basis of their scheduling performance. Research in this area appears at a fairly initial stage. Among the topics for
future research we can mention: An experimental comparison of different auction mechanisms for scheduling problems, in terms
of possibly addressing general systems (shops, parallel machines...) Analyzing several optimization problems, related to finding
"good" overall solutions to multi-agent scheduling problems Designing and analyzing effective scheduling protocols and the
corresponding agents' strategies.
Tipo: 2
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/combinatorial_models_for_multi-agent_scheduling_problems
Combined Torque and Velocity Control of a Redundant Robot System
Provedor de dados: 192
Autores: Damir Omrcen; Leon Zlajpah; Bojan Nemec.
The use of the robots in the real world mostly depends on the development of a autonomous robotic systems that integrate
mobility and manipulability. This chapter has presented a new approach to the robot control. The control is called combined
control since it combines (integrates) two different types of robot control, i.e. the torque and the velocity control in a single robot
system. Later on the mathematical analysis of the proposed combined control has been shown. Verification has been done on a
simulated and a real system composed of a velocity controlled mobile platform and a torque controlled manipulator. The results
show good tracking of the desired trajectory in the task space and in the null space depending on the controller gains. Controller...
Tipo: 3
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/combined_torque_and_velocity_control_of_a_redundant_robot_system
Command, Goal Disambiguation, Introspection, and Instruction in Gesture-Free Spoken Dialogue
with a Robotic Office Assistant
Provedor de dados: 192
Autores: Vladimir A. Kulyukin.
Our investigation has several limitations, each of which, in and of itself, suggests a future research venue. First, the experimental
results should be taken with care due to the small number of operators. Furthermore, since both operators are CS graduate
students, their performance is unlikely to generalize over people with disabilities. Second, our system cannot handle deictic
references expressed with pronouns like “here,” “there,” “that,” etc. These references are meaningless unless tied to concrete
situations in which they are used. As Perzanowski et al. (1998) point out, phrases like “Go over there” are meaningless if taken
outside of the context in which they are spoken. Typically, resolving deictic references is done through gesture recognition...
Tipo: 9
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/command__goal_disambiguation__introspection__and_instruction_in_gesture-free
_spoken_dialogue_with_a_
Communication and Collaboration in Heterogeneous Teams of Soccer Robots
Provedor de dados: 192
Autores: Philipp A. Baer; Roland Reichle.
Because of the lack of standard software, which prompts every RoboCup team to develop its own software framework,
heterogeneity issues play a decisive role. They cause several problems when establishing a mixed-team of soccer robots involving
different hardware and software platforms. In order to cope with theses issues, we presented SPICA, a development environment
for communication and collaboration infrastructures for heterogeneous teams of soccer robots. In SPICA, we have adopted a
model-driven development approach which is naturally very appropriate to cope with heterogeneity. One of its basic paradigms is
the platformindependent specification of software allowing automatic generation of source code for different platforms.
Accordingly, SPICA provides...
Tipo: 1
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/communication_and_collaboration_in_heterogeneous_teams_of_soccer_robots
Communication Robots in Real Environments
Provedor de dados: 192
Autores: Masahiro Shiomi; Takayuki Kanda; Hiroshi Ishiguro; Norihiro Hagita.
We have developed an interactive robot system that combines autonomous robots and ubiquitous sensors. The system guided
visitors through a science museum with human-like interaction, such as calling their names in a free-play behaviour and
explaining exhibits with voice and gestures. In a two-month exhibition, 91,107 people visited the Osaka Science Museum, 11,927
of whom wore RFID tags to participate in the field trial. The results from questionnaires revealed that almost all of the visitors
evaluated these robots highly.
Tipo: 29
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/communication_robots_in_real_environments
Compact Parallel Optical Correlator for Face Recognition, and its Application
Provedor de dados: 192
Autores: Kashiko Kodate; Eriko Watanabe.
1
Tipo: 12
Palavras-chave: Face Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/compact_parallel_optical_correlator_for_face_recognition__and_its_application
Comparative Analysis of Mobile Robot Localization Methods Based on Proprioceptive and
Exteroceptive Sensors
Provedor de dados: 192
Autores: Gianluca Ippoliti; Leopoldo Jetto; Sauro Longhi; Andrea Monteriu.
1
Tipo: 11
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/comparative_analysis_of_mobile_robot_localization_methods_based_on_proprioc
eptive_and_exteroceptive_
Comparison of Demosaicking Methods for Color Information Extraction
Provedor de dados: 192
Autores: Flore Faille.
After an overview over state of the art and recent demosaicking methods, selected algorithms were compared using images with
various content. To verify if demosaicked images are suitable for computer or robot vision tasks, the average MSE in typical color
spaces (RGB, YUV, HSI and Irb) was measured. While the high inter-channel correlation model improves interpolation results
significantly, it was also shown to be inaccurate in colored areas. WACPI and MBP (+WACPI) provide the best results. WACPI
performs better in colored and in homogeneous areas. MBP better reconstructs texture and reduces wrong color artifacts. The
choice between both algorithms should depend on the application, according to the most relevant information and to the image
type...
Tipo: 7
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/comparison_of_demosaicking_methods_for_color_information_extraction
Competence Based Taxonomy of Supplier Firms in the Automotive Industry
Provedor de dados: 192
Autores: Krisztina Demeter; Andrea Gelei; Istvan Jenei.
Companies can change place in this taxonomy. The best signal that they want to do that is the level of proactive thinking. Also,
the lack of proactive thinking can lead to step back. Company 6, for example, lost its position as an innovation based supplier
since it did not make efforts to make improvements is seat design. The build-up and characteristics of supplier types are
summarized in Figure 2.
Tipo: 26
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/competence_based_taxonomy_of_supplier_firms_in_the_automotive_industry
Complex and Flexible Robot Motions by Strand-Muscle Actuators
Provedor de dados: 192
Autores: Masakazu Suzuki.
Towards biped walking humanoid Development of humanoid robots is increasingly active. A biped walking mechanism using
StMAs is now under development. The muscle coordination in multi-DOF joints and its online optimal control presented in
sections 5 and 6 are applicable not only to shoulder control, but also to any multi-DOF joints such as wrists, hip joints, ankles and
neck, or even to eyes and tongue movement. The StMAs are small, light and simple. They are suitable for application to robotic
hands, in which many actuators must be installed in the palm or in the forearm. The StMAbased hand in Fig.27 has 20 StMAs
installed at the forearm, and the tension is transferred to wrist and fingers through tendon sheaths. 12 actuators are used as finger
flexor...
Tipo: 12
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/complex_and_flexible_robot_motions_by_strand-muscle_actuators
Complex Carton Packaging with Dexterous Robot Hands
Provedor de dados: 192
Autores: Venketesh N. Dubey; Jian S. Dai.
The chapter has presented a dexterous reconfigurable assembly and packaging system (D-RAPS) with dexterous robot fingers.
The aim of this research was to design a reconfigurable assembly and packaging system that can handle cardboard cartons of
different geometry and shapes. The initial idea was to develop such a system that can demonstrate adaptability to cartons of
different styles and complexities. It was shown that the packaging machine could fold two cartons of completely different shapes.
The cycle time for the folding was approximately 45 seconds in each case. Though this is not an optimized time for folding, it is
envisaged to reduce the cycle time to 30 seconds or less with on-line data transfer. Although there are many issues that need to
be...
Tipo: 29
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/complex_carton_packaging_with_dexterous_robot_hands
Compliant Actuation of Exoskeletons
Provedor de dados: 192
Autores: H. van der Kooij; J.F. Veneman; R. Ekkelenkamp.
Tipo: 7
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/compliant_actuation_of_exoskeletons
Composite Models for Mobile Robot Offline Path Planning
Provedor de dados: 192
Autores: Ellips Masehian; M. R. Amin-Naseri.
This chapter introduces two new offline path planning models which are based on the Roadmap and Potential Fields classic
motion planning approaches. It is shown that how some relatively old methods can combine and yield new models. The first path
planning model is established based on two traditional methods: the Voronoi Diagrams and Potential Fields, and so is called V-P
Hybrid model. The model integrates the advantages of Voronoi diagram's safest distance and Potential Fields' search simplicity
properties. After constructing the Generalized Voronoi Graph roadmap for the workspace, it is reduced to the Pruned Generalized
Voronoi Graph (PGVG) through a pruning procedure. The PGVG decreases the search time effectively. An attractive potential is
then...
Tipo: 12
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/composite_models_for_mobile_robot_offline_path_planning
Comprehensive Omni-Directional Soccer Player Robots
Provedor de dados: 192
Autores: Mehdi DaneshPanah; Amir Abdollahi; Hossein Ostadi; Hooman Aghaebrahimi Samani.
1. In this study, we propose PID and PD controllers for position and orientation controls respectively. Then, the controller
parameters were estimated using a simplified model by taking into account the effect of noise. By using these parameters in the
real robot, it was shown that the strategy was appropriate for an omni directional robot. Self-localization method utilized in this
study used a combination of the odometry system (using a shaft encoder) and vision-based localization. Using the geometrical
properties of circles, we managed to calculate the exact position of the robot in the field. Next, a sensitivity analysis was carried
out to determine the inaccurate points in the field. For those regions, we used the flags as our landmarks in the corners...
Tipo: 18
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/comprehensive_omni-directional_soccer_player_robots
Compression of Spectral Images
Provedor de dados: 192
Autores: Arto Kaarna.
In this section we have collected experiences when different spectral images were compressed in a lossy manner with various
methods described in the previous sections. The following abbreviations are used: • CL-W: wavelet transform in the spectral
reduction followed by clustering, • CL-P: PCA in the spectral reduction followed by clustering, • WT-3M: the three-dimensional
wavelet transform, Chui-Lian multiwavelets (Chui & Lian, 1996), • WT-3H: the three-dimensional wavelet transform, Haar
wavelet, • SP-P: PCA in the spectral reduction and SPIHT (Said & Pearlman, 1996) in the spatial dimensions, • JP2K-P: PCA
in the spectral reduction and JPEG2000 (Taubman & Marcellin, 2002) in the spatial dimensions, • JPG-P: PCA in the
spectral reduction and...
Tipo: 14
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/compression_of_spectral_images
Computer Vision and Fuzzy Rules Applied to a Dispensing Application in an Industrial Desktop
Robot
Provedor de dados: 192
Autores: Cristina P. Santos; Manuel J. Ferreira.
In this work, we have used sensing technology to endow an industrial Desktop robot with a greater degree of flexibility in dealing
with its environment. The goal was an adaptive, flexible, low-cost solution to maximize efficiencies in dispensing applications.
Concretely, a CCD Camera was mounted over the robot and the visual information was used to autonomously change a previously
off-line stored robot program to each workpiece. The results illustrate the flexibility and robustness of the overall application.
Further, the employed approach assures a good classification of workpieces and a minimum offset and rotation values of 0.2 mm
and 3 degrees, respectively. To further improve the classification procedure we intend to introduce new features in the rules...
Tipo: 22
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/computer_vision_and_fuzzy_rules_applied_to_a_dispensing_application_in_an_in
dustrial_desktop_robot
Computer Vision for Microscopy Applications
Provedor de dados: 192
Autores: Nikita Orlov; Josiah Johnston; Tomasz Macura; Lior Shamir; Ilya Goldberg.
The images in Figure 4 were from Pamela Bradley (NIH). Images in Figure 5 were from Andrew J. Westphal (UC-Berkeley).
Images from Figures 6 and 7 were from Catherine A. Wolkow (NIH). Harry Hochheiser wrote the ChainBuilder tool presented in
Figure 9. D. Mark Eckley (NIH) helped with editing of this manuscript. This research was supported by the Intramural Research
Program of the NIH, National Institute on Aging.
Tipo: 12
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/computer_vision_for_microscopy_applications
Concurrent Design of Product Modules Structure and Global Supply Chain Configuration
Provedor de dados: 192
Autores: 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_confi
guration
Concurrent Openshop Problem to Minimize the Weighted Number of Late Jobs
Provedor de dados: 192
Autores: H.L. Huang; B.M.T. Lin.
In this chapter, we discussed the concurrent open shop problem PD|| wiUi. A mathematical formulation was given to describe the
problem. We proposed a lower bound and studied the performance of different branching schemes for branch-and-bound
algorithms. The branching schemes play an important role in this problem. To produce approximate solutions in a reasonable
time, we proposed a heuristic and a tabu search algorithm. Computational experiemnts suggest that the tabu search algorithm is
efficient and effective in the sense that it can produce quality solutions in an acceptable short time. For future work, Lagrangian
relaxation might be an alternative way to getting a tighter lower bounds and approximate soltuions. Equipping the concurrent open
shop model...
Tipo: 12
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/concurrent_openshop_problem_to_minimize_the_weighted_number_of_late_jobs
Concurrent Process Tolerancing Based on Manufacturing Cost And Quality Loss
Provedor de dados: 192
Autores: M. F. Huang; Y. R. Zhong.
Tipo: 18
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/concurrent_process_tolerancing_based_on_manufacturing_cost_and_quality_loss
Configuring Multi-Stage Global Supply Chains with Uncertain Demand
Provedor de dados: 192
Autores: Guoqing Zhang; Behnaz Saboonchi.
In this chapter we presented an integrated optimization model to provide a decision support tool for managers. The logistic
decisions consist of the determination of the suppliers and the capacity of each potential manufacturing facility, and also the
optimization of the material flow among all the production, distribution and consumer zones in global supply chains with
uncertain demand. The model is among the few models to date than can be conveniently customized to capture real world supply
chains with different characteristics. A hypothetical example was given to assess whether it is better for a company to go global or
to expand its existing facilities and it was shown that outsourcing the whole production to the countries with lowest production
costs...
Tipo: 9
Palavras-chave: Supply Chain.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/configuring_multi-stage_global_supply_chains_with_uncertain_demand
Connected Crawler Robot - Design and Motion Planning for Climbing a Step
Provedor de dados: 192
Autores: Sho Yokota.
This chapter showed sub-optimal number of crawler stages for connected crawler robot, through demonstrating the relationship
between the number of stages and maximum climbable step height. After that, it proposed the actual connected crawler robot, and
indicated basic experimental result. The conclusions of this chapter are as follows. A joint angle function was approximated by
Fourier series and parameters were searched by GA.
Tipo: 19
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/connected_crawler_robot_-_design_and_motion_planning_for_climbing_a_step
Conserving Integrators for Parallel Manipulators
Provedor de dados: 192
Autores: Stefan Uhlar; Peter Betsch.
We have shown that the proposed rotationless formulation of multibody dynamics is wellsuited for the energymomentum
conserving integration of both open-loop and closed-loop multibody systems. Although the use of rotations has been completely
circumvented throughout the whole discretization, joint-forces can still be applied to a specific multibody system by resorting to
the proposed coordinate augmentation technique. The present developments have been restricted to the planar case. However, it is
important to note, that the extension to the three-dimensional setting can be performed without any conceptual differences.
Similarly, alternative types of joints belonging to the class of lower kinematic pairs such as cylindric joints can be easily
incorporated...
Tipo: 5
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/conserving_integrators_for_parallel_manipulators
Contact Task by Force Feedback Teleoperation Under Communication Time Delay
Provedor de dados: 192
Autores: Masahiro Nohmi; Thomas Bock.
This paper discusses our proposed strategy for space teleoperation under communication time delay, which makes it possible to
know conditions of a remote manipulator through force reflection. In the proposed approach, the communication time delay and a
contact force are displayed to the operator by the force reflection, and the remote manipulator can be operated as if the operator
moves it through a virtual spring. By experimenting example tasks, characteristics and effectiveness of the proposed approach
have been clarified. From experiment of vertical contact with target, it is noted that an operator notices contact more accurately
when; (i) force reflection is calculated based on telemetry of force sensor; (ii) command input by velocity. Also, it is...
Tipo: 14
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/contact_task_by_force_feedback_teleoperation_under_communication_time_delay
Continuous Machine Learning in Computer Vision - Tracking with Adaptive Class Models
Provedor de dados: 192
Autores: 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_clas
s_models
Contour Extraction and Compression-Selected Topics
Provedor de dados: 192
Autores: Andrzej Dziech.
1
Tipo: 10
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/contour_extraction_and_compression-selected_topics
Control and Scheduling Software for Flexible Manufacturing Cells
Provedor de dados: 192
Autores: 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
Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach
Provedor de dados: 192
Autores: 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
Control of Cable Robots for Construction Applications
Provedor de dados: 192
Autores: Alan Lytle; Fred Proctor; Kamel Saidi.
This chapter presented new research developments at NIST in control algorithms and controller design for parallel robots applied
to Construction applications. In particular, this research focused on the NIST RoboCrane platform for automated placement of
construction components. This work was the first to demonstrate the use of a laser-based site measurement system for 6
degree-of-freedom tracking of a robotic crane, and presented new methods for incorporating pose estimation errors in a
compensation transform for the NIST GoMotion controller. Finally, this work presented task decomposition approaches for
analyzing and automating construction crane operations based on a NIST 4D/RCS approach.
Tipo: 1
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/control_of_cable_robots_for_construction_applications
Control of Redundant Robotic Manipulators with State Constraints
Provedor de dados: 192
Autores: Miroslaw Galicki.
Tipo: 18
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/control_of_redundant_robotic_manipulators_with_state_constraints
Conversation System of an Everyday Robot Robovie-IV
Provedor de dados: 192
Autores: Noriaki Mitsunaga; Zenta Miyashita; Takahiro Miyashita; Hiroshi Ishiguro; Norihiro Hagita.
This research was supported by the Ministry of Internal Affairs and Communications.
Tipo: 23
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/conversation_system_of_an_everyday_robot_robovie-iv
Cooperative Control of Multiple Biomimetic Robotic Fish
Provedor de dados: 192
Autores: Junzhi Yu; Min Tan; Long Wang.
This chapter has reviewed some of the issues involved in creating a multiple robotic fish cooperation platform inspired by the
astonishing cooperative power exhibited by fish school. Grounded on an optimized kinematic and dynamic model of robotic fish,
a group of radio-controlled, multi-link fish-like robots as well as their motion control were developed. To enable a closed control
loop, a vision-based multi-object tracking subsystem for multiple robotic fish was built, where an improved parallel visual
tracking method is formulated within a framework synthesizing features of fish features and surrounding disturbance. A
hierarchical architecture for the artificial multi-fish system was further proposed to generate coordinated behaviours and actions....
Tipo: 14
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/cooperative_control_of_multiple_biomimetic_robotic_fish
Cooperative Hunting by Multiple Mobile Robots Based on Local Interaction
Provedor de dados: 192
Autores: Zhi-Qiang Cao; Min Tan; Saeid Nahavandi; Nong Gu.
This chapter has mainly focused on the problem of cooperative hunting by multiple mobile robots in unknown environments.
Because the positions of the robots are not exchanged among them in order to reduce the communication burden, it is hard for
each robot to make a global decision. A better idea is to complete the task by local interaction among the robots. In this chapter,
an effective approach called Cooperative Local Interaction (CLI) has been proposed. The approach is robust and independent of
the environments. As the invader actively tries to escape by adopting the safety-motion strategy, the difficulty of hunting is
increased. The validity of CLI approach is supported by simulations.
Tipo: 24
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/cooperative_hunting_by_multiple_mobile_robots_based_on_local_interaction
Cooperative Robotic System to Support Surgical Interventions
Provedor de dados: 192
Autores: Raul A. Castillo Cruces; H. Christian Schneider; Juergen Wahrburg.
The interactive robotic assistance system can be considered as an intelligent instrument that supports surgeons to achieve more
precise and reproducible surgery. It combines the advantages of navigation and mechatronics by using the navigation system for
registration and position measurement, and the robotic arm for precise positioning and guidance of the surgical instruments. The
integrated haptic interface offers a seamless incorporation of the robotic system in surgical intervention. The surgeon maintains
full control over the operation procedure. Moreover, safety measurements are introduced, using the concept of virtual constraints,
in order to avoid any mishandling due to excessive manipulability freedom. For instance, by defining forbidden regions...
Tipo: 35
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/cooperative_robotic_system_to_support_surgical_interventions
Copycat Hand - Robot Hand Generating Imitative Behaviour at High Speed and with High Accuracy
Provedor de dados: 192
Autores: Kiyoshi Hoshino.
To realize a robot hand capable of instantly imitating human actions, high speed, high accuracy and uniform processing time in
the hand posture estimation are essential. Therefore, in the present study, we have developed a method that enables the searching
of similar images at high speeds and with high accuracy and the search involves uniform processing time, even in the case where a
large-scale database is used. This is achieved by (1) clustering databases having approximately uniform amounts of data using
selforganization, including self-multiplication and self-extinction and (2) by collating the input images with the data in the
database by means of the low-order image characteristics, while narrowing the search space in accordance with the past...
Tipo: 18
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/copycat_hand_-_robot_hand_generating_imitative_behaviour_at_high_speed_and_
with_high_accuracy
Correcting Radial Distortion of Cameras with Wide Angle Lens Using Point Correspondences
Provedor de dados: 192
Autores: Leonardo Romero; Cuauhtemoc Gomez.
We propose a robust method to remove radial distortion from images using a reference image as a guide. It is based on point
correspondences between the acquired image from the
Tipo: 4
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/correcting_radial_distortion_of_cameras_with_wide_angle_lens_using_point_corr
espondences
Correlation Error Reduction of Images in Stereo Vision with Fuzzy Method and its Application on
Cartesian Robot
Provedor de dados: 192
Autores: Mehdi Ghayoumi; Mohammad Shayganfar.
Here, applying a fuzzy model in stereo vision of a 3p robot is presented. According to the simulation results, correlation error is
reduced where the best result in a 3p robot applying neural networks is about 97% of correctness, but using a fuzzy approach, let
us to achieve up to 100%. It is obvious that all these results are achieved by simulated software and different kinds of errors could
be occurred in real environment. Some of them are discussed in(Korayem et al., 2001).This fuzzy model can be applied to a large
class of robotic manipulators.
Tipo: 31
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/correlation_error_reduction_of_images_in_stereo_vision_with_fuzzy_method_and
_its_application_on_cart
CSV-PSO and Its Application in Geotechnical Engineering
Provedor de dados: 192
Autores: 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
Cyberthosis: Rehabilitation Robotics With Controlled Electrical Muscle Stimulation
Provedor de dados: 192
Autores: Patrick Metrailler; Roland Brodard; Yves Stauffer; Reymond Clavel; Rolf Frischknecht.
Cyberthosis brings a new approach to physical and neurological re-education. The patient regains his role as a protagonist in the
movement, even if his voluntary mobility is reduced to nothing. This principle allows better emulation of the natural voluntary
movements and so doing, places the patient in an ideal situation for relearning his motor patterns. The first stage with
MotionMaker has clearly shown the advantages of combining robotics and controlled electrostimulation to improve voluntary
control. The activation of muscles in exercises of neurological re-education brings patients not only the recovery of muscle
strength and joint mobility, but also the proprioceptive information essential for recovering the ability to activate by themselves
their...
Tipo: 17
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/cyberthosis__rehabilitation_robotics_with_controlled_electrical_muscle_stimulatio
n
Cyclic Scheduling in Robotic Cells: An Extension of Basic Models in Machine Scheduling Theory
Provedor de dados: 192
Autores: Eugene Levner; Vladimir Kats; David Alcaide Lopez De Pablo.
This work has been partially supported by Spanish Government Research Projects DPI20012715-C02-02, MTM2004-07550 and
MTM2006-10170, which are helped by European Funds of Regional Development. The first author gratefully acknowledges the
partial support by the Spanish Ministry of Education and Science, grant SAB2005-0161.
Tipo: 1
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/cyclic_scheduling_in_robotic_cells__an_extension_of_basic_models_in_machine_
scheduling_theory
Data Fusion in a Hierarchical Segmentation Context: The Case of Building Roof Description
Provedor de dados: 192
Autores: 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
Decentralized Reinforcement Learning for the Online Optimization of Distributed Systems
Provedor de dados: 192
Autores: Jim Dowling; Seif Haridi.
This research was supported by a Marie Curie Intra-European Fellowship within the 6th European Community Framework
Programme. The authors would like to thank Jan Sacha for an implementation of CRL in Java on which the experiments in this
paper are based.
Tipo: 8
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/decentralized_reinforcement_learning_for_the_online_optimization_of_distributed
_systems
Decentralized Robust Tracking Control for Uncertain Robots
Provedor de dados: 192
Autores: Zongying Shi; Yisheng Zhong; Wenli Xu.
The controller designed by the method proposed in this chapter consists of a feedforward and a two-loop linear time-invariant
robust controller. Because the robust compensation signal is generated based on the inner signals, there is no need to know the
format of uncertainties. In addition, only using local joint position feedbacks, the noise problem possibly caused by velocity
measurement is avoided. The most important is that the parameter tuning is monotonic which provides the unique superiority:
tuning on-line is realizable, and the bound estimation of uncertainties is not needed. These characteristics enable the controller
possess favorable adaptability and be prone to be realized easily.
Tipo: 6
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/decentralized_robust_tracking_control_for_uncertain_robots
Decentralized Scheduling of Baggage Handling Using Multi-agent Technologies
Provedor de dados: 192
Autores: Kasper Hallenborg.
Is this chaper we have presented novel research contributions from an application project under the DECIDE project that deals
with multi-agent based control in production systems. In this case a baggage handling system (BHS) in a major airport hub in
Asia. Agents were intended to substitute existing control logic, but not change the layout of the BHS. Interoperability of the
agents have been secured through the use of FIPA specifications, which generalized the design of the agents to be applicable for
other material handling systems. We have succeeded in keeping the decision logic of the agents rather general in order to improve
reusability and understandability for the agent based control. Special attention has been given to the task of the different type...
Tipo: 21
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/decentralized_scheduling_of_baggage_handling_using_multi-agent_technologies
Dental Patient Robot
Provedor de dados: 192
Autores: Hideaki Takanobu.
A patient robot with an oral cavity mimicking unexpected movement due to vomiting and pain and functions to induce bleeding
and saliva flow was developed and used for clinical training. Trainee students and clinical residents were asked to complete a
questionnaire about the patient robot. The results showed the patient robot to be effective as a means of training students to
respond to unexpected movements during surgical procedures. In the future, the author intend to incorporate additional sensors
such as those used in the oral cavity, to enhance reactions to due pain so that clinical students could train by themselves without
supervision.
Tipo: 32
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/dental_patient_robot
Design, Analysis and Applications of a Class of New 3-DOF Translational Parallel Manipulators
Provedor de dados: 192
Autores: Yangmin Li; Qingsong Xu.
In this chapter, a new class of translational parallel manipulator with 3-PCR architecture has been proposed. It has been shown
that such a mechanism can act as an overconstrained 3DOF translational manipulator with some certain assembling conditions
satisfied. Since the
Tipo: 24
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/design__analysis_and_applications_of_a_class_of_new_3-dof_translational_parall
el_manipulators
Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels
Provedor de dados: 192
Autores: Jae-Bok Song; Kyung-Seok Byun.
In this chapter, an omnidirectional mobile robot with steerable omnidirectional wheels (OMRSOW) has been proposed and the
kinematic and dynamic analysis of a proposed robot has been conducted. The motion control system of a robot was developed and
various experiments were conducted. As a result of this research, the following conclusions are drawn. 1. The OMR-SOW has 4
DOFs which consist of 3 DOFs for omnidirectional motion and 1 DOF for steering. This steering DOF functions as a continuously
variable transmission (CVT). Therefore, the OMR-SOW can be also considered as an omnidirectional mobile robot with CVT. 2.
The proposed steering control algorithm for CVT can provide a significant reduction in driving energy than the algorithm using a
fixed steering...
Tipo: 12
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/design_and_control_of_an_omnidirectional_mobile_robot_with_steerable_omnidir
ectional_wheels
Design and Implementation of a Control Architecture for Rehabilitation Robotic Systems
Provedor de dados: 192
Autores: Duygun Erol; Nilanjan Sarkar.
In this work we present a new control approach to offer robotic assistance for stroke patients that include the coordination between
a high-level controller and a low-level controller. The control architecture presented here is an example of a hybrid control
system. There has been no work to our knowledge on designing similar type of control architecture for rehabilitation purposes.
We have initially designed a movement tracking task where the participants not only make repetitive movement but also pay
attention to the desired speed of motion from visual feedback. The task was designed in such a manner that it required cognitive
processing. Including cognitive processing in the task design is an important criterion because it had been previously shown that...
Tipo: 7
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/design_and_implementation_of_a_control_architecture_for_rehabilitation_robotic_
systems
Design and Implementation of Fuzzy Control for Industrial Robot
Provedor de dados: 192
Autores: 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
Design and Prototyping of a Spherical Parallel Machine Based on 3-CPU Kinematics
Provedor de dados: 192
Autores: Massimo Callegari.
The article has described an innovative spherical parallel wrist developed at the Polytechnic University of Marche in Ancona,
revisiting all the main design steps, from kinematic synthesis up to physical prototyping. Machine kinematics has been worked out
in closed form and all the singularity surfaces have been analysed: it has been pointed out that the mechanism does not possess
inverse kinematics singularities, while direct kinematics singularities and translation singularities lie on the same closed surface.
The inner space, where motion paths can be safely planned, has been identified and unfortunately it cannot be enlarged by
kinematics optimisation because machine's Jacobian does not depend on geometrical parameters. For this reason, it was decided...
Tipo: 9
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/design_and_prototyping_of_a_spherical_parallel_machine_based_on_3-cpu_kine
matics
Design and Validation of a Universal 6D Seam Tracking System in Robotic Welding Based on Laser
Scanning
Provedor de dados: 192
Autores: Mikael Fridenfalk; Gunnar Bolmsjo.
1
Tipo: 3
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/design_and_validation_of_a_universal_6d_seam_tracking_system_in_robotic_wel
ding_based_on_laser_scann
Design, Implementation and Evaluation of Hardware Vision Systems Dedicated to Real-Time Face
Recognition
Provedor de dados: 192
Autores: Ginhac Dominique; Yang Fan; Paindavoine Michel.
In this chapter, we have presented three dedicated systems to face recognition developed by our research team since 2002. Our
main objective was motivated by the implementation on embedded systems of efficient models of unconstrained face tracking and
identity verification in arbitrary scenes. The main goal of these various systems is to provide efficient algorithms that only require
few hardware in order to obtain high success rates of face recognition with high real time constraints. The first system is a real
time vision system that allows us to localize faces in video sequences and verify their identity. These processes are image
processing techniques and
Tipo: 8
Palavras-chave: Face Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/design__implementation_and_evaluation_of_hardware_vision_systems_dedicated_
to_real-time_face_recogni
Design, Management and Control of Logistic Distribution Systems
Provedor de dados: 192
Autores: 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
Design Methodology for Biped Robots: Applications in Robotics and Prosthetics
Provedor de dados: 192
Autores: Maximo Roa; Diego Garzon; Ricardo Ramirez.
1
Tipo: 5
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/design_methodology_for_biped_robots__applications_in_robotics_and_prosthetics
Design of a Generic, Vectorised, Machine-Vision library
Provedor de dados: 192
Autores: Bing-Chang Lai; Phillip John McKerrow.
Existing generic libraries, such as STL and VIGRA, are difficult to vectorise because iterators do not provide algorithms with
information on how data are arranged in memory. Without this information, the algorithm cannot decide whether to use the scalar
processor or the VPU to process the data. A generic, vectorised library needs to consider how functors invoke VPU instructions,
how algorithms access vectors efficiently, and how edges, unaligned data, and prefetching are handled. The generic, vectorised,
machinevision library design presented in this paper addresses these issues. The functors access the VPU through an abstract
VPU. An abstract VPU is a virtual VPU that represents a set of real VPUs through an idealised instruction set and common...
Tipo: 10
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/design_of_a_generic__vectorised__machine-vision_library
Design of a Humanoid Robot Eye
Provedor de dados: 192
Autores: Giorgio Cannata; Marco Maggiali.
This chapter has shown the feasibility of a tendon driven robot eye featuring the implementation of Listing's Law on a mechanical
basis. The design of the robot is based on a model which is strongly inspired on assumptions derived from physiological evidence.
The achievements discussed in this chapter represent the starting point for the development of a more complex humanoid robot
eye. From the mechanical point of view the most important advancement is represented by the possibility of extending the
actuation to six tendons in order to enable the implementation of more complex ocular motions as the vestibulo-ocular reflex.
From a theoretical point of view a more complete analysis of the properties of the proposed eye model could provide further...
Tipo: 8
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/design_of_a_humanoid_robot_eye
Design of an Assistive Gait Device for Strength Endurance and Rehabilitation
Provedor de dados: 192
Autores: K. H. Low; Xiaopeng Liu; Haoyong Yu.
8.1 Conclusion This chapter has presented the development and control of a wearable lower exoskeleton system for augmentation
of human walking ability, which incorporates human as the integral part of the control system and can relieve humans physical
fatigue caused by excessive walking and heavy payloads. In this work, xPC Target, together with other toolboxes from MATLAB
have been used so as to provide a real-time operating system and an integrated development environment for controlling the
exoskeleton. Real-time control of the exoskeleton is implemented in this environment. At last, walking experiments are performed
and demonstrated. 8.2 Future Work The first prototype is only a test bed to verify the control algorithms. It looks bulky and
rough....
Tipo: 1
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/design_of_an_assistive_gait_device_for_strength_endurance_and_rehabilitation
Design of Modules and Components for Humanoid Robots
Provedor de dados: 192
Autores: Albert Albers; Sven Brudniok; Jens Ottnad; Christian Sauter; Korkiat Sedchaicharn.
Methods for the efficient development of modules for a humanoid robot were developed. Future work will be to create a database
of system elements for humanoid robot components and the characterization for easier configuration of future humanoids. This
database can then be used to generate consistent principle solutions for robot components more efficiently. Topology optimization
is a tool for designing and optimizing robot components which need to be light yet stiff. The thorax of ARMAR III was designed
with the help of this method. For the simulation of mechatronic systems like humanoid robots, it is necessary to consider
mechanical aspects as well as the behaviour of the control system. This is not yet realized in the previously described topology...
Tipo: 1
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/design_of_modules_and_components_for_humanoid_robots
Design of Multi-Behavior Agents for Supply Chain Planning: An Application to the Lumber Industry
Provedor de dados: 192
Autores: Pascal Forget; Sophie D'Amours; Jean-Marc Frayret; Jonathan Gaudreault.
This chapter proposes a framework to design multi-behavior agents in a supply chain agentbased planning system. The basic steps
are described to give a design framework, including (1) the identification of environment characteristics which require a change of
behavior, (2) the description of the different planning behaviors available to the agent, (3) an experiment methodology, (4) a test
simulation phase and (5) an on-line implementation with continuous learning. An application from the lumber industry has been
tested on an agent-based planning platform and results are presented. By following this design framework for multi-behavior
agents, the planning system designer gives a system's agents the possibility to change their planning behavior according to...
Tipo: 27
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/design_of_multi-behavior_agents_for_supply_chain_planning__an_application_to
_the_lumber_industry
Design, Simulation and Development of Software Modules for the Control of Concrete Elements
Production Plant
Provedor de dados: 192
Autores: 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
Designing and Building Controllers for 3D Visual Servoing Applications under a Modular Scheme
Provedor de dados: 192
Autores: M. Bachiller; C. Cerrada; J. A. Cerrada.
This article has presented a complete working plan for designing and performance evaluation of position based dynamic look and
move systems using a 6 DOF industrial manipulator and a camera mounted on its end effector. The robot used works using the
ALTER line facility, allowing a direct and uncoupled control in Cartesian coordinates. In the first stage, the dynamic models
proposed for the robotic and vision subsystems have been presented, identified and validated by experimental tests. Special
attention has been paid to describe the vision model, which has been optimized to cope only with the threedimensional Cartesian
position measurement, in order to reduce the total on-line computation time. The overall block diagram has also been discussed.
It...
Tipo: 5
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/designing_and_building_controllers_for_3d_visual_servoing_applications_under_a
_modular_scheme
Designing Distributed, Component-Based Systems for Industrial Robotic Applications
Provedor de dados: 192
Autores: Michele Amoretti; Stefano Caselli; Monica Reggiani.
The viability and cost effectiveness of new distributed industrial robotic applications can be widely enhanced exploiting
COTS-based software components. However, systems implementing those applications must face demanding challenges: they
should be dynamically reconfigurable and highly scalable to deal with a potentially large number of peers, they should provide
real-time features, guaranteed performance and efficient concurrency mechanisms, both locally and in a distributed environment.
The CORBA middleware, especially with its recent extensions, has proven well suited for the needs of many distributed robotic
systems. In this paper, we have summarized our experience resulting from the development of distributed robotic applications
based on Real-Time...
Tipo: 4
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/designing_distributed__component-based_systems_for_industrial_robotic_applicat
ions
Designing Safety-Critical Rehabilitation Robots
Provedor de dados: 192
Autores: Stephen Roderick; Craig Carignan.
A methodology has been presented that can qualitatively and quantitatively evaluate a system design against a set of project safety
criteria. This methodology allows system
Tipo: 4
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/designing_safety-critical_rehabilitation_robots
Designing Simple and Effective Expression of Robot's Primitive Minds to a Human
Provedor de dados: 192
Autores: Seiji Yamada; Takanori Komatsu.
6.1 Coverage of SE4PM We conducted psychological experiment to verify the effectiveness of SE4PM design policy, and it can
be said that the results eventually supported our proposed SE4PM. However these results are concerned with just case studies and
just one example of various SE4PM realizations. Hence we need to discuss the coverage of the experimental results. We consider
the generality as to the following. First the results in this work show a concrete example that SE4PM-based robot design
outperformed conventional one, with life-like and complicated appearance and expression, in expressing primitive minds. This
also shows that another direction to design effective social robot without expensive appearance and actuators. Second, by
developing various...
Tipo: 27
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/designing_simple_and_effective_expression_of_robot_s_primitive_minds_to_a_hu
man
Desktop Robot Soccer
Provedor de dados: 192
Autores: Frederic Maire; Joaquin Sitte; Narongdech Keeratipranon.
As discussed above the KheperaSot in its current form poses challenges in motion control, navigation and self-localisation, as well
as in higher level autonomous behaviour design and implementation. The reason why we support and encourage the KheperaSot
league is the complete autonomy of the robot combined with its small size. The autonomy enhances the educational value of the
tournament by putting it on par with prospective autonomous mobile robot applications that have to rely entirely on their own
sensors to acquire information of the world around them. The autonomous nature of the KheperaSot league also provides a natural
evolutionary pathway for the game, allowing it to maintain challenges as the technology and the experience of the players
advance....
Tipo: 10
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/desktop_robot_soccer
Determination of Location and Path Planning Algorithms for Industrial Robots
Provedor de dados: 192
Autores: 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
Develop Human Safety Mechanism for Human-Symbiotic Mobile Manipulators: Compliant Hybrid
Joints
Provedor de dados: 192
Autores: Zhijun Li; Jun Luo; Shaorong Xie; Jiangong Gu.
Tipo: 10
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/develop_human_safety_mechanism_for_human-symbiotic_mobile_manipulators__
compliant_hybrid_joints
Developing Supply Chain Management System Evaluation Attributes Based on the Supply Chain
Strategy
Provedor de dados: 192
Autores: Chun-Chin Wei; Liang-Tu Chen.
In this chapter, we proposed a framework to select an adequate SCM system based on the decision-analysis process. By the
proposed procedures, the company can identify the elements of SCM project selection problem and formulate the fundamental
objectives hierarchy and means objectives network, which are aligned with the goals and strategies of the company. The pertinent
attributes for evaluating a variety of SCM systems and vendors can be derived according to these objectives structures. Some
suggested attributes also were introduced. The development process of the SCM fundamental objectives and means objectives are
the most critical step in a SCM system selection project. The objective development method can fit to any quantitative and
qualitative...
Tipo: 7
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/developing_supply_chain_management_system_evaluation_attributes_based_on_t
he_supply_chain_strategy
Development of a CORBA-based Humanoid Robot and its Applications
Provedor de dados: 192
Autores: Yasuo Nasu; Genci Capi; Hanafiah Yussof; Mitsuhiro Yamano; Masahiro Ohka.
We have developed anthropomorphic prototype humanoid robot; Bonten-Maru I and Bonten-Maru II. The Bonten-Maru
humanoid robot series are one of few research prototype humanoid robots in the world which can be utilized in various aspects of
studies. In this research, we utilized the Bonten-Maru in development of the CORBA-based humanoid robot control architecture,
the optimal gait strategy and the teleoperation via internet. 7.1 CORBA-Based Humanoid Robot Control Architecture (HRCA) In
this section, we proposed a new robot control architecture called HRCA. The HRCA is developed as a CORBA client/server
system and is implemented on the Bonten-Maru I humanoid robot. The HRCA allows easy addition, deletion, and upgrading of
new modules. We have carried out...
Tipo: 6
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/development_of_a_corba-based_humanoid_robot_and_its_applications
Development of a Range of Robot and Automation Prototypes for Service Applications
Provedor de dados: 192
Autores: Bing Lam Luk; Alexandar Djordjevic; Shiu Kit Tso; King Pui Liu.
The MARCH robot, baggage carrying robot, Cleanbot III and safety support vehicle were financially supported by the City
University of Hong Kong grant for CIDAM research unit (CityU #9360077), an RGC grant #9040407 and an RGC Central
Allocation grant (CUHK 3/98C). Cleanbot I, Cleanbot II and WIC robots were funded by RGC grants #9040407 and #9040711,
an ISF grant (AF/76/98) and an ITF grant (ITS/33/01) respectively. The home automation project was supported by an ITF grant
(UIM-55). The telemedicine project was funded by an ITF grant (ITS/99/02). The authors would like to express their sincere
gratitude to the following persons: ? Prof. Y.T. Zhang and his research team, Mr. D. Lam, Mr. A. Choy and Dr. Y.H. Fung for
their important collaboration and advice...
Tipo: 32
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/development_of_a_range_of_robot_and_automation_prototypes_for_service_appli
cations
Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced
Institute of Science and Technology (KAIST)
Provedor de dados: 192
Autores: Ill-Woo Park; Jung-Yup Kim; Jungho Lee; Min-Su Kim; Baek-Kyu Cho; Jun-Ho Oh.
In this chapter, The HUBO-series robot platform development is introduced. HUBO, Albert HUBO, and HUBO FX-1 are biped
humanoids. Each robot has its own character. HUBO is a biped humanoid robot. The major function of this robot is to walk with
its two legs and imitate the human's motions such as hand shaking, bowing, and communicating in sign language. The system
components of the control hardware are connected using a CAN communication line. The control system of HUBO is based on
the distributed control
Tipo: 3
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/development_of_biped_humanoid_robots_at_the_humanoid_robot_research_cente
r__kaist_
Development of Deminer-Assisting Robotic Tools at Tokyo Institute of Technology
Provedor de dados: 192
Autores: Marc Freese; Paulo Debenest; Edwardo F. Fukushima; Shigeo Hirose.
Gryphon and Mine Hand are complementary tools; while the former was developed to efficiently search for buried landmines, the
latter one is meant to be used once a suspect spot was found to assist and protect deminers in the landmine neutralization task.
Gryphon and Mine Hand, more than just research prototypes, were conceived from the beginning on to be practical and well
integrated systems. Minefields are no laboratories; working conditions are extremely varied and far from ideal, requiring robust
systems, and based on the invaluable experience acquired during field tests, trials and discussions with deminers themselves,
Gryphon and Mine Hand were continuously improved to come closer to practical and useful tools for humanitarian demining.
Tipo: 9
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/development_of_deminer-assisting_robotic_tools_at_tokyo_institute_of_technolog
y
Development of Holonic Manufacturing Execution Systems
Provedor de dados: 192
Autores: Fan-Tien Cheng; Chih-Feng Chang; Shang-Lun Wu.
Tipo: 3
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/development_of_holonic_manufacturing_execution_systems
Development of Service Robot System With Multiple Human User Interface
Provedor de dados: 192
Autores: Songmin Jia; Kunikatsu Takase.
We have been developing a network distributed multi-functional robotic system in order to improve care cost and the QoL of the
elderly people. We proposed a novel method of localization of mobile robot using RFID system with a camera as it is flexible and
easy to use. Because the information of obstacle or environment can be written in ID tags, the proposed method enables the
localization easily and quickly compared with the other method. A video/audio conference system was also developed to improve
the interaction among the users and enable web-user o get a better understanding of what is going on in the local environment.
Considering multi-type user of the developed system, we have implemented various kinds of user interfaces that enable different
users...
Tipo: 07
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/development_of_service_robot_system_with_multiple_human_user_interface
Developments in the Control Loops Benchmarking
Provedor de dados: 192
Autores: Grzegorz Bialic; Marian B??achuta.
In the chapter some developments in the control performance assessment are provided. The solution based on quadratic
performance criteria which taking control effort into account was proposed in return for popular MV measure. This further broke
about the definition of trade-off curve using standard deviation of both control and error signals. The standard deviation parameter
is preferred because better than variance characterize the signal
Tipo: 6
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/developments_in_the_control_loops_benchmarking
Developments on an Affordable Robotic System for Humanitarian Demining
Provedor de dados: 192
Autores: Pedro Santana; Luis Correia; Jose Barata.
This chapter presented some guidelines to build a portable demining kit, which is intended to be a fast deployable and affordable
robotic system to aid in emergency situations. Since the logistics of a portable demining kit are less demanding when compared to
a regular demining campaign, local mine action centres, provided with such a tool, will be able to be more responsive to
emergency situations, reducing the chances of further victims. It has been shown that to be successful, these kits must also be
self-sustainable. This ranges from requiring simple maintenance, to the fact that they should be usable in other domains. If that is
the case, then the owners, local governments for example, can exploit the devices for other purposes. Several aspects of a...
Tipo: 11
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/developments_on_an_affordable_robotic_system_for_humanitarian_demining
Dexterous Humanoid Whole-Body Manipulation by Pivoting
Provedor de dados: 192
Autores: Eiichi Yoshida; Vincent Hugel; Pierre Blazevic; Kazuhito Yokoi; Kensuke Harada.
In this paper a pivoting manipulation method has been presented to realize dexterous manipulation that enables precise
displacement of heavy or bulky objects. Through this application, we believe that the application area of humanoid robot can be
significantly extended. A sequence of pivoting motion composed of two phases has been proposed, manipulation control and
robot stepping motion. In the former phase, an impedance control and balancing control framework was introduced to control the
required contact force for grasping and to maintain stability during manipulation respectively. Resolved momentum control is
adopted for stepping motion in the latter phase. We then showed a sequence of pivoting motion to transport the objects towards
the desired...
Tipo: 24
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/dexterous_humanoid_whole-body_manipulation_by_pivoting
Diagnosis of Discrete Event Systems with Petri Nets
Provedor de dados: 192
Autores: 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
Differential Meta-model and Particle Swarm Optimization
Provedor de dados: 192
Autores: Jianchao Zeng; Zhihua Cui.
This chapter introduces one uniform differential meta-model, and a new variant development for PSO combined with PID
controller is proposed. The current results show it is an interesting area with the control theory to improve the performance. The
future research includes incorporating some other controllers into the PSO methodology.
Tipo: 7
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/differential_meta-model_and_particle_swarm_optimization
Directional Change Issues in Multivariable State-Feedback Control
Provedor de dados: 192
Autores: Dariusz Horla.
1
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
Discovering Strategic Behaviors in Multi-Agent Scenarios by Ontology-Driven Mining
Provedor de dados: 192
Autores: Davide Bacciu; Andrea Bellandi; Barbara Furletti; Valerio Grossi; Andrea Romei.
We have introduced an ontology-based approach for association analysis in the context of behavior mining in multi-agent systems.
Our proposal is based on the idea of the ontological description of the domain as an essential via-point for accessing the expert
knowledge concealed underneath massive amounts of "flat" data. The introduction of a multi-layered and multi-relational
representation of the domain allows approaching the information content from several, diverse, viewpoints. Within the multi-agent
area, this approach offers considerable advantages since it allows the agents to gather personalized views of the extracted
knowledge, represented by means of rule ontologies. By exploiting this "relativistic" representation, an agent can dynamically...
Tipo: 10
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/discovering_strategic_behaviors_in_multi-agent_scenarios_by_ontology-driven_m
ining
Discrete-Mixture HMMs-based Approach for Noisy Speech Recognition
Provedor de dados: 192
Autores: Tetsuo Kosaka; Masaharu Katoh; Masaki Kohda.
This chapter introduced a new method of robust speech recognition using discrete-mixture HMMs (DMHMMs) based on
maximum a posteriori (MAP) estimation. The aim of this work was to develop robust speech recognition for adverse conditions
which contain both stationary and non-stationary noise. In order to achieve the goal, we proposed two methods.
Tipo: 10
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/discrete-mixture_hmms-based_approach_for_noisy_speech_recognition
Dispersion and Dispatch Movement Design for a Multi-Robot Searching Team Using Communication
Density
Provedor de dados: 192
Autores: Feng-Li Lian; You-Ling Jian; Wei-Hao Hsu.
In this chapter, a dispersion movement algorithm for multi-robot systems with simple computation and easily obtainable
information is proposed. The only information needed is the communication density, i.e., the number of communication links of
each individual robot. In addition, a dispatch control rule is proposed based on the dispersion algorithm. With some parameters
known in advance, the base station could then estimate an appropriate time to release new robots. The dispersion and dispatch
control rules are easy to implement for a practical multi-robot system to act like a natural creature system. The dispersion
movement algorithm itself still executes as a natural system. And with the dispatch rule, the dispersion algorithm can be used in
tasks with...
Tipo: 6
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/dispersion_and_dispatch_movement_design_for_a_multi-robot_searching_team_u
sing_communication_density
Distance Feedback Travel Aid Haptic Display Design
Provedor de dados: 192
Autores: Hideyasu Sumiya.
This chapter aims at the user-friendly ETA design. As a preliminary information, several tactile characteristics including sensing
range, sensitivity, dynamic factors are introduced, which are critical to design tactile/haptic device. In the latter half of this
chapter, an example model of recent ETA design is introduced along the user-friendly real-time operation. Current ETA system
are still on the process to gives satisfactory level of environmental reconstruction for user. Even under restriction of tactile
charcterists, this design concept will give some hint to create new device to activate human's sensitivity. (e.g. magnification of
sensing resolution, extending human sense). Recent studies of sensory substitution system has another aspect to extend...
Tipo: 18
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/distance_feedback_travel_aid_haptic_display_design
Distributed Architecture for Intelligent Robotic Assembly Part I: Design and Multimodal Learning
Provedor de dados: 192
Autores: Ismael Lopez Juarez; Reyes Rios Cabrera.
Tipo: 12
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/distributed_architecture_for_intelligent_robotic_assembly_part_i__design_and_mu
ltimodal_learning
Distributed Architecture for Intelligent Robotic Assembly Part II: Design of the Task Planner
Provedor de dados: 192
Autores: 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
Distributed Architecture for Intelligent Robotic Assembly Part III: Design of the Invariant Object
Recognition System
Provedor de dados: 192
Autores: Mario Pena Cabrera; Ismael Lopez Juarez.
Tipo: 14
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/distributed_architecture_for_intelligent_robotic_assembly_part_iii__design_of_the
_invariant_object_r
Distributed Particle Swarm Optimization for Structural Bayesian Network Learning
Provedor de dados: 192
Autores: Ferat Sahin; Archana Devasia.
This work involved the implementation of a highly successful technique for fault diagnosis and predictive maintenance of airplane
engines. Some of the highlights of the discussed Bayesian Network approach include creation of the network without prior
information and later incorporating expert information for better modeling, monitoring, and diagnosing faults in known systems,
predicting faults in unknown systems, ability to handle large systems and the possibility of modifying the technique for
diagnosing and distinguishing different types of faults. The presented Particle Swarm Optimization technique was effectual in
reducing the computational complexity of the problem at hand by capitalizing on its innately parallel behavior thereby enabling
the...
Tipo: 27
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/distributed_particle_swarm_optimization_for_structural_bayesian_network_learnin
g
Distribution of Trace and Major Elements in Lignite and Products of Its Combustion-Leaching
Experiments and Cluster Analysis
Provedor de dados: 192
Autores: Aleksandar Popovic; Dragana Djordjevic.
4.1 Lignite The macro and microelements contained in coal are differently distributed (Tables 1-3, Figure 1). It should be
mentioned that during applied sequential extraction process the solid phase is not totally destroyed. As opposed to the organic
component dissolved in the fourth phase of extraction, the total mineral component is not dissolved, which means that all the
macro elements and some of the microelements may have an additional mineral component, besides the one determined by the
extraction. However, it is obvious from the results obtained by extraction that most elements are contained in the inorganic phase
of coal, even inside the extractable part. The investigated macro elements can be separated on the basis of their fraction in the
organic...
Tipo: 9
Palavras-chave: Environmental Technologies.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/distribution_of_trace_and_major_elements_in_lignite_and_products_of_its_combu
stion-leaching_experime
Double Layer Architectures for Automatic Speech Recognition Using HMM
Provedor de dados: 192
Autores: Marta Casar; Jose A. R. Fonollosa.
The future of speech-related technologies is connected to the improvement of speech recognition quality. Until recently, speech
recognition technologies and applications had assumed that there were certain limitations regarding vocabulary length, speaker
independence, and environmental noise or acoustic events. In the future, however, ASR must deal with these restrictions and it
must also be able to introduce other speech-related non-acoustic information that is available in speech signals. Furthermore,
HMM-based statistical modelling--the standard state-of-the-art ASR--has several time-domain limitations that are known to affect
recognition performance. Context is usually represented by means of spectral dynamic features (namely, its first and second...
Tipo: 8
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/double_layer_architectures_for_automatic_speech_recognition_using_hmm
Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot
Provedor de dados: 192
Autores: Atsushi Konno; Takaaki Matsumoto; Yu Ishida; Daisuke Sato; Masaru Uchiyama.
This chapter proposed to utilize an impulsive force for humanoid robots to exerts a large force beyond the torque limitations of
actuators. The problems of the impact tasks to be solved in the future work were brought up in Section 2. A drum beating is taken
as a case study, because it is a typical task that requires large impulsive forces. The details of the drum beating and a Japanese
martial art Bojutsu performed by a humanoid robot HRP-2 in the Aichi Exposition were presented in this paper.
Tipo: 29
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/drum_beating_and_a_martial_art_bojutsu_performed_by_a_humanoid_robot
Dynamic 3D-Vision
Provedor de dados: 192
Autores: K.-D. Kuhnert; M. Langer; M. Stommel; A. Kolb.
Common state of the art mechanisms for the measurement of the surrounding environment in real time usually pose a trade off
between high speed, robustness and accuracy. With applications for mobile robots in mind, this work focuses on the faster
methods stereo analysis and PMD camera. Our research aims at the computation of robust and dense depth maps in real time.
First, the performance of three standard stereo algorithms is examined with regard to two different measurements of similarity.
The subsequent optimisation of the standard methods by using modern SIMD instructions and programming techniques like e.g.
recursive subdivision leads to an increase of speed by a factor of four. As a result, for the WinnerTakes-It-All algorithm we
achieve a computation...
Tipo: 18
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/dynamic_3d-vision
Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study
Provedor de dados: 192
Autores: 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
Dynamic Model of a 6-dof Parallel Manipulator Using the Generalized Momentum Approach
Provedor de dados: 192
Autores: Antonio M. Lopes; Fernando Almeida.
Dynamic modelling of parallel manipulators presents an inherent complexity. Despite the intensive study in this topic of robotics,
mostly conducted in the last two decades, additional research still has to be done in this area. In this paper an approach based on
the manipulator generalized momentum is explored and applied to the dynamic modelling of parallel manipulators. The
generalized momentum is used to compute the inertial component of the generalized force acting on the mobile platform. Each
manipulator rigid body may be considered and analyzed independently. Analytic expressions for the rigid bodies' inertia and
Coriolis and centripetal matrices are obtained, which can be added, as they are expressed in the same frame. Having these
matrices, the...
Tipo: 4
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/dynamic_model_of_a_6-dof_parallel_manipulator_using_the_generalized_moment
um_approach
Dynamic Modelling and Adaptive Traction Control for Mobile Robots
Provedor de dados: 192
Autores: Abdulgani Albagul; Wahyudi Martono; Riza Muhida.
In this paper two control strategies are developed, and tested on the robot. The `low' level controller performance deteriorated with
the changes in the surface condition such as the traction condition (friction coefficient). Meanwhile the combined controller
detects the changes and copes with them in an adequate manner, maintaining a largely consistent performance. Some of the issues
concerning the environmental structure and the high level control have been presented. Determining the location of the mobile
robot plays a vital role in maintaining fast, smooth path-tracking. Measuring the position of the robot in the workspace gives the
high level controller an indication of whether the robot is experiencing any slippage or not. All these issues are...
Tipo: 1
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/dynamic_modelling_and_adaptive_traction_control_for_mobile_robots
Dynamic Modelling and Vibration Control of a Planar Parallel Manipulator with Structurally
Flexible Linkages
Provedor de dados: 192
Autores: Bongsoo Kang; James K. Mills.
In this chapter, the equations of motion for the planar parallel manipulator are formulated by applying the Lagrangian equation of
the first type. Introducing Lagrangian multipliers simplifies the complexities due to multiple closed loop chains of the parallel
mechanism and the structurally flexible linkages. An active damping approach applied to two different piezoelectric materials,
which are used as actuators to damp unwanted vibrations of flexible
Tipo: 21
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/dynamic_modelling_and_vibration_control_of_a_planar_parallel_manipulator_wit
h_structurally_flexible_
Dynamic Parameter Identification for Parallel Manipulators
Provedor de dados: 192
Autores: Vicente Mata; Nidal Farhat; Miguel Diaz-Rodriguez; Angel Valera; Alvaro Page.
In this chapter, the problem of the identification of inertia and friction parameters for parallel manipulators was addressed. In the
first part of the chapter an overview of the identification process applied to parallel manipulators was presented. First, the dynamic
model was obtained in a systematic way starting from the Gibbs-Appell equations of motion. This dynamic model was reduced to
a subset of parameters called base parameters by means of SVD. After that and to ensure the minimal input/output error
transmissibility, approaches to obtaining optimized trajectories that have to be used in the identification process were presented. In
the second part of the chapter, a direct identification approach was implemented on a 3-DOF RPS parallel manipulator...
Tipo: 2
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/dynamic_parameter_identification_for_parallel_manipulators
Dynamic Simulation of Single and Combined Trajectory Path Generation and Control of A Seven
Link Biped Robot
Provedor de dados: 192
Autores: Ahmad Bagheri.
1
Tipo: 6
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/dynamic_simulation_of_single_and_combined_trajectory_path_generation_and_co
ntrol_of_a_seven_link_bip
Dynamic Walk of Humanoids: Momentum Compensation Based on the Optimal Pelvic Rotation
Provedor de dados: 192
Autores: 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
Dynamics and Control for Nonholonomic Mobile Modular Manipulators
Provedor de dados: 192
Autores: Yangmin Li; Yugang Liu.
In this chapter, 3-wheeled nonholonomic mobile modular manipulators are investigated. First, an integrated modelling method is
proposed in consideration of the nonholonomic constraints and the interactive motions. Second, a model based controller and a
robust adaptive controller are presented in task space directly. Third, simulations are carried out on a mobile modular manipulator
composed of a 3-wheeled mobile platform and a 4-DOF onboard modular manipulator, and the simulation results demonstrate the
effectiveness of the proposed algorithms. The proposed algorithms can be easily extended to some other mobile manipulators as
well.
Tipo: 2
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/dynamics_and_control_for_nonholonomic_mobile_modular_manipulators
Dynamics of Hexapods with Fixed-Length Legs
Provedor de dados: 192
Autores: Rosario Sinatra; Fengfeng Xi.
In this chapter, the inverse dynamics of hexapods with fixed-length legs is analyzed using the natural orthogonal complement
method, with considering the mass of the moving platform and those of the legs. A complete kinematics model is developed,
which leads to an explicit expression for the twist-mapping matrix. Based on that, the inverse dynamics equations are derived that
can be used to compute the required applied actuator forces for the given movement of the moving platform. The developed
method has been implemented and demonstrated by simulation. Successively, the static balancing of hexapods is addressed. The
expression of the global center of mass is derived, based on which a set of static balancing equations has been obtained. It is
shown that...
Tipo: 12
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/dynamics_of_hexapods_with_fixed-length_legs
Dynamics of the Bush-Mosteller Learning Algorithm in 2x2 Games
Provedor de dados: 192
Autores: Luis R. Izquierdo; Segismundo S. Izquierdo.
This chapter has characterised the behaviour of the Bush-Mosteller (Bush & Mosteller, 1955) aspiration-based reinforcement
learning model in 2x2 games. The dynamics of this process depend mainly on three features: The speed of learning. The existence
of self-reinforcing equilibria (SREs). SREs are states which are particularly relevant for the ultralong-run or asymptotic behaviour
of the process. The existence of self-correcting equilibria (SCEs). SCEs are states which are particularly relevant for the transient
behaviour of the process with low learning rates. With high learning rates, the model approaches its asymptotic behaviour fairly
quickly. If there are SREs, such asymptotic dynamics are concentrated on the SREs of the system. With low learning...
Tipo: 11
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/dynamics_of_the_bush-mosteller_learning_algorithm_in_2x2_games
Early Decision Making in Continuous Speech
Provedor de dados: 192
Autores: Odette Scharenborg; Louis ten Bosch; Lou Boves.
In the laboratory, listeners are able to reliably identify polysyllabic content words before the end of the acoustic realisation (e.g.,
Marslen-Wilson, 1987). In real life, listeners not only use acoustic-phonetic information, but also contextual constraints to make a
decision about the identity of a word. This makes it possible for listeners to guess the identity of content words even before their
uniqueness point. In the research presented here, we investigated an alternative ASR system, called SpeM, that is able to recognise
words during the speech recognition process for its ability for recognising words before their acoustic offset ? but after their
uniqueness point ? a capability that we dubbed `early recognition'. The restriction to recognition at...
Tipo: 19
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/early_decision_making_in_continuous_speech
Ecological, Economic and Marketing Aspects of the Application of Biofertilisers in the Production of
Organic Food
Provedor de dados: 192
Autores: Drago Cvijanovic; Gorica Cvijanovic; Jonel Subic.
Tipo: 2
Palavras-chave: Environmental Technologies.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/ecological__economic_and_marketing_aspects_of_the_application_of_biofertiliser
s_in_the_production_of
Effect of Robot and Screen Agent Recommendations on Human Decision-Making
Provedor de dados: 192
Autores: Kazuhiko Shinozawa; Junji Yamato.
Figure 5 shows that the dimensionality of the ESA causes differences in the recommendation's effect on user decision-making.
The 3D body was not always superior to the 2D body for recommendation, and on-screen agents seem to have weak points, too.
Those differences cannot be explained only by the advantages or disadvantage of pointing. In the 2D world condition, the color
region was presented on the computer display. The display was in 3D space, so the color region was presented in the 3D space.
From this point of view, there should be no difference between the 2D and 3D world conditions and therefore no difference in the
effect. There must therefore be some other reasons. The results changed according to the combination of the location pointed to
and the...
Tipo: 19
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/effect_of_robot_and_screen_agent_recommendations_on_human_decision-making
Effective Method for Autonomous Simultaneous Localization and Map Building in Unknown Indoor
Environments
Provedor de dados: 192
Autores: Y.L. Ip; A.B. Rad; Y.K. Wong.
In this chapter, a new autonomous exploration strategy for mobile robot was presented and extensively tested via simulation and
experimental trials. The essential mechanisms used included a HFFS reactive navigation scheme, EAFC map extraction algorithm,
SLAM process, an open space evaluation system cooperating with probability theory and Bayesian update rule and a novel
navigation point generation system. The proposed autonomous exploration algorithm is a version of combination of a robust
reactive navigation scheme and approaching the unknown strategy which ensure that the mobile robot to explore the entire region
in an unknown environment automatically.
Tipo: 23
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/effective_method_for_autonomous_simultaneous_localization_and_map_building_
in_unknown_indoor_environ
Efficient Data Association Approach to Simultaneous Localization and Map Building
Provedor de dados: 192
Autores: Sen Zhang; Lihua Xie; Martin David Adams.
This chapter presented a data association algorithm for SLAM which offers a good trade-off between accuracy and computational
requirements. We first formulated the data association problem in SLAM as a two dimensional assignment problem. In our work,
only 1 frame of scan data is considered. The data association problem in SLAM is formulated as a two dimensional assignment
problem rather than a three dimensional one which is an NP hard problem and is computationally more efficient. Further, since
only one step prediction is involved, the effect of the vehicle model uncertainty is smaller as compared to the data association
methods using two frame scan data. In order to obtain a fast solution, the 0-1 IP problem was firstly relaxed to an LP problem.
Then we...
Tipo: 19
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/efficient_data_association_approach_to_simultaneous_localization_and_map_buil
ding
Efficient Non-Invasive Registration with A-Mode Ultrasound in Skull Surgery
Provedor de dados: 192
Autores: Aleksandra Popovic; Stefan Heger; Axel Follmann; Ting Wu; Martin Engelhardt; Kirsten Schmieder; Klaus
Radermacher.
The laboratory phantom tests have shown a significant correlation in error results between direct surface palpation and US-based
registration indicating that the latter can be used in cases when direct palpation is not possible, e.g. in the presence of skin. The
main limitation of surface based registration in neurosurgery is that only a small portion of bone is exposed during the operation.
Therefore, the distribution of points can not follow a defined pattern, as described in section 2. The A-mode US transcutaneous
registration offers two major improvements: palpation of a pervasive area of the skull surface and registration prior to sterilization
(prior to skin opening). In comparison with anatomical landmarks, US-based surface registration has shown a...
Tipo: 24
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/efficient_non-invasive_registration_with_a-mode_ultrasound_in_skull_surgery
Embedded Behavioral Control of Four-legged Robots
Provedor de dados: 192
Autores: David Herrero Perez; Humberto Martinez Barbera.
This work has presented the architecture and behavioral programming model used to develop a team of the Sony Four-Legged
League, which is one of the official leagues of the RoboCup. This league is a very demanding scenario, with high uncertainty in
perceptions and limited processing power. In addition, having a competition implies that some dates the software development
and tuning presents high activity peaks. These facts condition the way robots have to be programmed. Thus, our main goal has
been improving productivity as much as possible while being able to correctly develop all the required behaviors. The approach
consists on adopting a programming architecture that reflects a cognitive separation of modules and allows for an efficient
management of...
Tipo: 11
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/embedded_behavioral_control_of_four-legged_robots
Embodiment of Legged Robots Emerged in Evolutionary Design: Pseudo Passive Dynamic Walkers
Provedor de dados: 192
Autores: Kojiro Matsushita; Hiroshi Yokoi.
An objective of this paper is to illustrate a physical representation of the embodiment on legged locomotion. Embodiment is here
defined as physical features that reduce control complexity and energy consumption of legged robots. In this method, the
embodiment of
Tipo: 17
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/embodiment_of_legged_robots_emerged_in_evolutionary_design__pseudo_passiv
e_dynamic_walkers
Emission Sources and Their Contributions to Ambient Air Concentrations of Pollutants
Provedor de dados: 192
Autores: Dragana Djordevic.
Harmful substances in the ambient air can be reduced only on condition that their emiters are kept under control. It is
indispensable, for that purpose, to know technological processes, the nature of emiters, the link between the emission flux on the
emiter and the concentration of pollutants in one part of receptors, as well as meteorological base of the area. Main emiters of
pollutants have been identified, on application of statistical methods, upon analysis of technological processes in factories of the
South industrial zone in Pancevo (Refinery, Petrochemistry and Fertilizer factory), by measurement of pollutants' concentrations
in the ambient air and meteorological base of the area. The measures of control of emission - such as extinguishing key...
Tipo: 4
Palavras-chave: Environmental Technologies.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/emission_sources_and_their_contributions_to_ambient_air_concentrations_of_poll
utants
EMOBOT: A Robot Control Architecture Based on Emotion-Like Internal Values
Provedor de dados: 192
Autores: Nils Goerke.
Getting autonomous robots to do the things we want them to do is still a challenge. Even the definition of parameters for a given
controller type is very hard or realise for interesting robotic tasks. Designing controllers that are easily configured in an adequate
way is far more complicated. The idea to make a controller learn an adequate set of parameters and functions for a given task is
not completely new, but still not solved sufficiently. Biological entities demonstrate that it is in principle possible to realise such a
system. Based on these ideas, a hierarchical robot control structure, with three main information processing branches: a sensory
upstream, an actuatory downstream, and a controller was developed. The controller consists of two main...
Tipo: 4
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/emobot__a_robot_control_architecture_based_on_emotion-like_internal_values
Emotion Estimation in Speech Using a 3D Emotion Space Concept
Provedor de dados: 192
Autores: 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
Emotional Intervention on Stigmergy Based Foraging Behaviour of Immune Network Driven Mobile
Robots
Provedor de dados: 192
Autores: Diana Tsankova.
The proposed stigmergy based foraging behaviour control using two artificial emotion mechanisms ? one as a superstructure over
the immune navigator, and another as an advisor of puck picking up/dropping behaviour, improves the speed of the clustering
process. The intervention of the EM1 on the immune navigator improves the collision-free goal following behaviour of each
robot, which affects the final implementation of the
Tipo: 27
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/emotional_intervention_on_stigmergy_based_foraging_behaviour_of_immune_net
work_driven_mobile_robots
Energy Feature Integration for Motion Segmentation
Provedor de dados: 192
Autores: Raquel Dosil; Xose R. Fdez-Vidal; Xose M. Pardo; Anton Garcia.
In this chapter, a new active model for the segmentation of motion patterns from video sequences has been presented. It employs a
motion representation based on composite energy features. It consists on the clustering of elementary band-pass features, which
can be considered velocity tuned features. Integration is accomplished by extending the notion of phase congruence to
spatio-temporal signals. The active model uses this motion information both for image potential definition and initialization of the
model in each frame of the sequence.
Tipo: 1
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/energy_feature_integration_for_motion_segmentation
Energy-Efficient Walking for Biped Robot Using Self-Excited Mechanism and Optimal Trajectory
Planning
Provedor de dados: 192
Autores: Qingjiu Huang; Kyosuke Ono.
In this chapter, we introduced the researches on energy-efficient walking of the biped robot for level ground form two viewpoints,
one is semi-passive dynamic walking with only hip actuator using self-excited mechanism, another is active walking with
actuators using optimal trajectory planning. We can make the conclusions as follow.
Tipo: 19
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/energy-efficient_walking_for_biped_robot_using_self-excited_mechanism_and_op
timal_trajectory_plannin
Engineering Change Management in Distruted Environment with PDM/PLM Support
Provedor de dados: 192
Autores: Joze Tavcar; Joze Duhovnik.
Tipo: 26
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/engineering_change_management_in_distruted_environment_with_pdm_plm_supp
ort
Environmental, Medical, Technogenic and Computer Technology: Modeling, Risk Assessment and
Cost/Benefit Analysis of the Accidents
Provedor de dados: 192
Autores: 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__ri
sk_assessment_and_cost_bene
Environmental Problems Induced by Pollutants in Air, Soil and Water Resources
Provedor de dados: 192
Autores: Murat Deveci; and Fusun Ekmekyapar.
Natural resources such as soil, water and air play an important role in preserving the existence as well as the development of our
planet and its people. Currently, pollution of the agricultural environment is one of the serious environmental concerns in our
planet. Proposed strategies for the protection of water, soil and air are as follows: At first, environmental education for all people
is necessary. Growing ornamental plants, such as flowers, grasses, and woody plants in heavily polluted lands. The application of
biodegradable pesticides in agriculture should be encouraged. In sustainable, or ecological agriculture, rather than only chemical
pesticides is advocated, and fertilization is recommended with an emphasis on organic matter cycling. To...
Tipo: 3
Palavras-chave: Environmental Technologies.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/environmental_problems_induced_by_pollutants_in_air__soil_and_water_resource
s
Error Modeling and Accuracy of Parallel Industrial Robots
Provedor de dados: 192
Autores: Hongliang Cui; Zhenqi Zhu.
Tipo: 21
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/error_modeling_and_accuracy_of_parallel_industrial_robots
Error Modeling and Accuracy of TAU Robot
Provedor de dados: 192
Autores: 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
Error Recovery in Production Systems: A Petri Net Based Intelligent System Approach
Provedor de dados: 192
Autores: Nicholas G. Odrey.
The work presented above essentially summarizes past and on-going work within the Industrial & Systems Engineering
department at Lehigh University on "smart" systems. The research undertaken indicates a variable architecture and approach for
such systems. Extensions to this work will incorporate stochastic implications, communications and negotiation strategies between
agents, and further work on control nets and strategies. Hybrid nets such as the Petri ?Neural Net are of particular interest. The
techniques integrated into this work in the future will be directed toward development of robust, reconfigurable, adaptable large
scale systems. Applications are currently in production and logistic systems. Other applications are being pursued.
Tipo: 14
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/error_recovery_in_production_systems__a_petri_net_based_intelligent_system_ap
proach
Estimation of Mean Response Time of Multi—Agent Systems Using Petri Nets
Provedor de dados: 192
Autores: 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
Estimation of the Absolute Orientation of a Five-Link Walking Robot with Passive Feet
Provedor de dados: 192
Autores: Yannick Aoustin; Gaetan Garcia; Philippe Lemoine.
An application of the digital extended Kalman filter has been presented for the problem of estimating the absolute orientation of
SemiQuad, a 2D dynamically stable walking robot. There are some differences between simulations and experiments, but the
results still prove the ability of our observer to yield a short term estimation of the orientation of the robot. The precision is
sufficient for the estimation to be useful for calculating the dynamic model and monitoring the balance of the robot. This task is
important for SemiQuad, and vital for bipeds, to which the idea is also applicable (see Lebastard, Aoustin, & Plestan 2006 for
a different type of observer). Given the possibility to re-initialize the observer at each double support phase, even if...
Tipo: 3
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/estimation_of_the_absolute_orientation_of_a_five-link_walking_robot_with_passi
ve_feet
Estimation of Tire-Road Forces and Vehicle Sideslip Angle
Provedor de dados: 192
Autores: Guillaume Baffet; Ali Charara; Daniel Lechner.
This study deals with two vehicle-dynamic observers constructed for use in a two-block estimation process. Block 1 mainly
estimates tire-forces (without an explicit tire-force model), while block 2 calculates sideslip angle and corrects cornering
stiffnesses (with an adaptive tire-force model). The first observer O1,4w (block 1), an extended Kalman Filter, is constructed with
a random walk force model. The experimental evaluations of O1,4w are satisfactory, showing excellent estimations close to the
measurements and good convergence properties. The second observer O2,LAM (block 2), developed with an adaptive tire-force
model, was evaluated for different cornering stiffness settings and was compared with an observer constructed with a fixed
tire-force model...
Tipo: 08
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/estimation_of_tire-road_forces_and_vehicle_sideslip_angle
Event-driven Hybrid Classifier Systems and Online Learning for Soccer Game Strategies
Provedor de dados: 192
Autores: Yuji Sato.
In this section we have reported on the results of applying a classifier system to the acquisition of decision-making algorithms by
agents in a soccer game. First, we introduced the hybrid system configurations of the existing algorithms and a classifier system.
Then, in order to implement real-time learning while a game is in progress, we introduced a bucket brigade algorithm that
implements reinforcement learning for the classifier, and a technique for selecting the subject of learning depending on the
frequency of events. And finally, we introduced a method for performing learning by awarding players different reward values
during reinforcement learning depending on whether they are assigned the role of forward, midfielder or defender. We played
this...
Tipo: 19
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/event-driven_hybrid_classifier_systems_and_online_learning_for_soccer_game_st
rategies
Evolution of Biped Locomotion Using Linear Genetic Programming
Provedor de dados: 192
Autores: 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
Evolutionary Computation of Multi-Robot/Agent Systems
Provedor de dados: 192
Autores: 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
Evolutionary Distributed Control of a Biologically Inspired Modular Robot
Provedor de dados: 192
Autores: Sunil Pranit Lal; Koji Yamada.
The process of evolution by natural selection enables search for best solutions by adapting to the problem domain as time passes
by. While we have utilized GA to find suitable parameters for our control models it is worth mentioning that from a global
viewpoint the models in turn have evolved from trial and error means of motion control, to CA-based control architecture, to the
neural inspired motion control model. In light of the results, the CA2dDiff control model, whose parameters were derived using
co-evolutionary approach, came out on top amongst the CA-based control models. However, the neural network based models
showed better performance in terms of motion characteristics as well as exhibiting greater degree of resilience in overcoming
scenarios...
Tipo: 28
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/evolutionary_distributed_control_of_a_biologically_inspired_modular_robot
Evolutionary Morphology for Polycube Robots
Provedor de dados: 192
Autores: Takahiro Tohge; Hitoshi Iba.
We showed two experiments with different coding methods, i.e., messy GA and GP. In modular robotics, it is very important to
acquire not only one best pattern but also various sub-optimal patterns. This is because modular robots are used and developed for
the sake of search or rescue task, which requires the flexibility against the real-world environment. In such a case, moving is a
basic and essential ability skill. Our experimental results have shown how successfully the significant pattern was acquired during
the evolution. As can be seen from Fig.4 and Table.3, some of those patterns were superior to those designed manually for the
target task. In this experiment, sensors were not used to avoid complicating controllers. Introducing sensors necessitates...
Tipo: 12
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/evolutionary_morphology_for_polycube_robots
Evolutionary Motion Design for Humanoid Robots
Provedor de dados: 192
Autores: Toshihiko Yanase; Hitoshi Iba.
5.1 Optimization using Multi-objective GA In Section4, GA was successfully applied to optimizing the humanoid motions.
However, the task is essentially multi-objective optimization. For instance, in case of kicking, we have to consider the trade-off
between the stability of the robot and the ball distance. Therefore, we have apply Multi-objective GA (MOGA) (Fonseca &
Fleming, 1993) with two fitness, i.e., the chest-link velocity ( Vmax ) and the ball travel distance ( r ). We empirically derive the
velocity when the robot falls down and set the value as the velocity limitation of the chest link ( Vlimit ). Rank-based fitness
assignment method and niche-formation method are employed to determine the fitness for maximizing ( Vlimit selection is also
used...
Tipo: 29
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/evolutionary_motion_design_for_humanoid_robots
Evolutionary Optimisation of Mechanical Structures or Systems
Provedor de dados: 192
Autores: 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
Evolutionary Parametric Identification of Dynamic Systems
Provedor de dados: 192
Autores: 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
Evolutionary Speech Recognition
Provedor de dados: 192
Autores: Anne Spalanzani.
Tipo: 5
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/evolutionary_speech_recognition
Evolutionary Strategies Combined With Novel Binary Hill Climbing Used for Online Walking Pattern
Generation in Two Legged Robot
Provedor de dados: 192
Autores: 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 highly unpredictable shoe
sole...
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_onl
ine_walking_pattern_gen
Evolutionary-Based Control Approaches for Multirobot Systems
Provedor de dados: 192
Autores: Jekanthan Thangavelautham; Timothy D. Barfoot; Gabriele M.T. D'Eleuterio.
The use of a global fitness function shows the possibility of training multirobot controllers with limited supervision to perform
self-organized task decomposition. A global fitness function encourages solutions that improve system performance without
explicitly biasing for a particular task decomposition strategy. This is advantageous for use with multirobot controllers, where it is
often easier to define the global goals over required local coordination behaviours that require task specific information. In
addition, such an approach facilitates discovery of novel behaviours that otherwise may be overlooked by a human designer. Such
novel behaviours include use of `bucket brigade' behaviours for the multirobot resource gathering task, `error correction'...
Tipo: 3
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/evolutionary-based_control_approaches_for_multirobot_systems
Evolved Navigation Control for Unmanned Aerial Vehicles
Provedor de dados: 192
Autores: 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
Evolving Behavior Coordination for Mobile Robots Using Distributed Finite-State Automata
Provedor de dados: 192
Autores: Pavel Petrovic.
Tipo: 23
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/evolving_behavior_coordination_for_mobile_robots_using_distributed_finite-state
_automata
Evolving Humanoids: Using Artificial Evolution as an Aid in the Design of Humanoid Robots
Provedor de dados: 192
Autores: Malachy Eaton.
Following an initial introduction to the twin topics of evolutionary robotics and humanoid robotics, we discussed their recent
convergence in the new field of evolutionary humanoid robotics. After presenting a survey of recent work in this field by other
researchers, we introduced our own work in the area of evolving bipedal locomotion in a simulated highDOF humanoid. After a
brief discussion on the important topic of benchmarking future mobile robot performances we introduced our current hardware
platform, and the implementation of locomotion, evolved in simulation using the Webots simulator, on the Bioloid platform for an
18-DOF humanoid robot. Advantages of our approach include its adaptability and the ability to generate life-like behaviours
without...
Tipo: 7
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/evolving_humanoids__using_artificial_evolution_as_an_aid_in_the_design_of_hu
manoid_robots
Exoskeleton-Based Exercisers for the Disabilities of the Upper Arm and Hand
Provedor de dados: 192
Autores: Ioannis Sarakoglou; Sophia Kousidou; Nikolaos G. Tsagarakis; Darwin G. Caldwell.
In this chapter we have stated the need for power-assisted and robotic tools as means of providing intensive, cost-effective and
objectively measured physiotherapy. We presented the state-of-the-art as well as early exoskeleton systems targeted at upper arm
and hand disabilities. We also presented work that is undergoing at the University of Salford, UK, an upper arm and a hand
exoskeleton that can be used as potential tools for delivering devicemediated rehabilitation. Clearly, device-mediated
rehabilitation is an active area of research whose findings have great impact on our society's well-being. One could argue that the
systems reviewed in the previous sections define or have already defined, in one way or another, future trends in rehabilitation...
Tipo: 27
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/exoskeleton-based_exercisers_for_the_disabilities_of_the_upper_arm_and_hand
Experimental Robot Musician
Provedor de dados: 192
Autores: Tarek Sobh; Kurt Coble; Bei Wang.
In conclusion, the research directions described above should make the experience of designing robot musicians a breath-taking
experiment. We envision that a fully functional robot orchestra can be established in the near future, which will play not only
simple tunes, but also masterpieces. Several instruments of the P.A.M. band have been exhibited publicly, including the 2002
Westchester Biennial at the Castle Gallery of the College of New Rochelle and the Silvermines Art Gallery in New Canaan CT.
During the fall of 2002, the entire P.A.M Band was on exhibit in the Walter Austin Theatre at the University of Bridgeport, and
was reported in the Connecticut Post, Stamford Advocate, and the Greenwich Times. In the spring of 2003, the instruments were
be on...
Tipo: 28
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/experimental_robot_musician
Experiments on Embodied Cognition: A Bio-Inspired Approach for Robust Biped Locomotion
Provedor de dados: 192
Autores: Frank Kirchner; Sebastian Bartsch; Jose DeGea.
The CPG based approach for combining rhythmic movements in two-legged robotic systems does work and produces less
calculating costs than inverse kinematics (Tevatia, 2000), it results in smoother movements than using simple look up tables, and
is easier to realize than neural networks (Shan, 2002). However, direct, goal directed movements are difficult to implement and
still require kinematic models of the system. Recently, we are working on a biologically inspired hybrid learning architecture, see
figure 15 for embodied cognition supporting recognition and representation on the basis of sensorimotor coordination. The notion
of hybrid architectures is straightforward in the literature, born from the understanding that neither reactive nor deliberative...
Tipo: 27
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/experiments_on_embodied_cognition__a_bio-inspired_approach_for_robust_biped
_locomotion
Exploratory Investigation into Influence of Negative Attitudes toward Robots on Human-Robot
Interaction
Provedor de dados: 192
Autores: Tatsuya Nomura; Takayuki Kanda; Tomohiro Suzuki; Kensuke Kato.
This chapter provided the concept of negative attitudes toward robots and a measurement method for them, "Negative Attitudes
toward Robots Scale (NARS)", as a psychological index in research on human-robot interaction. Then, it showed the results of
some experiments and social research by using this psychological scale. The results implicated by the NARS show the efficiency
of this scale in both human-robot interaction experiments and social research. They revealed that attitudes toward robots are
related to behaviours toward them, these attitudes are different depending on situations and assumptions about robots, and there
may be gender differences associated with them. These implications may contribute to design issues of communication robots
and...
Tipo: 11
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/exploratory_investigation_into_influence_of_negative_attitudes_toward_robots_on
_human-robot_interact
Exploring Open-Ended Design Space of Mechatronic Systems
Provedor de dados: 192
Autores: Zhun Fan; Jiachuan Wang; Erik Goodman.
This research has explored a new automated approach for synthesizing designs for mechatronic systems. By taking advantage of
genetic programming as a search method for competent designs and the bond graph as a representation for mechatronic systems,
we have created a design environment in which open-ended topological search can be accomplished in a semi-automated and
efficient manner and the design process thereby facilitated. By incorporating specific design considerations the method can be
used to explore design space of special types of mechatronic systems such as robotic systems. The paper illustrates the process of
using this approach in detail through a typewriter redesign problem. Bond graphs have proven to be an effective tool for both
modeling and...
Tipo: 41
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/exploring_open-ended_design_space_of_mechatronic_systems
Extraction of Roads From Out Door Images
Provedor de dados: 192
Autores: Alejandro Forero Guzman; Carlos Parra.
Even when there has been an extensive development of works on road detection and road following during the last two decades,
most of them are focused on well structured roads, making difficult its use for humanitarian demining activities. The present work
shows a way to use the natural information in outdoor environment to extract the roads or paths characteristics, which can be used
as landmarks for the navigation process. Other important observation is that the information combines of two colors, (i.e. the
projection R B, Cb or Cr channels) hence reducing the harmful effect of the changing illumination in natural environment. Good
results were also achieved in the path planning process. The robot executes a 2? D trajectory planning, which facilitates the...
Tipo: 7
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/extraction_of_roads_from_out_door_images
Face and Gesture Recognition for Human-Robot Interaction
Provedor de dados: 192
Autores: Hasanuzzaman; Haruki Ueno.
This chapter describes a real-time face and hand gesture recognition system using skin color segmentation and subspace method
based pattern matching technique. This chapter also describes gesture-based human-robot interaction system using an
entertainment robot named ‘Aibo’ and humanoid robot ‘Robovie’. In pose-specific subspace method, training images are grouped
based on pose and eigenvectors for each pose are generated separately. In this method, one PCA is used for each pose. From the
experimental result we have concluded that performance of pose-specific subspace method is better than general PCA method in
the same environment. One of the major constrains of this system is that the background should be non-skin color substrate. If we
used infrared...
Tipo: 9
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/face_and_gesture_recognition_for_human-robot_interaction
Face Recognition Using Optimized 3D Information from Stereo Images
Provedor de dados: 192
Autores: Changhan Park; Joonki Paik.
This paper proposed a new range-based face detection and recognition method using optimized 3D information from stereo
images. The proposed method can significantly improve the recognition rate and is robust against object's size, distance, motion,
and depth using the PCA algorithm. The proposed method uses the YCbCr color format for fast, accurate detection of the face
region. The proposed method can acquire more robust information against scale and rotation through scaling the detected face
image according to the distance change. Experiments were performed in the range of 30~200cm and we could get the recognition
rate up to 95.8% according to the scale change. Also, we could get the high recognition rate of 98.3% according to the pose
change....
Tipo: 23
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/face_recognition_using_optimized_3d_information_from_stereo_images
Facial Automaton for Conveying Emotions as a Social Rehabilitation Tool for People with Autism
Provedor de dados: 192
Autores: Giovanni Pioggia; Maria Luisa Sica; Marcello Ferro; Silvia Casalini; Roberta Igliozzi; Filippo Muratori; Arti
Ahluwalia; Danilo De Rossi.
The aim of FACE-T is to act as a human-machine interface for non verbal communication. The learning process in FACE is based
on imitating predefined stereotypical behaviours which can be represented in terms of FAPs followed by a continuous interaction
with its environment. At present FACE is applied to enhance social and emotive abilities in children with autism. The
experimental sessions allowed us to collect preliminary data in terms of therapeutic treatment for patients with disorders in the
autistic spectrum. However, what is behind FACE? There is the application of the smart soft matter, algorithms and robotics, there
is the attempt to understand the complexity of biological behaviour, there are people with autism. During a test, little M.,
following...
Tipo: 24
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/facial_automaton_for_conveying_emotions_as_a_social_rehabilitation_tool_for_p
eople_with_autism
Facial Caricaturing Robot COOPER with Laser Pen and Shrimp Rice Cracker in Hands Exhibited at
EXPO2005
Provedor de dados: 192
Autores: Takayuki Fujiwara; Takashi Watanabe; Takuma Funahashi.
This paper describes the outline of development of caricaturing robot and the knowledge acquired at the presentation in EXPO
2005. It was known that our system COOPER could perform successfully at EXPO as the grand field test site. As a result, it was
fruitful and noteworthy for us that we could collect a large number of facial images from younger and middle ages of both male
and female. However, we should investigate more the intensive evaluation of the caricatures. We try to improve the method for
the analytical verification of the detailed shape features of facial parts. And COOPER is likely to suffer sometimes from the fatal
degradations in the feature extraction caused by an irregular condition of the facial direction and illumination. We must develop...
Tipo: 21
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/facial_caricaturing_robot_cooper_with_laser_pen_and_shrimp_rice_cracker_in_ha
nds_exhibited_at_expo20
Facing Visual Tasks Based on Different Cognitive Architectures
Provedor de dados: 192
Autores: 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
Far-Field, Multi-Camera, Video-to-Video Face Recognition
Provedor de dados: 192
Autores: Aristodemos Pnevmatikakis; Lazaros Polymenakos.
In this chapter we have presented the tradeoffs in video-to-video face recognition, applied on far-field, unconstrained recordings.
We have demonstrated that given long probe video durations the performance of a system based on a frontal Viola-Jones face
detector, linear subspace projection and nearest neighbour classifier more or less solves the problem, with average recognition
rates above 95%. In applications where long probe videos are impractical, performance is still low (recognition rates of 74% or
80% for 1 sec probe and 15 sec or 30 sec gallery video durations), especially given that the number of people are limited to the
modest number of 26. To further enhance performance, there are some possible system enhancements: Multiple face detectors
can...
Tipo: 24
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/far-field__multi-camera__video-to-video_face_recognition
Fault Diagnosis in Discrete Event Systems Using Interpreted Petri Nets
Provedor de dados: 192
Autores: Jesús Arámburo-Lizárraga; Antonio Ramírez-Treviño; Ernesto
López-Mellado; Elvia Ruiz-Beltrán.
This chapter introduced the diagnosability property in DES modeled using IPN. It presented a structural characterization of this
property using the T-semiflows of the IPN. The approach herein presented exploits the IPN structure to determine when it is
diagnosable, this approach leads to polynomial characterization of diagnosability. Based on the DES model, three different types
of diagnosers were presented. The first one was a centralized version, allowing to detect and locate faults. Sometimes, however,
the system could very large; leading to large diagnoser models thus the other two diagnosers are designed to tackle this problem.
The second diagnoser is a reduced scheme. It uses one place; however the number of tokens could be large. The third diagnoser...
Tipo: 05
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/fault_diagnosis_in_discrete_event_systems_using_interpreted_petri_nets
Fault-Tolerant Gait Planning of Multi-Legged Robots
Provedor de dados: 192
Autores: Jung-Min Yang; Yong-Kuk Park; Jin-Gon Kim.
In this article, gait planning for static walking of hexapod robots has been considered from a different point of view. The notion of
a locked joint failure is introduced and its effect on robot walking is analyzed based on manipulator kinematics and gait study. A
locked joint failure does not reduce stability of a gait but constrain the workspace of the failed leg to a restricted area. We have
shown that there is a range of kinematic constraint on the configuration of the failed leg which guarantees the existence of
post-failure walking on the straight-line and crab-walking trajectory, respectively. A strategy of fault tolerance for a locked joint
failure has been proposed for the hexapod robot, in which the hexapod has discontinuous movement of the body...
Tipo: 28
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/fault-tolerant_gait_planning_of_multi-legged_robots
FC Portugal - High-Level Coordination Methodologies in Soccer Robotics
Provedor de dados: 192
Autores: Nuno Lau; Luis Paulo Reis.
FC Portugal research on coordination methodologies enabled the definition a model for the strategy of team for a particular soccer
game. This model is then implemented over SBSP and DPRE, enabling the team to perform in a very efficient way, as shown by
our controlled experiments and competition results, and also in a real-soccer like manner. The development tools that enabled the
tuning of the cooperative team behaviour and individual decision and individual skills mechanisms have been presented. These
tools are based on general principles that can be of applied to the development of several types of agent in different domains.
Tipo: 9
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/fc_portugal_-_high-level_coordination_methodologies_in_soccer_robotics
Feasibility Study on an Excavation-Type Demining Robot PEACE
Provedor de dados: 192
Autores: Yoshikazu Mori.
The author thanks Mr. Hachiroda TOKUNI of NOUKOU Co, Ltd., and Dr. Yoshio Kobayashi for providing a great deal of
valuable advice and many suggestions. Kazuhiro Takayama, Takeshi Adachi and Shintaro Omote have been my lab members in
Tokyo Metropolitan University. I would like to thank them for great efforts and lots of help.
Tipo: 24
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/feasibility_study_on_an_excavation-type_demining_robot_peace
Feasible Human-Spine Motion Simulators Based on Parallel Manipulators
Provedor de dados: 192
Autores: Si-Jun Zhu; Zhen Huang; Ming-Yang Zhao.
Considering the characteristics of a human spine including nearly isotropic kinematical performance, fast speed, available under
both active and passive modes and reachable workspace, three 3R2T 5-DoF fully-symmetrical parallel manipulators with
base-actuator, including 5-RRR(RR), 5-(RRR)RR, 5-(RRR)(RR) are adopted as feasible human spine motion simulators. To
decrease machining difficulty and guarantee the machining precision, 5RRR(RR) is designed and manufactured as the prototype
of spine motion simulator. After comparing reachable workspace of the prototype and that of human spine, the future work are
planned for further improving simulation capacity of the prototype.
Tipo: 22
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/feasible_human-spine_motion_simulators_based_on_parallel_manipulators
Feature Extraction and Grouping for Robot Vision Tasks
Provedor de dados: 192
Autores: Miguel Cazorla; Francisco Escolano.
Exploiting computer vision for performing robotic tasks, like recognizing a given place in the environment or simply computing
the relative orientation of the robot with respect to the environment, requires an in depth analysis of the vision modules involved
in such computations. In this paper, we have considered three types of computations: local computations (for the estimation of
junctions), local-to-global computations (for finding a geometric sketck) and voting-accumulation computations (for obtaining the
relative orientation of the robot). We have addressed the analysis of the latter modules from the point of view of three practical
requirements: reliability (robustness), efficiency and flexibility. These requirements are partially fullfiled by the...
Tipo: 6
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/feature_extraction_and_grouping_for_robot_vision_tasks
Finite Element Mesh Decomposition Using Evolving Ant Colony Optimization
Provedor de dados: 192
Autores: Ardeshir Bahreininejad.
The application of ant colony optimization using swarm intelligence concepts, in combination with a trained feedforward neural
network predictor which estimates the number of elements which will be generated within each element of the (initial) coarse
mesh after mesh refinement is carried out, to the recursive bisection of finite elements meshes was described. This algorithm
combines the features of the classical ant colony optimization technique with swarm intelligence to form a model which is an
artificial system designed to perform a certain task. This model is used to solve the finite elements mesh recursive bisection
problem which should ensure the minimum cut-size between bisections while maintaining balanced bisections. A recursive greedy
algorithm...
Tipo: 9
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/finite_element_mesh_decomposition_using_evolving_ant_colony_optimization
Flexible Manufacturing System Simulation Using Petri Nets
Provedor de dados: 192
Autores: Carlos Mireles; Alfonso Noriega; Gerardo Leyva.
1
Tipo: 6
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/flexible_manufacturing_system_simulation_using_petri_nets
Flocking Controls for Swarms of Mobile Robots Inspired by Fish Schools
Provedor de dados: 192
Autores: Geunho Lee; Nak Young Chong.
In this paper, we presented a decentralized algorithm of adaptive flocking and tracking, enabling a swarm of autonomous mobile
robots to navigate toward achieving a mission while adapting to an unknown environment. Through local interactions by
observing the position of the neighboring robots, the swarm could maintain a uniform distance between individual robots, and
adapt its direction of heading and geometric shape. We verified the effectiveness of the proposed strategy using our in-house
simulator. The simulation results clearly demonstrated that the proposed flocking and tracking are a simple and efficient approach
to autonomous navigation for robot swarms in a cluttered environment by repeating the process of splitting and merging of groups
passing...
Tipo: 4
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/flocking_controls_for_swarms_of_mobile_robots_inspired_by_fish_schools
Force Field Simulation Based Laser Scan Alignment
Provedor de dados: 192
Autores: Rolf Lakaemper; Nagesh Adluru.
We presented a new approach to the problem of multi robot mapping under the constraints given in rescue scenarios. It does not
rely on odometry i.e. the relative pose between the robots is unknown. It also can deal with the problem of extremely minimal
overlap. Experiments conducted on a real data set of a disaster area from NIST shows the performance of the FFS approach under
these complicated constraints and proved its applicability to the problem of multi robot mapping, they also proved the excellent
performance of the algorithm correcting effects from wrong pre alignment. The future work will mainly focus on detection of
higher level features: the modeling of the correspondence function with respect to the masses opens different ways to interface
to...
Tipo: 3
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/force_field_simulation_based_laser_scan_alignment
Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and
Force Sensing
Provedor de dados: 192
Autores: A. Schneider; U. Schmucker.
The control system algorithms and their technical realization for the robots "Masha" and "Katharina" are described in (Schmucker
et al., 1996; Schmucker, 2002). Each leg of "Katharina" has its own controller based on a microcontroller INTEL 87C196KR
which only controls the respective leg. The controller includes the CPU, FLASH-memory and RAM, a PWM output unit
(PWM-U), analog input unit (AIU) and a synchronous serial communication unit (SSCU) on the chip. All microcontroller units
are connected by a synchronous serial bus.
Tipo: 23
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/force_sensing_for_multi-legged_walking_robots__theory_and_experiments_part_1
__overview_and_force_sen
Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 2: Force Control of
Legged Vehicles
Provedor de dados: 192
Autores: A. Schneider; U. Schmucker.
Initial research began at the Institute of Mechanics together with the Institute for Problems of Information Transmission
(Moscow) at the initiative of Professors D.E. Okhotsimsky, V.S. Gurfinkel, members of the Russian Academy of Sciences and
Professor E.A. Devjanin. Research is continuing at the Fraunhofer Institute for Factory Operation and Automation (IFF,
Magdeburg) and is being supported by the Germany Research Foundation DFG. We would like to express special thanks to
Professor D. M. Gorinevsky, together with whom the basic results of the force distribution algorithms have been achieved and
also Professors A. Formalsky, and Yu. Golubev. The author is deeply grateful to Doctors A. Lensky, E. Gurfinkel and L.
Shtilman.
Tipo: 24
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/force_sensing_for_multi-legged_walking_robots__theory_and_experiments__part_
2__force_control_of_legg
Force Sensors in Hexapod Locomotion
Provedor de dados: 192
Autores: 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
Forcefree Control for Flexible Motion of Industrial Articulated Robot Arms
Provedor de dados: 192
Autores: Satoru Goto.
Tipo: 30
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/forcefree_control_for_flexible_motion_of_industrial_articulated_robot_arms
Formalizing and Validating UML Architecture Description of Service-Oriented Applications
Provedor de dados: 192
Autores: Zhijiang Dong; Yujian Fu; Xudong He; Yue Fu.
In this paper, we proposed a method to use SO-SAM to formally specify service-oriented application architectures modeled by an
extension of UML ? component and connector view. By doing so, we combine the benefit of UML ? easy to comprehend and
extensive tools support, and the analyzability of SO-SAM. The cost of our methods mainly comes from three parts: the
construction of algebraic specifications, the generation of algebraic high-level nets from statechart diagrams, and the creation of
temporal formulas from sequence diagrams. Since an algebraic specification is used to model the implied information of statechart
diagrams, generally speaking we can generate operation and sort definitions of an algebraic specification automatically, but not
for the...
Tipo: 22
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/formalizing_and_validating_uml_architecture_description_of_service-oriented_ap
plications
Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach
Provedor de dados: 192
Autores: Juan Marcos Toibero; Flavio Roberti; Ricardo Carelli; Paolo Fiorini.
In this chapter it has been addressed the problem of the autonomous navigation for a group of non-holonomic mobile robots. In a
first stage we considered the classic leader-based formation control problem. In spite of the stability property of this controller, we
have detected large transitory errors in some circumstances, being these errors unacceptable for many applications, such as
transporting large objects in a cooperative way. Based on these observations and in order to present a formal solution, we have
developed a hybrid approach for the formation problem. The continuous formation controller has been complemented with an
orientation controller for each follower, allowing a considerable reduction of formation errors during leader manoeuvres. The...
Tipo: 12
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/formation_control_for_non-holonomic_mobile_robots__a_hybrid_approach
Frequency Domain Face Recognition
Provedor de dados: 192
Autores: Marios Savvides; Ramamurthy Bhagavatula; Yung-hui Li; Ramzi Abiantun.
We have shown through the course of this chapter that the Fourier or frequency domain of facial data contains significantly more
useful information when processed than its spatial counterpart. The simple coupling of standard algorithms such as Eigenfaces and
Fisherfaces with frequency domain representation of phase and magnitude spectrums, can result in noticeable improvements in
performance as we have shown for pose and illumination tolerance. Evolving our intuition about the frequency domain leads us to
the group of algorithms collectively referred as ACFs. Primarily originating from frequency domain interpretations of data, ACFs
allow for significant discriminative ability while providing other attractive qualities such as shift invariance, noise...
Tipo: 26
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/frequency_domain_face_recognition
Friction Compensation in Hybrid Force/Velocity Control for Contour Tracking Tasks
Provedor de dados: 192
Autores: Antonio Visioli; Giacomo Ziliani; Giovanni Legnani.
Tipo: 32
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/friction_compensation_in_hybrid_force_velocity_control_for_contour_tracking_ta
sks
From Canonical Face to Synthesis - an Illumination Invariant Face Recognition Approach
Provedor de dados: 192
Autores: Tele Tan.
The results obtained using the canonical face recovery algorithm is very encouraging. We have shown that the minimum number
of illumination specified bootstrap images (i.e. N) needed to generate a stable canonical face ranges between 3 and 5. This makes
good hardware design sense as an elaborate light stage setup (Sim et al., 2003) (Debevec et al., 2000) becomes unnecessary.
Currently we are fabricating a low-cost portable light array module used to implement the canonical face recovery. Depending on
the role, this lighting module can be embedded into the different stages of the face recognition system. For example, the module
can be introduced during the registration stage where the objective is to capture a good quality neutral image of the subject (i.e....
Tipo: 27
Palavras-chave: Face Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/from_canonical_face_to_synthesis_-_an_illumination_invariant_face_recognition_
approach
"From Saying to Doing" - Natural Language Interaction with Artificial Agents and Robots
Provedor de dados: 192
Autores: Christel Kemke.
In this paper we presented a framework for action descriptions and its connection to natural language interfaces for artificial
agents. The core point of this approach is the use of a generic action/object hierarchy, which allows interpretation of natural
language command sentences, issued by a human user, as well as planning and reasoning processes on the conceptual level, and
connects to the level of agent executable actions. The linguistic analysis is guided by a case frame representation, which provides
a connection to actions (and objects) represented on the conceptual level. Planning processes can be implemented using typical
precondition and effect descriptions of actions in the conceptual hierarchy. The level of primitive actions (leaf nodes of...
Tipo: 09
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/_from_saying_to_doing__-_natural_language_interaction_with_artificial_agents_a
nd_robots
From Time Petri Nets to Timed Automata
Provedor de dados: 192
Autores: Franck Cassez; Olivier H. Roux.
In this chapter, we have presented time Petri Nets (TPNs) and a structural translation from TPNs to TA. Any TPN T and its
associated TA (T ) are timed bisimilar. Such a translation has many theoretical implications. Most of the positive theoretical
results on TA carry over to TPNs. The class of TPNs can be extended by allowing strict constraints (open, half-open or closed
intervals) to specify the firing dates of the transitions; for this extended class, the following results follow from our translation and
from Theorem 5: ? TCTL model checking is decidable for bounded TPNs. Moreover efficient algorithms used in U PPAAL
(Pettersson and Larsen, 2000) and K RONOS (Yovine, 1997) are exact for the class of TA obtained with our translation; ? it is
decidable...
Tipo: 11
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/from_time_petri_nets_to_timed_automata
Functional Rehabilitation: Coordination of Artificial and Natural Controllers
Provedor de dados: 192
Autores: Rodolphe Heliot; Christine Azevedo; Bernard Espiau.
In the framework of FES-assisted rehabilitation and reeducation, we addressed in this chapter the problem of the interaction
between artificial and natural systems co-existing within patient's body. Our approach consisted in placing micro-sensors on
subject's healthy limbs (trunk, intact leg...) in order to observe voluntary actions at two stages: detecting patient's intention, and
monitoring an ongoing action. We also formalized a unified framework to merge these strategic and tactic levels. We illustrated
the approach by implementing solutions for two practical examples: detection of sit-to-stand transfer and gait monitoring, and
validated the developed algorithms with online experiments performed on valid subjects. Since the targeted application of...
Tipo: 10
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/functional_rehabilitation__coordination_of_artificial_and_natural_controllers
Fuzzy Multiple Agent Decision Support Systems for Supply Chain Management
Provedor de dados: 192
Autores: Mohammad Hossein Fazel Zarandi; Mohammad Mehdi Fazel Zarandi.
This chapter proposes a proper modular architecture for the information agent, based on the inputs, functions, and outputs of the
agent, for supply chain management. The proposed architecture has nine different modules, each of which is responsible for one
or more function(s) for the information agent. Then, we explored the occurrence of bullwhip effect in supply chains, in a fuzzy
environment. We built an agent-based system which can operate in a fuzzy environment and is capable of managing the supply
chain in a completely uncertain environment. They are able to track demands, remove the bullwhip effect almost completely, and
discover policies under complex scenarios, where analytical solutions are not available. Such an automated supply chain is...
Tipo: 11
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/fuzzy_multiple_agent_decision_support_systems_for_supply_chain_management
Fuzzy Parameters and Their Arithmetic Operations in Supply Chain Systems
Provedor de dados: 192
Autores: Rajan Alex.
Tipo: 10
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/fuzzy_parameters_and_their_arithmetic_operations_in_supply_chain_systems
Fuzzy Stabilization of Fuzzy Control Systems
Provedor de dados: 192
Autores: Mohamed M. Elkhatib; John J. Soraghan.
This chapter presented a practical approach to stabilize fuzzy systems based on adaptive nonlinear feedback using a fuzzy
stabilizer in the feedback loop. For this we needed to identify the nonlinearity range of the system. The fuzzy stabilizer is tuned so
that the system nonlinearities lie in a bounded sector as delivered by using the circle criterion theory. Because of circle criterion’s
graphical nature; the designer is given a physical feel for the system. The concept has been used to ensure stability of a car-like
robot controller. In addition, the idea has been extended to stabilize MIMO systems based on the additively decomposition
technique.
Tipo: 12
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/fuzzy_stabilization_of_fuzzy_control_systems
Gait Programming for Multi-Legged Robot Climbing on Walls and Ceilings
Provedor de dados: 192
Autores: Jinwu Qian; Zhen Zhang; Li Ma.
The research on transition gait programming makes it possible for the robot to act both as a ground-walking machine and as a
wall-climbing robot as well. It forms the basis of gait kinematics in developing a six-legged wall-and-ground-walking robot. It is a
new attempt to investigate ground-to-wall transit gait programming of six-legged robot in the research field of walking machines.
Employing kinematics geometry, the authors decompose the relatively complicated transit walking into combination of two basic
motions. The method proposed is verified by kinematics simulation as correct and effective. The feasibility of the ground-wall
transitional motion of the legged robot is mainly determined by the distance H and D. Too large or small values of them...
Tipo: 10
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/gait_programming_for_multi-legged_robot_climbing_on_walls_and_ceilings
Gait Synthesis in Legged Robot Locomotion Using a CPG-Based Model
Provedor de dados: 192
Autores: J. Cappelletto; P. Estévez; J. C. Grieco; W. Medina-Meléndez; G.
Fernández-López.
6.1 Conclusions A state of the art review was exposed for locomotion modes in quadrupeds and hexapods. In the review were
identified the most relevant components for each neurophysiologic model; also the advantages and disadvantages of each model
were discussed. It must be noticed that some coincidences in the proposed problem, related to the modeling using not only the
conventional method but also the neurophysiologic approach were found; in both cases, the model is based on two systems: one
modeling the temporal coordination among the legs and the other one modelling the trajectory control for each leg. The proposed
idea is to divide the locomotion trajectory generation issue in two problems: the coordination of the phase relationships among the
legs and...
Tipo: 14
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/gait_synthesis_in_legged_robot_locomotion_using_a_cpg-based_model
Gait Transition from Quadrupedal to Bipedal Locomotion of an Oscillator-driven Biped Robot
Provedor de dados: 192
Autores: Shinya Aoi; Kazuo Tsuchiya.
Kinematical and dynamical studies on biped robots are important for robot control. As described above, although model-based
approaches using inverse kinematics and kinetics have generally been used, the difficulty of establishing adaptability to various
environments as well as complicated computations has often been pointed out. In this paper, we employed an internal structure
composed of nonlinear oscillators that generated robot kinematics and adequately responded based on environmental situations
and achieved dynamically stable quadrupedal and bipedal locomotion and their transition in a biped robot. Specifically, we
generated robot kinematical motions using rhythmic signals from internal oscillators. The oscillators appropriately responded to
sensory...
Tipo: 2
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/gait_transition_from_quadrupedal_to_bipedal_locomotion_of_an_oscillator-driven
_biped_robot
Gauging Intelligence of Mobile Robots
Provedor de dados: 192
Autores: Ka C. Cheok.
The paper illustrates three means for gauging the intelligence of mobile robots: The qualitative perception of intelligence based on
extending Turing test to the systems at hand; the quantitative measure that gauges task-specific intelligence from its performance
in uncertain environments; the comparative measure that calibrates difficulty levels of what the system has to do against levels of
human skills. The framework of an agent, an environment and a goal was applied to two case studies was helpful in gauging the
intelligence of the mobile robots. An important field experiment reveals that the autonomous obstacle course challenge in the
IGVC requires the sensory-motor-decision skill of at least a four-year old. As frontiers of and education efforts on...
Tipo: 7
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/gauging_intelligence_of_mobile_robots
Geminoid: Teleoperated Android of an Existing Person
Provedor de dados: 192
Autores: 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
Generating Natural Motion in an Android by Mapping Human Motion
Provedor de dados: 192
Autores: Daisuke Matsui; Takashi Minato; Karl F. MacDorman; Hiroshi Ishiguro.
This paper has proposed a method of implementing humanlike motions by mapping their three-dimensional appearance to the
android using a motion capture system. By measuring the android's posture and comparing it to the posture of a human subject, we
propose a new method to evaluate motion sequences along bodily surfaces. Unlike other approaches that focus on reducing joint
angle errors, we consider how to evaluate differences in the android's apparent motion, that is, motion at its visible surfaces. The
experimental results show the effectiveness of the evaluation: the method can transfer human motion. However, the method is
restricted by the speed of the motion. We have to introduce a method to deal with the dynamic characteristics (Ben=Amor et al.,
2007)...
Tipo: 18
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/generating_natural_motion_in_an_android_by_mapping_human_motion
Generating Timed Trajectories for Autonomous Robotic Platforms: A Non-Linear Dynamical
Systems Approach
Provedor de dados: 192
Autores: 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
Genetic Algorithm for Linear Feature Extraction
Provedor de dados: 192
Autores: Alberto J. Perez Jimenez; Juan Carlos Perez Cortes.
From the results obtained, we can conclude that although NDA obtains good results with non-linear projections in all data sets,
similar results can be obtained using GLP in most of them. This indicates to us that, in practice, linear projections can obtain
results just as good as non-linear projections in most cases. Even though PCA employs linear projections as well, it performs
worse in some data sets probably because it is an unsupervised method. Classical linear, supervised feature extraction methods
like LDA have important limitations: first, the number of new features is limited by the number of classes; and second, numerical
problems arise when working with high dimensional or small data sets, restricting its use.
Tipo: 22
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/genetic_algorithm_for_linear_feature_extraction
Genetic Algorithms: Basic Ideas, Variants and Analysis
Provedor de dados: 192
Autores: R. R. Sharapov.
1
Tipo: 21
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/genetic_algorithms__basic_ideas__variants_and_analysis
Global Navigation of Assistant Robots using Partially Observable Markov Decision Processes
Provedor de dados: 192
Autores: 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_decisi
on_processes
Global Techniques for Edge based Stereo Matching
Provedor de dados: 192
Autores: Yassine Ruichek; Mohamed Hariti; Hazem Issa.
We proposed global techniques for edge stereo matching. The problem is formulated as a constraint satisfaction problem where
the objective is to highlight a solution for which the matches are as compatible as possible with respect to specific constraints:
local constraints and global ones. The local constraints are used to discard impossible matches so as to consider only potentially
acceptable pairs of edges as candidates. The global constraints are used to evaluate the compatibility between the possible matches
in order to determine the best ones. In the first technique, the problem is turned into an optimization task where an objective
function, representing the global constraints, is mapped and minimized thanks to a Hopfield neural network. This neural...
Tipo: 21
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/global_techniques_for_edge_based_stereo_matching
GPR Environmental-Based Landmine Automatic Detection
Provedor de dados: 192
Autores: Zakarya Zyada; Yasuhiro Kawai; Shinsuke Sato; Takayuki Matsuno Yasuhisa Hasegawa; Toshio Fukuda.
In this chapter, GPR environmental-based landmine automatic detection is presented. The contribution of the presented research
can be summarized in: (1) introducing a lowpressure-tire vehicle as a sensor manipulator. It is capable to move inside a mine field
without detonating a group of anti-personnel landmines; (2) introducing a signal processing technique for the enhancement of
GPR images for an undulating surface. Signal processing for ground adaptive scanning and its image results are presented
applying a vector FMCW GPR; (3) an automatic detection method of an anti-personal land mine based on fuzzy fusion rules for
GRR-MD is presented. Fuzzy technique is applied for learning a fuzzy rulebase from examples. The proposed method is easy to
be...
Tipo: 6
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/gpr_environmental-based_landmine_automatic_detection
Grasping Points Determination Using Visual Features
Provedor de dados: 192
Autores: Madjid Boudaba; Alicia Casals; Heinz Woern.
We have introduced an approach that combines vision and grasping. Based on the vision, visually determining grasping points is
done by transforming the grasping regions into a geometrical optimization problem. The results shown in Figure 6 are obtained
from applying the software packages in [20] to our Matlab 6.12 programming environment. In order to compute the feasible
region of various grasps, we have integrated other linear programming solvers by providing a set of constraints for optimization
procedure. Various grasps with three hard-fingers are tested on 2D original object and the feasible solution of grasps are
determined by analysing the polytope region of grasps. The focus point inside the polytope convex and its distance from the
object's center...
Tipo: 4
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/grasping_points_determination_using_visual_features
Green's Functions of Matching Equations: A Unifying Approach for Low-level Vision Problems
Provedor de dados: 192
Autores: Jose R. A. Torreao; Joao L. Fernandes; Marcos S. Amaral; Leonardo Beltrao.
We have reviewed the computer vision applications of Green's functions of image matching equations. Green's functions of both
uniform- and affine-matching second-order differential equations have been considered, and we have illustrated their use for the
computer vision problems of edge detection, monocular shape estimation, and stereoscopy. The Green's filters considered are
essentially point-spread functions which have proven able to model the image-plane projection of a broad class of motions, along
with their associated blur effects (Ferreira Jr. et al., 2004). As shown here, such motion modeling capability makes them suitable
for a unifying approach to several low-level vision processes, whose full consequences still remain to be explored. This work...
Tipo: 19
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/green_s_functions_of_matching_equations__a_unifying_approach_for_low-level_
vision_problems
Grid Technologies for Intelligent Autonomous Robot Swarms
Provedor de dados: 192
Autores: 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
Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control
Implications
Provedor de dados: 192
Autores: Marko B. Popovic; Hugh Herr.
Tipo: 5
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/ground_reference_points_in_legged_locomotion__definitions__biological_trajecto
ries_and_control_impli
Group Judgement with Ties. Distance-Based Methods
Provedor de dados: 192
Autores: Hanna Bury; Dariusz Wagner.
1
Tipo: 9
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/group_judgement_with_ties__distance-based_methods
Habitation and Noise
Provedor de dados: 192
Autores: 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
Haptic Device System For Upper Limb Motor Impairment Patients: Developing And Handling In
Healthy Subjects
Provedor de dados: 192
Autores: Tasuku Miyoshi; Yoshiyuki Takahashi; Hokyoo Lee; Takafumi Terada; Yuko Ito; Kaoru Inoue; Takashi Komeda.
Tipo: 18
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/haptic_device_system_for_upper_limb_motor_impairment_patients__developing_
and_handling_in_healthy_su
Heuristics for Unrelated Parallel Machine Scheduling with Secondary Resource Constraints
Provedor de dados: 192
Autores: Jeng-Fung Chen.
Source: Multiprocessor Scheduling: Theory and Applications, Book edited by Eugene Levner, ISBN 978-3-902613-02-8, pp.436,
December 2007, Itech Education and Publishing, Vienna, Austria
Tipo: 8
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/heuristics_for_unrelated_parallel_machine_scheduling_with_secondary_resource_
constraints
Hierarchical Reactive Control for Soccer Playing Humanoid Robots
Provedor de dados: 192
Autores: Sven Behnke; Jorg Stuckler; Hauke Strasdat; Michael Schreiber.
This chapter described the design of the behavior control software for our humanoid soccer robots, which successfully took part as
team NimbRo at the RoboCup 2006 competitions. We implemented the control software in a framework that supports a hierarchy
of reactive behaviors. This structure restricts interactions between the system variables and thus reduces the complexity of
behavior engineering. A kinematic interface for body parts made it possible to abstract from individual joints when implementing
basic skills like omnidirectional walking. These basic skills made it possible to abstract from body parts when implementing more
complex soccer behaviors. At this player level, our humanoid robots are very similar to wheeled or four-legged soccer robots....
Tipo: 33
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/hierarchical_reactive_control_for_soccer_playing_humanoid_robots
Homogeneous Approach for Output Feedback Tracking Control of Robot Manipulators
Provedor de dados: 192
Autores: Luis T. Aguilar.
Tipo: 14
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/homogeneous_approach_for_output_feedback_tracking_control_of_robot_manipul
ators
How Negotiation Influences the Effective Adoption of the Revenue Sharing Contract: A Multi-Agent
Systems Approach
Provedor de dados: 192
Autores: Ilaria Giannoccaro; Pierpaolo Pontrandolfo.
The revenue sharing contract is a coordination mechanism adopted by supply chains, wherein the decision making process is
decentralized, to assure channel coordination. It has been mainly used in the video-rental industry by firms such as Blockbuster or
Hollywood Planet. Despite the ease of this coordination mechanism, based on two parameters, the RS contract is not much
widespread in other industries due to implementation problems. We have then analyzed this issue. First, we have defined the
features of the video rental industry which we believe critical with respect to the RS contract adoption. This has allowed other
industries to be identified as potential users of the contract. Then, we have described the design of a RS contract for a two-stage
SC that...
Tipo: 5
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/how_negotiation_influences_the_effective_adoption_of_the_revenue_sharing_cont
ract__a_multi-agent_sys
Human Detection and Gesture Recognition Based on Ambient Intelligence
Provedor de dados: 192
Autores: 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
Human Hand as a Parallel Manipulator
Provedor de dados: 192
Autores: Vladimir M. Zatsiorsky ad Mark L. Latash.
1
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
Humanitarian Demining: Research Challenges
Provedor de dados: 192
Autores: James Trevelyan.
1
Tipo: 2
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/humanitarian_demining__research_challenges
Humanitarian Demining: the Problem, Difficulties, Priorities, Demining Technology and the
Challenge for Robotics
Provedor de dados: 192
Autores: Maki K. Habib.
The major technical challenge facing the detection of individual mine lies on having the ability to discriminate landmines from
metal debris, natural clutters, and other objects without the need for vegetation cutting. Future efforts to improve detection should
focus on providing discrimination capabilities that includes the fusion of information coming from multi heterogeneous and/or
homogenous sensors, and the incorporation of advanced signal processing techniques to support real-time processing and decision
making. For the purpose of mine clearance, there is an urgent need to have cost-effective and efficient clearance techniques and
technologies to clear landmines in different types of terrain and under different climate variations. This should be...
Tipo: 1
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/humanitarian_demining__the_problem__difficulties__priorities__demining_techno
logy_and_the_challenge_
Humanitarian Demining Using an Insect Based Chemical Unmanned Aerial Vehicle
Provedor de dados: 192
Autores: Sergi Bermudez i Badia; Paul F.M.J. Verschure.
In this project we investigated the use of a chemo-sensing Unmanned Aerial Vehicle (cUAV) for humanitarian demining tasks. In
this chapter we have shown a wide spectrum of developments oriented towards the autonomous and non-supervised mine
detection on large scale and unspecified environments by means of a blimp-based chemo-sensing UAV equipped with a broadly
tuned metal thin oxide chemo-sensor. These developments include the design and construction of a number of indoor robots
(mobile and flying robots), the first outdoor chemo-sensing UAV, novel insect based flight control methods and a number of moth
based localization strategies. The central assumption of our work is that we can develop advanced and effective demining systems
by basing them on insect...
Tipo: 8
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/humanitarian_demining_using_an_insect_based_chemical_unmanned_aerial_vehic
le
Humanoid Robot Balancing
Provedor de dados: 192
Autores: Youngjin Choi; Doik Kim.
This work was supported by IT R & D program of MIC & IITA (2006-S-028-01, Development of Cooperative
Network-based Humanoids Technology), Republic of Korea.
Tipo: 18
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/humanoid_robot_balancing
Humanoid Robot Motion in Unstructured Environment - Generation of Various Gait Patterns from a
Single Nominal
Provedor de dados: 192
Autores: Miomir Vukobratovic; Dejan Andric; Branislav Borovac.
The future will bring about the growing application of humanoid robots, which will be increasingly more engaged in the close
living and working environment of humans. This 597
Tipo: 34
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/humanoid_robot_motion_in_unstructured_environment_-_generation_of_various_
gait_patterns_from_a_singl
Humanoid Robot Navigation Based on Groping Locomotion Algorithm to Avoid an Obstacle
Provedor de dados: 192
Autores: Hanafiah Yussof; Mitsuhiro Yamano; Yasuo Nasu; Masahiro Ohka.
The development of autonomous navigation system for humanoid robot to solve the problem of "working coexistence" of humans
and robots is an important issue. It is apparent that the common living and working environment to be shared by humanoid robots
is presently adapted mainly to human, and it cannot be expected that this will be significantly changed to suit the needs of robots.
Hence, the problem of human-humanoid robot interaction, and humanoid robot-surrounding environment interaction are become
the research topics that are gaining more and more in importance. Furthermore, contact interaction-based navigation system is
practically significant for humanoid robots to accurately structure and recognize their surrounding conditions (Ellery, 2005,
Salter...
Tipo: 1
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/humanoid_robot_navigation_based_on_groping_locomotion_algorithm_to_avoid_
an_obstacle
Human-Robot Interaction Control for Industrial Robot Arm through Software Platform for Agents
and Knowledge Management
Provedor de dados: 192
Autores: Tao Zhang; Vuthichai Ampornaramveth; Haruki Ueno.
Tipo: 24
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/human-robot_interaction_control_for_industrial_robot_arm_through_software_plat
form_for_agents_and_kn
Human-Robot Interface for End Effectors
Provedor de dados: 192
Autores: Marcin Kaczmarski.
This work presented aspects connected with the structure and control of a five finger, anthropomorphic gripper, working under the
supervision of a vision system. The presented construction is characterized by some simplifications in comparison to the real
human hand, as it has only 9 Degrees Of Freedom. However, those limitations do not reduce its grasping possibilities, which was
shown in the paper. This hand had no problem with grasping objects of different shapes by adapting the position of fingertips to
the shape of body edge. The mechanical construction has an additional DOFs which could make its manipulating possibilities
closer to the human hand; however, they are blocked to simplify the algorithms of the vision control feedback loop. Examples...
Tipo: 08
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/human-robot_interface_for_end_effectors
Hunting in an Environment Containing Obstacles: A Combinatory Study of Incremental Evolution
and Co-Evolutionary Approaches
Provedor de dados: 192
Autores: Ioannis Mermigkis; Loukas Petrou.
The possibility to provide an experimental framework for evolutionary biology and evolutionary game theory are the main
strengths of the coevolutionary methodology. E.g.,
Tipo: 22
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/hunting_in_an_environment_containing_obstacles__a_combinatory_study_of_incr
emental_evolution_and_co-
Hybrid Ant Colony Optimization for the Channel Assignment Problem in Wireless Communication
Provedor de dados: 192
Autores: Peng-Yeng Yin; Shan-Cheng Li.
In this chapter, we investigate the channel assignment problem (CAP) that is critical in wireless communication applications.
Researchers strive to develop algorithms that are able to effectively assign limited channels to a number of cells with
nonhomogeneous demands. Inspired by the recent success of metaheuristics, a hybrid ant colony optimisation (HACO) is
proposed in this chapter. The HACO embodies several problem-dependent heuristics including ordering, sequential packing, and a
local optimiser into an ACO framework. The advantages of this hybrid are two-fold. First, the EMC constraints can be effectively
handled by the problem-dependent heuristics instead of using a penalty function as observed in other works which may lengthen
the elapsed time in...
Tipo: 23
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/hybrid_ant_colony_optimization_for_the_channel_assignment_problem_in_wirele
ss_communication
Hybrid Job Shop and Parallel Machine Scheduling Problems: Minimization of Total Tardiness
Criterion
Provedor de dados: 192
Autores: 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
Hybrid Optimisation Method for the Facility Layout Problem
Provedor de dados: 192
Autores: Yasmina Hani; Lionel Amodeo; Farouk Yalaoui; Haoxun Chen.
We have proposed a robust meta-heuristic algorithm for the layout problem modelled as a QAP. The algorithm is based on ant
colony algorithm combined with a guided local search, and it uses an augmented cost function in order to guide the local search
out of a local optimum. The performance of the proposed algorithm was also evaluated on a number of benchmark problems
selected from the literature and compared with other heuristics developed for the facility layout problem as well as other
algorithms recently developed for the QAP. The experimental results reveal that the proposed algorithm is effective and efficient
for the facility layout problem considered. Other heuristic algorithms for the FLP shall be devised, tested, and compared with our
algorithm in...
Tipo: 18
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/hybrid_optimisation_method_for_the_facility_layout_problem
Hybrid Parallel Robot for the Assembling of ITER
Provedor de dados: 192
Autores: Huapeng Wu; Heikki Handroos; Pekka Pessi.
A hybrid parallel robot with four additional serial motion axes is developed for carrying out the necessary machining and welding
tasks in the assembling and repairing of the ITER Vacuum Vessel. The robot is capable of holding all necessary machining tools
and welding end-effectors in all positions accurately and stably. The kinematics analysis of the robot is presented. The models are
complex because of the redundant structure of the robot. The models are separately derived for the Hexa-WH and the carriage
mechanism. An optimization algorithm finds the solution in the trajectory planning, ensuring the maximum stiffness during the
robot motion. The experiments of the laser welding tests with the seam tracker have been carried out. Both the on-line and...
Tipo: 17
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/hybrid_parallel_robot_for_the_assembling_of_iter
Hybrid Search Heuristics to Schedule Bottleneck Facility in Manufacturing Systems
Provedor de dados: 192
Autores: Ponnambalam S.G.; Jawahar N.; Maheswaran. R.
Scheduling function is embedded in the domain of production planning control and it plays an important role in the manufacturing
process. The bottleneck scheduling problems can arise in different practical situations in the manufacturing system. The objective
function of scheduling problem may be minimization of make span, lateness, weighted measures etc. In
Tipo: 10
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/hybrid_search_heuristics_to_schedule_bottleneck_facility_in_manufacturing_syste
ms
Hypermobile Robots
Provedor de dados: 192
Autores: Grzegorz Granosik.
We have made an extended literature review in order to analyze methodologies used in designing and building hypermobile
robots. We have also included our own experience in this field coming from Omnis project and recent Wheeeler development.
The most important information of each hypermobile robot is summarized in Table 4.
Tipo: 17
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/hypermobile_robots
Identical Parallel Machine Scheduling with Dynamical Networks using Time-Varying Penalty
Parameters
Provedor de dados: 192
Autores: Derya Eren Akyol.
This study has presented a dynamical gradient network for solving the identical parallel machine scheduling problem with the
makespan criterion which is known to be NP-hard even for the case of two identical parallel machines. Focus of this paper has
been on demonstrating the optimization capabilities of the proposed network by solving a set of randomly generated problems.
The proposed Hopfield-like network uses time-varying penalty parameters that start from zero and increase in a stepwise manner
during iterations to overcome the tradeoff problem of the penalty function method, one of the important drawbacks of the penalty
function approach.. To analyse the performance of the network, it is compared with the well-known LPT heuristic commonly used
to solve...
Tipo: 17
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/identical_parallel_machine_scheduling_with_dynamical_networks_using_time-var
ying_penalty_parameters
Image Compression Effects in Face Recognition Systems
Provedor de dados: 192
Autores: Kresimir Delac; Mislav Grgic; Sonja Grgic.
We can group the conclusions based on a level of compression and the probe sets into two parts: i) higher compression rates (0.5,
0.3 and in some cases even 0.2 bpp) seem to be suitable for recognizing faces with different expressions (fb probe set) and images
taken in different illumination conditions (fc probe set); ii) lower compression rates (1 bpp) seem to be suitable for recognizing
images taken at different points in time (dup1 and dup2 probe set). Taking this analysis into account, it seems that the current
practice of deciding on the level of compression based on visual distortion of images is wrong. While the images compressed to
0.3 bpp are visually significantly distorted, the recognition results are in almost all experiments statistically...
Tipo: 5
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/image_compression_effects_in_face_recognition_systems
Image Guided Robotic Systems for Focal Ultrasound Based Surgical Applications
Provedor de dados: 192
Autores: Sunita Chauhan.
The author would like to thankfully acknowledge the funding support from Agency for Science, Technology and Research,
A*STAR, Singapore and Ministry of Education, Singapore. Many thanks also go to collaborators at NTU and clinical
collaborators at Klinikum Mannheim, University of Heidelberg, Germany and NNI, Singapore, . The assistance from students and
staff at the robotic research center, in helping to implement the concepts presented here, is highly appreciated.
Tipo: 4
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/image_guided_robotic_systems_for_focal_ultrasound_based_surgical_applications
Image Magnification Based on the Human Visual Processing
Provedor de dados: 192
Autores: 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
Image Matching based on Curvilinear Regions
Provedor de dados: 192
Autores: J. Perez Lorenzo; R. Vazquez Martin; R. Marfil; A. Bandera; F. Sandoval.
This chapter presents a method for image matching which is based on the detection and characterisation of curvilinear regions. In
a curvilinear region, the ratio between its average width and its total length should be less than a predefined threshold. Besides,
left and right borders should be locally parallel, it should exist a geometric similarity around the region axis and the colour along
this axis should be homogeneous. That is, they constitute particular image structures and, therefore, the method is restricted to
scenes where these particular items are presented. On the contrary, curvilinear regions automatically deform with changing
viewpoint as to keep on covering identical physical parts of a scene. For this reason, they can be used as...
Tipo: 9
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/image_matching_based_on_curvilinear_regions
Image Processing Techniques for Unsupervised Pattern Classification
Provedor de dados: 192
Autores: 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
Image Similarity based on a Distributional "Metric" for Multivariate Data
Provedor de dados: 192
Autores: Christos Theoharatos; Nikolaos A. Laskaris; George Economou; Spiros Fotopoulos.
An intelligent strategy to visual information similarity is introduced based on the use of the nonparametric multivariate
Wald-Wolfowitz statistical test. Our approach relies on a dual segregation-integration algorithmic step. The set of low-level
characteristics is extracted in the form of an ensemble of feature-vectors and then `set-differences' are computed between pairs of
image representations. The new method is built on firm mathematical concepts, providing us with all the practical advantages of
employing a suitable distributional distance. Its intelligent character stems from the fact that by altering the involved visual
information, we can modify the flavour of formulated queries. By measuring the performance of the proposed distributional
measure...
Tipo: 17
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/image_similarity_based_on_a_distributional__metric__for_multivariate_data
Image-based Subspace Analysis for Face Recognition
Provedor de dados: 192
Autores: Vo Dinh Minh Nhat; SungYoung Lee.
In this chapter, we have shown the class of low-rank approximation algorithms based directly on image data. In general, those
algorithms are reduced to a couple of eigenvalue
Tipo: 17
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/image-based_subspace_analysis_for_face_recognition
Imitation Learning Based Talking Heads in Humanoid Robotics
Provedor de dados: 192
Autores: 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
Impact of Hybrid Business Models in the Supply Chain Performance
Provedor de dados: 192
Autores: C. Martinez-Olvera.
The international supply chain (SC) is the way to compete in today's market. The business model used by the SC members must
be dynamic in order to respond to changes in the customers' demands, at an appropriate cost. For this reason is that in practice, SC
members have opted to use hybrid business models. The objective of this chapter was to quantitatively evaluate the influence
these hybrid business models have on the performance of the supply chain. For this purpose, a systems dynamics (SD) simulation
model was built and used to test a series of different scenarios (i.e. the effect of varying the level of demand uncertainty and lead
time variation, and the effect of varying the business model integration ratio). Statistical data was collected regarding...
Tipo: 8
Palavras-chave: Supply Chain.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/impact_of_hybrid_business_models_in_the_supply_chain_performance
Impossibles: A Fully Autonomous Four-Legged Robot Soccer Team
Provedor de dados: 192
Autores: 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
Improving Face Recognition by Video Spatial Morphing
Provedor de dados: 192
Autores: Armando Padilha; Jorge Silva; Raquel Sebastiao.
This work addressed the applicability of Independent Component Analysis to face recognition through image analysis, namely to
the facial authentication problem. We defined and tested the main functionality of a potentially automatic vision system. In fact,
some aspects of the process have been performed manually, but it is well known and the literature clearly documents successful
automated methods for those operations. The main purpose of the system is to validate the clients' access to restricted areas and to
avoid the entrance of impostors, using as few restrictions on the environment as possible, and causing virtually no discomfort on
the clients, both by not forcing them to multiple image acquisitions in the database construction phase, and by...
Tipo: 19
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/improving_face_recognition_by_video_spatial_morphing
Improving Machining Accuracy Using Smart Materials
Provedor de dados: 192
Autores: Maki K. Rashid.
Tipo: 17
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/improving_machining_accuracy_using_smart_materials
Improving the Grapevine Technology by Optimising the Utilisation of the Environmenthal Resources
in the Murfatlar Vineyard
Provedor de dados: 192
Autores: Aurora Ranca.
The yearly climatic condition represented mainly by thermal, lightening and hydro parameters specific for the vineyard biotope
are directly related with growing and developing rate of plants, changing the active period of the these influencing the
achievement of a constant and qualitative harvest (Jones, 2005, Stock, 2005).
Tipo: 11
Palavras-chave: Environmental Technologies.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/improving_the_grapevine_technology_by_optimising_the_utilisation_of_the_envir
onmenthal_resources_in_
Incremental Integer Linear Programming Models for Petri Nets Reachability Problems
Provedor de dados: 192
Autores: Thomas Bourdeaud'huy; Said Hanafi; Pascal Yim.
In this chapter, we present techniques for solving reachability problems in PN and TPN based on mathematical programming. The
approach is based on an incremental search using step sequences that represent parallel and reentrant firings of transitions. The
mathematical model used allows the formulation and verification of reachability-based analysis problems. Concerning PNs, we
have proposed two formulations of the reachability problem, leading to integer and/or binary programming models. For each of
them, we have developped some additional procedures, relaxation techniques and objective functions in order to improve the
computational efficiency of the resolution. Numerical experiments have demonstrated the efficiency of our approach compared to
standard...
Tipo: 18
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/incremental_integer_linear_programming_models_for_petri_nets_reachability_pro
blems
Indoor Air Pollution in the Romanian Homes
Provedor de dados: 192
Autores: Anca Maria Moldoveanu.
1
Tipo: 7
Palavras-chave: Environmental Technologies.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/indoor_air_pollution_in_the_romanian_homes
Inductive Approaches Based on Trial/Error Paradigm for Communications Network
Provedor de dados: 192
Autores: Abdelhamid Mellouk.
Due to the growing needs in telecommunications (VoD, Video-Conference, VoIP, etc.) and the diversity of transported flows,
communication networks does not meet the requirements of the future integrated-service networks that carry multimedia data
traffic with a high QoS. The main drivers of this evolution are the continuous growth of the bandwidth requests, the promise of
cost improvements and finally the possibility of increasing profits by offering new services. First, it does not support resource
reservation which is primordial to guarantee an end-to-end Qos (bounded delay, bounded delay jitter, and/or bounded loss ratio).
Second, data packets may be subjected to unpredictable delays and thus may arrive at their destination after the expiration time,...
Tipo: 18
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/inductive_approaches_based_on_trial_error_paradigm_for_communications_netw
ork
Industrial and Mobile Robot Collision-Free Motion Planning Using Fuzzy Logic Algorithms
Provedor de dados: 192
Autores: Tzafestas S. G.; Zavlangas P.
Tipo: 10
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/industrial_and_mobile_robot_collision-free_motion_planning_using_fuzzy_logic_
algorithms
Industrial Robot Control System Parametric Design on the Base of Methods for Uncertain Systems
Robustness
Provedor de dados: 192
Autores: Alla A. Nesenchuk; Victor A. Nesenchuk.
Tipo: 33
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/industrial_robot_control_system_parametric_design_on_the_base_of_methods_for
_uncertain_systems_robus
Industrial Vision Systems, Real Time and Demanding Environment: a Working Case for Quality
Control
Provedor de dados: 192
Autores: J.C. Rodriguez-Rodriguez; A. Quesada-Arencibia; R. Moreno-Diaz jr.
In this paper we studied a series of algorithms based on simple operations performed with fast arithmetic. The restriction on the
used operations is due to the stress-producing requests of speed. Unfortunately, the obtained results prove that the series of
algorithms mentioned IS NOT SUFFICIENT for the requirements. The problem results in that the processing time for each can is
variable and sometimes it is excessive. This is due to the fact that each can can offer different challenges of process complexity.
For example cans with a lot of noise generate more flooded zones, and the number of flooded zones enlarges the load of the
process. Therefore, some cans are validated more slowly than other cans. It is not possible to delay the processing of every can....
Tipo: 22
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/industrial_vision_systems__real_time_and_demanding_environment__a_working_
case_for_quality_control
Inertial Forces Posture Control for Humanoid Robots Locomotion
Provedor de dados: 192
Autores: Victor Nunez; Nelly Nadjar-Gauthier; Kazuhito Yokoi; Pierre Blazevic; Olivier Stasse.
In order to consider a whole body control approach capable of treating different kinds of locomotion modes, the consideration of a
motion planing and a the posture controller stages is important. In this paper this approach is presented for the locomotion of a
humanoid robot. With the proposed approach motions including aerial phases, can be considered. The inertial force posture
controller presented here requires the locomotion to be specified using generalized inertial force, besides the trajectory of the
extremities not in contact with the ground. This inertial forces can be planed for having zmp stable motion or desired angular
momentum.
Tipo: 8
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/inertial_forces_posture_control_for_humanoid_robots_locomotion
In-pipe Robot with Active Steering Capability for Moving Inside of Pipelines
Provedor de dados: 192
Autores: Hyouk Ryeol Choi; Se-gon Roh.
In this chapter we presented the robotic systems MRINSPECT series for a long-distance inspection of pipelines. The systems
show outstanding mobility and several characteristic features, which make it possible to apply the proposed systems in pipelines
with complicate geometries regardless of the effect of gravity, its postures, and the direction of moving. Though the algorithms
were described based on MRINSPECT series, the ideas can be generalized to the other robots. However, according to our
experiences on this work, the mechanism of the in-pipe robot should be adaptable to the characteristic condition of the pipelines
and it is the preliminary requirement for the successful movement. The use of a general- purpose robot may not be possible in
in-pipe...
Tipo: 23
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/in-pipe_robot_with_active_steering_capability_for_moving_inside_of_pipelines
Integral Approaches to Integrated Scheduling
Provedor de dados: 192
Autores: 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
Integrated Sustainable Fisheries Management for Pearl Mullet of Lake Van, Turkey
Provedor de dados: 192
Autores: Mustafa Sari.
Although there is a rising trend in pearl mullet fishery towards sustainable fishery practices, it must be clarified that "sustainable
fishery management" has not yet been achieved. Considering the fact that tens of species have been lost within our inland waters
in the last 50 years, the achievement of this current level of protection for the pearl mullet ? the only species that can survive in the
extreme ecosystem of Lake Van- definitely cannot be underestimated. On the other hand, neither is it possible to paint a rosy
picture, or to claim that every problem has been solved. Presently, 3 of the 15 fishing villages still insist on fishing during the
spawning period. A new project has been launched in these villages, with the support of UNDP-GEF/SGP. This...
Tipo: 12
Palavras-chave: Environmental Technologies.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/integrated_sustainable_fisheries_management_for_pearl_mullet_of_lake_van__tur
key
Integrating Autonomous Behaviour and Team Coordination into an Embedded Architecture
Provedor de dados: 192
Autores: Bernd Kleinjohann; Lisa Kleinjohann; Willi Richert; Claudius Stern.
1
Tipo: 14
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/integrating_autonomous_behaviour_and_team_coordination_into_an_embedded_a
rchitecture
Integrating Behaviors for Mobile Robots: an Ethological Approach
Provedor de dados: 192
Autores: Jose Maria Canas Plaza; Vicente Matellan Olivera.
An architecture for behaviour generation named JDE has been presented. Its distinguish characteristics are its hierarchical nature
and the use of schemas as the basic building blocks. Its hierarchy model is taken from ethology and intended as a predisposition of
the system to perceive certain stimuli and to response in a certain way to them. 327
Tipo: 19
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/integrating_behaviors_for_mobile_robots__an_ethological_approach
Integration Method of Ant Colony Algorithm and Rough Set Theory for Simultaneous Real Value
Attribute Discretization and Attribute Reduction
Provedor de dados: 192
Autores: Yijun He; Dezhao Chen; Weixiang Zhao.
In this study, ant colony algorithm is proposed for simultaneous real value attributes discretization and reduction. Based on the
concept of distinction table in rough set theory, the relationship between discretization and reduction is discussed, and these two
different problems can be integrated into a unified framework. Moreover, the relationship between this unified framework and set
covering problem is analyzed. The detailed strategy for ant colony algorithm to solve this problem is proposed and applied to the
four datasets. The obtained results demonstrate the effectiveness of the proposed method, showing the better performance than
those of the other three rough set theory based heuristic methods. However, this is a preliminary study, because we...
Tipo: 2
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/integration_method_of_ant_colony_algorithm_and_rough_set_theory_for_simulta
neous_real_value_attribut
Intelligent Control of AC Induction Motors
Provedor de dados: 192
Autores: Hosein Marzi.
The simulation consists of four main components, the fuzzy controller, AC motor, the cart and the inverted pendulum, Figure 5.
The cart passes the fuzzy controller four parameters , , X, V. Based on these four parameters the fuzzy controller outputs a voltage
to the motor. The motor in turn calculates the force that will be exerted on the cart. The system then calculates the new values for
parameters , , X, V and the cycle will be repeated.
Tipo: 27
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/intelligent_control_of_ac_induction_motors
Intelligent Global Face Recognition
Provedor de dados: 192
Autores: Adnan Khashman.
The recognition of a face that has been seen before is a natural and easy task that we humans perform everyday. What information
we pick from a face during a glance may be mysterious but the result is usually correct recognition. Do we only look at features
such as eyes or nose (local feature detection) or do we ignore these features and look at a face as a whole (global face
recognition)? Many research works on face recognition attempt to answer these questions, however, one common concept that is
shared by most methods is that the detection of a face requires facial information, which can be obtained locally (using local facial
features such as eyes) or globally (using a whole face).
Tipo: 11
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/intelligent_global_face_recognition
Intelligent Global Vision for Teams of Mobile Robots
Provedor de dados: 192
Autores: Jacky Baltes; John Anderson.
This chapter has reviewed some of the issues involved in creating pragmatic global vision systems. We have discussed the
assumptions on which traditional systems are based, pointed out how these differ with the observed abilities of human vision, and
described how these assumptions limit the applicability and generality of existing systems. We then described techniques that
allow some of these assumptions to be discarded, and the embodiment of these techniques in our production global vision
systems, Doraemon and Ergo. Both Doraemon and Ergo are used in a number of ways. Doraemon has been in use every year by a
number of teams from around the world in the F-180 (small-size) league at RoboCup. Ergo is the current global vision system in
use in our own...
Tipo: 9
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/intelligent_global_vision_for_teams_of_mobile_robots
Intelligent Laparoscopic Assistant Robot through Surgery Task Model: How to Give Intelligence to
Medical Robots
Provedor de dados: 192
Autores: 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_g
ive_intelligence_to_med
Intelligent Pose Control of Mobile Robots Using an Uncalibrated Eye-in-Hand Vision System
Provedor de dados: 192
Autores: T. I. James Tsay; Y. F. Lai.
Mobile robots commonly need a guidance control system to navigate the mobile base and a method for performing the
pick-and-place operations. The guidance control system and the non-planar ground inevitably cause the position and orientation
errors of the mobile base. Therefore, this study proposes a behavior-based control strategy that employs an uncalibrated
eye-in-hand vision system to control the end-effector of the manipulator to approach and grasp the target workpiece. All the
designed behaviors are defined from the perspective of the camera and are mediated through fuzzy rules with a look-and-move
control structure. The presented neural fuzzy controllers map image features in image space to relative motion commands in the
camera frame. These motion...
Tipo: 9
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/intelligent_pose_control_of_mobile_robots_using_an_uncalibrated_eye-in-hand_vi
sion_system
Intelligent Robotic Handling of Fabrics Towards Sewing
Provedor de dados: 192
Autores: Panagiotis Koustoumpardis; Paraskevi Zacharia; Nikos Aspragathos.
In this work, a system for robotic handling of fabrics towards sewing is introduced. A visual servoing manipulator controller
based on fuzzy logic is designed in order to guide the fabric towards the sewing machine and produce a good seam quality. The
experimental results show that the proposed approach is effective and efficient method in guiding the fabric towards the sewing
machine, sewing it and rotating it around the needle. Unlike some of the methods referred in the introduction, the proposed
controller does not need mathematical models or calculations, but it is proved to be rather simple and robust. It seems that, using
intelligent methods the robotic system could be independent and autonomous in order to perform the sewing process for the
majority...
Tipo: 28
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/intelligent_robotic_handling_of_fabrics_towards_sewing
Intelligent Space as a Platform for Human Observation
Provedor de dados: 192
Autores: Takeshi Sasaki; Hideki Hashimoto.
In this paper, we propose that environmental design for mobile robots and human observation are important tasks to develop
robots for daily life, and that utilization of many intelligent devices embedded in the environment can realize both of these tasks.
As an illustration, we investigate a mobile robot navigation system which can localize the mobile robot correctly and navigate
based on observation of human walking in order to operate in the human shared space with minimal disturbance to humans. The
human walking paths are obtained from a distributed vision system and frequently used paths in the environment are extracted.
The mobile robot navigation based on observation of human is also performed with the support of the system. The position and...
Tipo: 17
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/intelligent_space_as_a_platform_for_human_observation
Interaction Between the Spatio-Temporal Learning Rule (Non Hebbian) and Hebbian in Single Cells:
A Cellular Mechanism of Reinforcement Learning
Provedor de dados: 192
Autores: Minoru Tsukada.
1
Tipo: 6
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/interaction_between_the_spatio-temporal_learning_rule__non_hebbian__and_hebb
ian_in_single_cells__a_c
Interactive Robots as Facilitators of Childrens Social Development
Provedor de dados: 192
Autores: Hideki Kozima; Cocoro Nakagawa.
6.1 Children's Understanding of the Robots We saw in Section 4 that children changed their ontological understanding of Infanoid
as the interaction unfolded and of Keepon as they grew older: first as a "moving thing", then as an "autonomous system" to
explore, and finally as a "social agent" to play with. Interestingly, children generally showed a great deal of anxiety and
embarrassment towards Infanoid at first; however, with Keepon, they spontaneously approached it and started "tasting" its texture
and motion, and gradually entered into an explorative and social interaction with the robot. What created this difference between
Infanoid and Keepon? We assume that the children first recognize the motions of the arms, hands, eyes, etc., separately. Each
part...
Tipo: 14
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/interactive_robots_as_facilitators_of_childrens_social_development
Interception and Rendezvous Between Autonomous Vehicles
Provedor de dados: 192
Autores: 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
Interfacing the Gryphon Robot with the World Wide Web
Provedor de dados: 192
Autores: Robert T. F. Ah King; Saravanen Mootien; Harry C. S. Rughooputh.
An introductory web site on robotics, with remote control of the Gryphon robot via the World Wide Web, has been successfully
designed and implemented. This chapter has described the development of the web-based interface using the tools and
technologies currently available. The web site gives concise and up-to-date facts about robots and genuine industries which
employs them and it acts as a teaching tool for all those who have a particular interest in robotics. Moreover, by including the
control of a mechanical device in the system, a remote user can easily make the link between the theoretical approach and real life
systems. The user can change the robot parameters remotely and experiment with them to learn its control. However, at this
instance, the...
Tipo: 10
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/interfacing_the_gryphon_robot_with_the_world_wide_web
Internet-Based Service Robotic System Using CORBA as Communication Architecture
Provedor de dados: 192
Autores: Songmin Jia; Kunikatsu Takase.
We used CORBA as communication architecture to implement networking connections between a client and the developed
hand-eye robotic system. CORBA uses an Object Request Broker (ORB) as the middleware that establishes client/server
relationships between objects. The client can invoke a method on a server object across a network transparently without knowing
where the application servers are located, or what programming language and operating system are used. This lets system
overcome the shortcomings of the other Internet robotic systems. In addition, the components of the CORBA-based system can be
implemented and run independently to implement the application, and also be integrated easily into new systems. This facilitates
networkdistributed software...
Tipo: 11
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/internet-based_service_robotic_system_using_corba_as_communication_architectu
re
Intuitive Multimodal Interaction with Communication Robot Fritz
Provedor de dados: 192
Autores: Maren Bennewitz; Felix Faber; Dominik Joho; Sven Behnke.
In this chapter, we presented our humanoid communication robot Fritz. Fritz communicates in an intuitive, multimodal way. He
employs speech, an animated face, eyegaze, and gestures to interact with people. Depending on the audio-visual input, our robot
shifts its attention between different communication partners in order to involve them into an interaction. Fritz performs
human-like arm and head gestures, which are synchronized to the speech synthesis. He generates pointing gestures with its head,
eyes, and arms to direct the attention of its communication partners towards objects of interest. Fritz changes its emotional state
Tipo: 32
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/intuitive_multimodal_interaction_with_communication_robot_fritz
Inverse Position Procedure for Manipulators with Rotary Joints
Provedor de dados: 192
Autores: Ibrahim A. Sultan.
Tipo: 06
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/inverse_position_procedure_for_manipulators_with_rotary_joints
Investigating Spontaneous Facial Action Recognition through AAM Representations of the Face
Provedor de dados: 192
Autores: Simon Lucey; Ahmed Bilal Ashraf; Jeffrey F. Cohn.
In this paper we have explored a number of representations of the face, derived from AAMs, for the purpose of facial action
recognition. We have demonstrated that a number of representations derived from the AAM are highly useful for the task of facial
action recognition. A number of outcomes came from our experiments, • Employing a concatenated similarity normalized shape
and shape normalized (canonical) appearance (S-PTS+C-APP) is superior to either similarity normalized shape (S-PTS) or
similarity normalized appearance (S-APP). This result also validates the employment of AAM type representations in facial action
unit recognition. Comparable verification performance to [Bartlett et al., 2004] can be achieved using • appearance and shape
features...
Tipo: 14
Palavras-chave: Face Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/investigating_spontaneous_facial_action_recognition_through_aam_representation
s_of_the_face
Job-shop Scheduling and Visibility Studies with a Hybrid ACO Algorithm
Provedor de dados: 192
Autores: 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
Joint Torque Sensory in Robotics
Provedor de dados: 192
Autores: Farhad Aghili.
Motivated by the need for accurate joint torque sensing in robots, we designed a new torque sensor, based on the hollow hexaform
geometry. Its key features were its extremely high sti ness and its insensitivity to the set of support forces and moments which
persist in a robot joint. These features permit to mount the sensor directly in the joints of a robot manipulator leading to accurate
joint torque sensing and to a compact and modular design. The structure of the sensor also exhibits strain concentration to torsion
loads which maximizes the sensitivity to torsion without sacrificing torsional sti ness. Other design issues such as practical shape
consideration, material properties and overloading also considered. The sensor geometry was analyzed and...
Tipo: 2
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/joint_torque_sensory_in_robotics
Joystick Teaching System for Industrial Robots Using Fuzzy Compliance Control
Provedor de dados: 192
Autores: Fusaomi Nagata; Keigo Watanabe; Kazuo Kiguchi.
Tipo: 29
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/joystick_teaching_system_for_industrial_robots_using_fuzzy_compliance_control
JPEG for Arabic Handwritten Character Recognition: Add a Dimension of Application
Provedor de dados: 192
Autores: Abdurazzag Ali Aburas; Salem Ali Rehiel.
All images of handwritten Arabic letters were provided by Prof. Zaki Kheder, University of Jordan. Authors would like also to
thank Dr Rafael C. Gonzales for giving permission to use his MATLAB codes published in [R. C. Gonzalez et al (2003)]
Tipo: 02
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/jpeg_for_arabic_handwritten__character_recognition__add_a_dimension_of_appli
cation
K-ICNP: a Multi-Robot Management Platform
Provedor de dados: 192
Autores: Tao Zhang; Christophe Agueitaz; Yun Yuan; Haruki Ueno.
The Knowledge Model-based Intelligent Coordinative Network Platform for multi-robot system is proposed in this paper. In
K-ICNP features of robots in multi-robot system as well as their operations can be described by frame-based knowledge
representation. By means of K-ICNP, coordinative control of multi-robot system can be implemented. The effectiveness of
K-ICNP was verified by the experimental work considering actual scenarios of activities of multi-robot system comprised of
humanoid robots Robovie and PINO, mobile robot Scout and entertainment robot AIBO. Further developments will improve the
system's capacity of learning from possibly incomplete or erroneous data, of guessing optimal strategies and responses from prior
knowledge and will extend the...
Tipo: 15
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/k-icnp__a_multi-robot_management_platform
Kinematic Control of A Robot-Positioner System for Arc Welding Application
Provedor de dados: 192
Autores: Anatoly P. Pashkevich; Alexandre B. Dolgui.
Resent advances in arc welding technology motivate rethinking of some postulates and conventions incorporated in the existing
robot control methods. This chapter addresses relaxing of the downhand-position assumption, which became a de-facto standard
in robotic welding and requires the weld normal vector to be opposite to gravity. In contrast to the standard techniques, the
developed method explicitly assumes that a weld may be processed in the non-downhand location, within given tolerances. But, to
ensure the prescribed quality, the downhand deviation is charged by reduction of the welding speed. For such settings, it is
proposed a novel method for the kinematic control of a robot-positioner system and related optimisation algorithm for the
clusterlevel...
Tipo: 15
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/kinematic_control_of_a_robot-positioner_system_for_arc_welding_application
Kinematic Design and Description of Industrial Robotic Chains
Provedor de dados: 192
Autores: Peter Mitrouchev.
Tipo: 03
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/kinematic_design_and_description_of_industrial_robotic_chains
Kinematic Modeling, Linearization and First-Order Error Analysis
Provedor de dados: 192
Autores: Andreas Pott; Manfred Hiller.
The contribution describes a general method for kinematic modeling of many wide-spread parallel kinematic machines, i.e. for the
Stewart-Gough-platform, the Delta-robot, and Linaglide machines. The kinetostatic method is applied for a comprehensive
kinematic analysis of these machines. Based on that model, a general method is proposed to compute the linearization of the
transmission behaviour from geometric parameters to the endeffector motion of these machines. By applying the force
transmission method, one can perform a linearization with respect to all geometric parameters, for parallel kinematic machines.
Especially in cases where no closed-form solution for the forward kinematics is available, the force-based approach provides an
efficient procedure...
Tipo: 8
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/kinematic_modeling__linearization_and_first-order_error_analysis
Kinematic Parameters Auto-Calibration of Redundant Planar 2-DOF Parallel Manipulator
Provedor de dados: 192
Autores: Shuang Cong; Chunshi Feng; Yaoxin Zhang; Zexiang Li; Shilon Jiang.
In this chapter, we implemented the kinematic auto-calibration of a redundant planar 2-dof parallel manipulator. In this process,
we first calibrated the error of the sensor zero positions by optimizing an projected tracking error function, and also the robustness
of this method has been proved. Furthermore, in order to calibrate the other parameters of this parallel manipulator, we gave
another error function based on the closed-loop constraint equations. By decoupling the product items in the error function, we
simplified the optimization and more precise result was obtained. But, at most 11 out 12 parameters could be calibrated using only
local optimization method. In order to calibrate all of the parameters, global optimization methods including GA,...
Tipo: 12
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/kinematic_parameters_auto-calibration_of_redundant_planar_2-dof_parallel_mani
pulator
Land Robotic Vehicles for Demining
Provedor de dados: 192
Autores: 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
Learning by Experience and by Imitation in Multi-Robot Systems
Provedor de dados: 192
Autores: Dennis Barrios-Aranibar; Luiz M. G. Goncalves; Pablo Javier Alsina.
One way to learn to make decisions using artificial intelligence in robotics is by leaving the learning for the rest time of the
robotic system. This means, run the algorithms of learning in batches. Also, when talking about reinforcement learning in
multi-robot and multi-agent systems, the paradigm proposed by authors showed better results than the traditional paradigms on the
problems chosen for testing. Since these results encourage to continue this research using the model proposed in new problems
and comparing it with previous proposals.
Tipo: 4
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/learning_by_experience_and_by_imitation_in_multi-robot_systems
Learning Features for Identifying Dolphins
Provedor de dados: 192
Autores: Luiz Goncalves; Adelardo Medeiros; Kaiser Magalde.
In this work, we have proposed a complete system for identification of dolphins. The system involves image acquisition,
pre-processing, feature extraction, and identification. The novelties of the system are mainly in the proposed methodology for
pre-processing the images based on KLT for extraction of the dorsal fin, the new feature set proposed for being used as input to
the classifiers, and the self-growing mechanism itself. With that, the system does not need user intervention for training its
memory, neither for identifying new subjects in the universe of animals. The system has proceeded as expected in all experiments.
Of course, other alternatives for the classifier can be tested in the following, for example, Bayesian nets, self organizing maps,
or...
Tipo: 22
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/learning_features_for_identifying_dolphins
Learning to Play Soccer with the SimpleSoccer Robot Soccer Simulator
Provedor de dados: 192
Autores: Jeff Riley.
The goal of this work was to create an environment with similar complexity and dynamics to the RoboCupSoccer environment,
but with reduced uncertainty, both in player perception and in the player's interaction with the environment. The motivation was to
create an environment in which the training times of machine learning techniques would be reduced sufficiently so as to improve
the viability of such techniques, and to show that players could be trained in this environment to display reasonable goal-scoring
behaviour. The SimpleSoccer environment was developed for this purpose, and through some sample experiments it was shown
that the SimpleSoccer environment does aid in the reduction of training times for some machine learning techniques. The...
Tipo: 15
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/learning_to_play_soccer_with_the_simplesoccer_robot_soccer_simulator
Learning to Walk with Model Assisted Evolution Strategies
Provedor de dados: 192
Autores: Matthias Hebbel; Walter Nistico.
Evolution Strategies are well suited to optimize the parameters of this practical problem. However the MAES outperform the
standard ES by far and lead to a much faster convergence. The controlled MAES variants in this case can improve the
convergence speed
Tipo: 11
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/learning_to_walk_with_model_assisted_evolution_strategies
Legged Robotic Systems
Provedor de dados: 192
Autores: Giuseppe Carbone; Marco Ceccarelli.
The variety of currently available walking machines gives many solutions to the problem of artificial walking for many
applications. Combining properly suitable designs of 574
Tipo: 33
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/legged_robotic_systems
Limit Cycle Walking
Provedor de dados: 192
Autores: Daan G.E. Hobbelen; Martijn Wisse.
In this chapter we have introduced the paradigm `Limit Cycle Walking'. This paradigm has been used for some time by a group of
bipedal robotics researchers, but the concept had not been properly defined before: Limit Cycle Walking is a nominally periodic
sequence of steps that is stable as a whole but not locally stable at every instant in time. Limit Cycle Walking releases the
unnecessary stability constraint of sustained local stability that is often applied in bipedal robots. It only requires the much less
restrictive cyclic
Tipo: 14
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/limit_cycle_walking
Linearly Interpolated Hierarchical N-gram Language Models for Speech Recognition Engines
Provedor de dados: 192
Autores: Imed Zitouni; Qiru Zhou.
We have investigated a new language modeling approach called linearly interpolated ngram language models. We showed in this
chapter the effectiveness of this approach to estimate the likelihood of n-gram events: the linearly interpolated n-gram language
models outperform the performance of both linearly interpolated n-gram language models and backoff n-gram language models in
terms of perplexity and also in terms word error rate when intergrated into a speech recognizer engine. Compared to traditional
backoff and linearly interpolated LMs, the originality of this approach is in the use of a class hierarchy that leads to a better
estimation of the likelihood of n-gram events. Experiments on the WSJ database show that the linearly interpolated n-gram...
Tipo: 17
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/linearly_interpolated_hierarchical_n-gram_language_models_for_speech_recogniti
on_engines
Local Feature Selection and Global Energy Optimization in Stereo
Provedor de dados: 192
Autores: Hiroshi Ishikawa; Davi Geiger.
We have presented a new approach to compute the disparity map, first by selecting optimal feature locally, so that the chosen
local energy function gives the most confident selection of the disparity from each set of mutually exclusive choices, then by
modelling occlusions, discontinuities, and epipolar-line interactions as a MAP optimization problem, which is
Tipo: 22
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/local_feature_selection_and_global_energy_optimization_in_stereo
Locomotion of an Underactuated Biped Robot Using a Tail
Provedor de dados: 192
Autores: Fernando Juan Berenguer; Felix Monasterio-Huelin.
We have presented in this work a biped mechanism of easy design and construction that is able to walk with only one actuator.
The system is attractive for educational and commercial applications due to the simplicity of the applied concepts. In order to
reduce the energy consumption of this system, an important problem in actuated bipedal locomotion, we aim for a gait with
smooth contact between feet and ground, reduce the joints friction and
Tipo: 2
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/locomotion_of_an_underactuated_biped_robot_using_a_tail
Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots
Provedor de dados: 192
Autores: Juan Gonzalez-Gomez; Houxiang Zhang; Eduardo Boemo.
The Locomotion principles for the groups of pitch-pitch connection and pitch-yawconnecting modular robots have been studied,
simulated and finally tested on real robots. Five different gaits have been achieved: 1D sinusoidal, rolling, rotating, turning and
side winding. The rotating gait is a new one not previously mentioned by other researchers to the best of our knowledge. All the
gaits have been implemented using a biologically inspired model based on sinusoidal generators that can be implemented
efficiently on low cost microcontrollers. The minimal configurations for both locomotion in 1D and 2D have been found. They are
novel configurations that minimize the number of modules and therefore maximize the number of robots in which a
self-reconfigurable...
Tipo: 24
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/locomotion_principles_of_1d_topology_pitch_and_pitch-yaw-connecting_modular
_robots
Lower-Limb Wearable Exoskeleton
Provedor de dados: 192
Autores: J.L. Pons; J.C. Moreno; F.J. Brunetti; E. Rocon.
The differences found in the patients' kinematic gait patterns during the application of functional compensation on the lower limb
showed significant differences regarding the subjects' usual gait. In both patients rapid adaptations were observed and new motor
commands were learnt necessary for managing the exoskeleton with the constraints imposed on the limb. The benefits of the
correct release of the knee in both instances is clear evidence of approximating their gait patterns to the normality pattern depicted
in Figure 27, with the compensations of the biomimetic actuation system by applying intermittent impedance (K1 and K2). The
GAIT exoskeleton made it possible for patient S1 to walk for the first time without compensation with the hip movement,...
Tipo: 26
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/lower-limb_wearable_exoskeleton
Machine Analysis of Facial Expressions
Provedor de dados: 192
Autores: 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
Machining with Flexible Manipulators: Critical Issues and Solutions
Provedor de dados: 192
Autores: Jianjun Wang; Hui Zhang; Zengxi Pan.
Tipo: 26
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/machining_with_flexible_manipulators__critical_issues_and_solutions
Maintenance Management and Modeling in Modern Manufacturing Systems
Provedor de dados: 192
Autores: Mehmet Savsar.
Tipo: 9
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/maintenance_management_and_modeling_in_modern_manufacturing_systems
Managing Limited Sensing Resources for Mobile Robots Obstacle Avoidance
Provedor de dados: 192
Autores: Juan Carlos Alvarez; Rafael C. Gonzalez; Diego Alvarez; Antonio M. Lopez.
As the sensorial capacity of the robots increases, for example with the availability of MEMS sensors, it will be a requisite for good
real-time performance to wisely select and manage them, in order to fulfill the strong time requirements of machines moving in
human environments. This work represents a first approach towards solving this kind of problems. An analysis is presented which
permits the selection of the sensor requirements for collision avoidance tasks of mobile robots. The design is compatible with
motion in real time, as only the indispensable environment zones are explored, avoiding unnecessary velocity reductions.
Perception system restrictions can be considered in the strategy. The analysis is deterministic, and the effect of sensor...
Tipo: 12
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/managing_limited_sensing_resources_for_mobile_robots_obstacle_avoidance
Manipulative Action Recognition for Human-Robot Interaction
Provedor de dados: 192
Autores: Zhe Li; Sven Wachsmuth; Jannik Fritsch; Gerhard Sagerer.
The recognition of manipulative actions and tasks is an essential component for the natural, pro-active, and non-intrusive
interaction between humans and robots. However, most techniques for the recognition of symbolic, interactional or referential
gestures cannot be transferred because they ignore the object context and assume an object independent characteristic of the hand
trajectory. Other approaches that focus on action recognition either use a pure semantic approach without considering motion
models or simplify the trajectory segmentation problem in a pure bottom-up process. The presented approach overcomes several
of these deficiencies. The contextual objects are used for a pre-segmentation of the hand trajectory; the manipulative action
primitives...
Tipo: 8
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/manipulative_action_recognition_for_human-robot_interaction
Market-Driven Multi-Agent Collaboration in Robot Soccer Domain
Provedor de dados: 192
Autores: 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
Mean-Variance Analysis of Supply Chain Contracts
Provedor de dados: 192
Autores: Tsan-Ming Choi.
In this chapter, we have conducted a mean-variance analysis for supply chains under a buyback contract and a wholesale pricing
and profit sharing contract. We characterize in the supply chain the return and the risk by the expected profit and the standard
deviation of profit, respectively. We focus our discussions on the centralized supply chains. From the structural properties of the
supply chain, we find that the buy-back price and the wholesale price are simply internal money transfers between the retailer and
the manufacturer. A change of these prices will lead to a change of the profit and risk sharing between the retailer and the
manufacturer. We illustrate how a buy-back contract and a wholesale pricing and profit sharing contract can coordinate a...
Tipo: 6
Palavras-chave: Supply Chain.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/mean-variance_analysis_of_supply_chain_contracts
Measuring External Face Appearance for Face Classification
Provedor de dados: 192
Autores: David Masip; Agata Lapedriza; Jordi Vitria.
In this chapter we introduce the importance of the external features in face classification problems, and propose a methodology to
extract the external features obtaining an aligned feature set. The extracted features can be used as input to any standard pattern
recognition classifier, as the classic feature extraction approaches dealing with internal face regions in the literature. The resulting
scheme follows a top-down segmentation approach to deal with the diversity inherent to the external regions of facial images. The
proposed technique is validated using two publicly available face databases in different face classification problems: gender
recognition, face recognition and subject verification. In a first approach, we show that the external...
Tipo: 15
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/measuring_external_face_appearance_for_face_classification
Mechanical and Kinematics Design Methodology of a New Wheelchair with Additional Capabilities
Provedor de dados: 192
Autores: R. Morales; A. Gonzalez; V. Feliu.
A new approach has been presented for designing and building a climbing-wheelchair. Its main features are: a) automatic
adaptation to steps with different heights, b) easy maintenance of the verticality of the wheelchair, c) the climbing of stairs
requires less effort from the actuators (only a subset of the actuated degrees of freedom is needed when the trajectory slope of the
chair frame is the same as the slope of the racks or the slope of the wheels, depending on the configuration), d) weight and energy
consumption are reduced and e) wheelchair stability is guaranteed during every moment because its weight is always transferred
to horizontal surfaces and the support polygon is always greater than or equal to the support polygon of the conventional...
Tipo: 27
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/mechanical_and_kinematics_design_methodology_of_a_new_wheelchair_with_ad
ditional_capabilities
Mechanical Design of Step-Climbing Vehicle with Passive Linkages
Provedor de dados: 192
Autores: 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
Mechanical Error Analysis of Compact Forceps Manipulator for Laparoscopic Surgery
Provedor de dados: 192
Autores: Takashi Suzuki; Yoichi Katayama; Etsuko Kobayashi; Ichiro Sakuma.
For realization of stable forceps manipulation using friction wheel mechanism, we analyzed the mechanical configuration of
manipulator and proposed a correcting factor based on the input rotating angle and measured rotational error, so that the error was
reduced by 90%. When the 90 mm translation is input, the error was approximately 1.0 deg. In laparoscopic surgery, innermost
target is sometimes located 300 mm from incision hole. In that case, the rotational error will increase up to approximately 3.0 deg.
As it does not meet the required specification of 1deg accuracy, we have to find other causes of unstable motion. One of possible
causes is the variation of correction factor. We calculated the correction factor as a constant value from limited number...
Tipo: 31
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/mechanical_error_analysis_of_compact_forceps_manipulator_for_laparoscopic_su
rgery
Mechanics and Simulation of Six-Legged Walking Robots
Provedor de dados: 192
Autores: Giorgio Figliolini; Pierluigi Rea.
The mechanics and locomotion of six-legged walking robots has been analyzed by considering a simple "technical design", in
which the biological inspiration is only given by the trivial observation that some insects use six legs to obtain a static walking,
and considering a "biological design", in which we try to emulate, in every detail, the locomotion of a particular specie of insect,
as the "cockroach" or "stick" insects. In particular, as example of the mathematical approach to analyze the mechanics and
locomotion of six-legged walking robots, the kinematic model of a six-legged walking robot, which mimics the biological
structure and locomotion of the stick insect, has been formulated according to the Cruse-based leg control system. Thus, the
direct...
Tipo: 1
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/mechanics_and_simulation_of_six-legged_walking_robots
Mechanism and Control of Anthropomorphic Biped Robots
Provedor de dados: 192
Autores: 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
Mechanism of Emergent Symmetry Properties on Evolutionary Robotic System
Provedor de dados: 192
Autores: 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
Mechatronics Design of a Mecanum Wheeled Mobile Robot
Provedor de dados: 192
Autores: Peter Xu.
The motor driver circuit board designed for the drive of the Mecanum wheels met all the specifications given in Section 3. The
limitation to its current handling capacity was the relays which are rated at five amps. The board has provided a cheap and
compact 72
Tipo: 4
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/mechatronics_design_of_a_mecanum_wheeled_mobile_robot
Medical Robotics in Cardiac Surgery
Provedor de dados: 192
Autores: Stephan Jacobs; Volkmar Falk.
The DaVinci Telemanipulation system has been introduced to provide the human operator with dexterity in confined space. After
successfully beginning with IMA-takedown and achieving some TECAB cases on pump, the technique was underestimated by
surgeons. The lack of rapid improvement and the time consuming procedure led to frustration and many centers did not proceed.
Minimally invasive cardiac surgery is challenging and it takes a lot of experience to get used to the system to complete a TECAB
procedure. With a step by step program and the sensibility to overcome some limitations, forcing developments of new
technology, the computer enhanced surgery can be successfully performed. With refinements in telemanipulator technology and
the development of adjunct...
Tipo: 12
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/medical_robotics_in_cardiac_surgery
Methods for Environment Recognition Based on Active Behaviour Selection and Simple Sensor
History
Provedor de dados: 192
Autores: 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
Methods of the Definition Analysis of Fine Details of Images
Provedor de dados: 192
Autores: 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
Micro Vision
Provedor de dados: 192
Autores: Kohtaro Ohba; Kenichi Ohara.
In the field of the micro vision, there are few researches compared with macro environment. However, applying to the study result
for macro computer vision technique, you can measure and observe the micro environment. Moreover, based on the effects of
micro environment, it is possible to discovery the new theories and new techniques.
Tipo: 1
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/micro_vision
Mine Detection Robot and Related Technologies for Humanitarian Demining
Provedor de dados: 192
Autores: Kenzo Nonami; Seiji Masunaga; Daniel Waterman; Hajime Aoyama; Yoshihiro Takada.
Tipo: 10
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/mine_detection_robot_and_related_technologies_for_humanitarian_demining
Mine-suspected Area Reduction Using Aerial and Satellite Images
Provedor de dados: 192
Autores: Acheroy Marc; Yvinec Yann.
This Chapter concentrates on the mine action technology problem and more specifically on the description of the processing
algorithms used in the SMART project on area reduction. Nevertheless, the SMART approach has its limitations. The general
knowledge used in SMART is strongly context-dependent. It has been currently derived from the study of three different test sites
in Croatia chosen to be representative of South-East of Europe. In the case of another context a new field campaign is needed in
order to derive and implement new
Tipo: 3
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/mine-suspected_area_reduction_using_aerial_and_satellite_images
Miniature Robotic Guidance for Spine Surgery
Provedor de dados: 192
Autores: 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
Minimizing the Weighted Number of Late Jobs with Batch Setup Times and Delivery Costs on a
Single Machine
Provedor de dados: 192
Autores: George Steiner; Rui Zhang.
We presented a pseudopolynomial time dynamic programming algorithm for minimizing the sum of the weighted number of late
jobs and the batch delivery cost on a single machine. For the special cases of equal weights or equal processing times, the
algorithm DP requires polynomial time. We also developed an efficient, fully polynomial time approximation scheme for the
problem. One open question for further research is whether the algorithm DP and the FPTAS can be extended to the case of
multiple customers.
Tipo: 5
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/minimizing_the_weighted_number_of_late_jobs_with_batch_setup_times_and_del
ivery_costs_on_a_single_ma
Minimum Energy Trajectory Planning for Biped Robots
Provedor de dados: 192
Autores: 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
Mixed Logic Dynamical Modeling and On Line Optimal Control of Biped Robot
Provedor de dados: 192
Autores: 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
Mixed-initiative Multirobot Control in USAR
Provedor de dados: 192
Autores: Jijun Wang; Michael Lewis.
In this experiment, the first of a series investigating control of cooperating teams of robots, cooperation was limited to
deconfliction of plans so that robots did not re-explore the same regions or interfere with one another. The experiment found that
even this limited degree of autonomous cooperation helped in the control of multiple robots. The results showed that cooperative
autonomy among robots helped the operators explore more areas and find more victims. The fully autonomous control condition
demonstrates that this improvement was not due solely to autonomous task performance as found in (Schurr et al. 2005) but rather
resulted from mixed initiative cooperation with the robotic team. The superiority of mixed initiative control was far from a...
Tipo: 23
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/mixed-initiative_multirobot_control_in_usar
Mobile Robot Team Forming for Crystallization of Proteins
Provedor de dados: 192
Autores: 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
Mobile Robotics, Moving Intelligence
Provedor de dados: 192
Autores: Souma Alhaj Ali; Masoud Ghaffari; Xiaoqun Liao; Ernest Hall.
A new concept for mobile intelligence is presented in this paper. A series of experimental robots named the Bearcats, have been
constructed at the University of Cincinnati over the past several years. This experience has evolved into our current, creative
control design that is presented in this paper. Fortunately, our intelligent robots have been able to use our increasingly capable
computer controls in which multi-threaded, distributed computing is now easily available. The theory presented shows how to
design intelligent robots that are capable of adapting, learning and predicting. This is a step toward understanding the semiotic
closure exhibited by biological creatures and a further step toward appreciating the wonderful capabilities of human...
Tipo: 5
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/mobile_robotics__moving_intelligence
Mobility of Spatial Parallel Manipulators
Provedor de dados: 192
Autores: Jing-Shan Zhao Fulei Chu; Zhi-Jing Feng.
This chapter focuses on the mobility analysis and synthesis of spatial parallel manipulators. It focuses on developing an analytical
methodology to investigate the instantaneous DOF of the end-effector of a parallel manipulator and the instantaneous
controllability of the endeffector from the viewpoint of the possible actuation schemes for the parallel manipulator. Via comparing
the differences and essential mobility of a set of underactuated, over actuated and equally actuated manipulators, this chapter
demonstrates that the underactuated, over actuated and fully actuated manipulators are all substantially equally actuated
mechanisms. This work is significantly important for a designer to contrive his or her manipulators with underactuated or over...
Tipo: 21
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/mobility_of_spatial_parallel_manipulators
Model Checking of Time Petri Nets
Provedor de dados: 192
Autores: Hanifa Boucheneb; Rachid Hadjidj.
In this chapter, we presented and discussed model checking techniques of time Petri nets. We pointed out some strategies which
allow to make model checking techniques more efficient. For model checking LTL properties, we proposed a contraction for the
state class
Tipo: 9
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/model_checking_of_time_petri_nets
Model-Based Control for Industrial Robots: Uniform Approaches for Serial and Parallel Structures
Provedor de dados: 192
Autores: Houssem Abdellatif; Bodo Heimann.
Tipo: 19
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/model-based_control_for_industrial_robots__uniform_approaches_for_serial_and_
parallel_structures
Model-Free Learning Control of Chemical Processes
Provedor de dados: 192
Autores: 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
Modeling and Analysis of Hybrid Dynamic Systems Using Hybrid Petri Nets
Provedor de dados: 192
Autores: Latefa Ghomri; Hassane Alla.
Some extensions of PNs permitting HDS modeling were presented here. The first models to be presented are continuous PNs.
This model may be used for modeling either a continuous system or a discrete system. In this case, it is an approximation that is
often satisfactory. Hybrid PNs combine in the same formalism a discrete PN and a continuous PN. Two hybrid PN models were
considered in this chapter. The first, called the hybrid PN, has a deterministic behavior; this means that we can predict the
occurrence date of any possible event. The second hybrid PN considered is called the D-elementary hybrid PN; this model was
conceived to be used for HPN controller synthesis. Controller synthesis algorithms consider the open system S and the
specification on its...
Tipo: 6
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/modeling_and_analysis_of_hybrid_dynamic_systems_using_hybrid_petri_nets
Modeling and Control of Piezoelectric Actuators for Active Physiological Tremor Compensation
Provedor de dados: 192
Autores: U-Xuan Tan; Win Tun Latt; Cheng Yap Shee; Cameron Riviere; Wei Tech Ang.
Human hand is the best manipulator available. However, its manual positioning accuracy is limited due to the involuntary tremor
motion. Most of the current methods are non-active compensating methods like filtering of the tremor motion. Examples include
the master and slave systems and the third hand. In this chapter, since humans are in possession of a high dexterity manipulator
with an unbeatable user interface, instead of replacing the human hand with a robotic manipulator, active compensation of the
physiological tremor is proposed. Piezoelectric actuators are used to compensate the tremor motion. Two main contributions are
made in this chapter, namely: (1) a rate-dependent feedforward controller; and (2) a solution to the inverse of an ill-conditioned...
Tipo: 21
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/modeling_and_control_of_piezoelectric_actuators_for_active_physiological_tremo
r_compensation
Modeling of Supply Chain Contextual-Load Model for Instability Analysis
Provedor de dados: 192
Autores: Nordin Saad Visakan Kadirkamanathan; Stuart Bennett.
Simulation using a DES is an effective tool for the dynamically changing supply chain variables, thus allowing the system to be
modeled more realistically. The modelling, simulation, and analysis of a supply chain discussed in this chapter are a preliminary
attempt to establish a methodology for modelling, simulation and analysis of a supply chain using a DES. There are further
problems to be considered both in the development of the model and the experimental design. The main contributions of this work
are: As a DSS, the simulation model represents important characteristics of a packaging industry supply chain and incorporate the
complex interactions that may exist between the various components in the system. Importantly, the model was designed with...
Tipo: 24
Palavras-chave: Supply Chain.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/modeling_of_supply_chain_contextual-load_model_for_instability_analysis
Modeling Virtual Reality Web Application
Provedor de dados: 192
Autores: 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
Modelling and Analysis of Real-Time Systems with RTCP-Nets
Provedor de dados: 192
Autores: Marcin Szpyrka.
RTCP-nets are an adaptation of CP-nets to make modelling and verification of embedded systems easier and more efficient. Based
upon the experience with application of CP-nets for embedded systems' modelling, some modifications were introduced in order
to make timed CP-nets more suitable for this purpose. The main advantage of the presented formalism is the new time model.
Together with transitions' priorities, the time model enable designers direct modelling of task priorities, timeouts, etc. that are
typical for concurrent programming. The next advantage of RTCP-nets is the possibility of analysis of model properties with
coverability graphs. Timed CP-nets can be also used to model embedded systems. A few different analysis methods have been
proposed for...
Tipo: 2
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/modelling_and_analysis_of_real-time_systems_with_rtcp-nets
Modelling of Bipedal Robots Using Coupled Nonlinear Oscillators
Provedor de dados: 192
Autores: Armando Carlos de Pina Filho; Max Suell Dutra; Luciano Santos.
From presented results and their analysis and discussion, we come to the following conclusions about the modelling of a bipedal
locomotor using mutually coupled oscillators: 1) The use of mutually coupled Rayleigh oscillators can represent an excellent way
to signal generation, allowing their application for feedback control of a walking machine by synchronisation and coordination of
the lower extremities. 2) The model is able to characterise three of the six most important determinants of human gait. 3) By
changing a few parameters in the oscillators, modification of the step length and the frequency of the gait can be obtained. The
gait frequency can be modified by means of the equations (23-25), by choosing a new value for . The step length can be...
Tipo: 4
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/modelling_of_bipedal_robots_using_coupled_nonlinear_oscillators
Modelling of Parameter and Bound Estimation Laws for Adaptive-Robust Control of Mechanical
Manipulators Using Variable Function Approach
Provedor de dados: 192
Autores: Recep Burkan.
Tipo: 16
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/modelling_of_parameter_and_bound_estimation_laws_for_adaptive-robust_contro
l_of_mechanical_manipulat
Modelling Systems by Hybrid Petri Nets: an Application to Supply Chains
Provedor de dados: 192
Autores: Mariagrazia Dotoli; Maria Pia Fanti; Alessandro Giua; Carla Seatzu.
In this paper we focused our attention on a particular hybrid PN model called FOHPN, that is based on the fluidification of
discrete PNs, and whose main feature is that the instantaneous firing speed of continuous transitions keeps constant during each
macroperiod. In the first part of the paper we discuss in detail the advantages of fluidification, and provide a brief survey of the
most important formalisms within the hybrid PN framework. Finally, we showed how FOHPNs can be efficiently used to model
SC, and how interesting optimization problems can be solved via numerical simulation, by simply solving on-line a certain
number of LPPs.
Tipo: 5
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/modelling_systems_by_hybrid_petri_nets__an_application_to_supply_chains
Modelling Uncertainty in Representation of Facial Features for Face Recognition
Provedor de dados: 192
Autores: Hiremath P.S.; Ajit Danti; Prabhakar C.J.
Face is a more common and important biometric identifier for recognizing a person in a non-invasive way. The face recognition
involves identification of the facial features, namely, eyes, eyebrows, nose, mouth, ears, and their spatial interrelationships
uniquely. The variability in the facial features of the same human face due to changes in facial expressions, illumination and poses
shall not alter the face recognition. In the present chapter we have discussed the modeling of the uncertainty in information about
facial features for face recognition under varying face expressions, poses and illuminations. There are two approaches, namely,
fuzzy face model based on fuzzy geometric rules and symbolic face model based on extension of symbolic data analysis to...
Tipo: 10
Palavras-chave: Face Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/modelling_uncertainty_in_representation_of_facial_features_for_face_recognition
Models for Simulation and Control of Underwater Vehicles
Provedor de dados: 192
Autores: Jorge Silva; Joao Sousa.
Tipo: 11
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/models_for_simulation_and_control_of_underwater_vehicles
Models of Continuous-Time Linear Time-Varying Systems with Fully Adaptable System Modes
Provedor de dados: 192
Autores: Miguel Angel Gutierrez de Anda; Arturo Sarmiento Reyes; Roman Kaszynski; Jacek Piskorowski.
In this chapter, a strategy for the formulation of a LTV scalar dynamical system with predefined dynamic behaviour was
presented. Moreover, a model of a second-order LTV system whose dynamic response is fully adaptable was presented. It was
demonstrated that the proposed model has a exponentially asymptotically stable behaviour provided that a set of stability
constraints are observed. Moreover, it was demonstrated that the obtained system is BIBO stable as well. Finally, it was shown via
simulations that the response of the proposed model reaches with a smaller overshoot its steady-state response compared to the
response of a LTV lowpass filter proposed previously.
Tipo: 19
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/models_of_continuous-time_linear_time-varying_systems_with_fully_adaptable_s
ystem_modes
Modular Learning Systems for Behavior Acquisition in Multi-Agent Environment
Provedor de dados: 192
Autores: Yasutake Takahashi; Minoru Asada.
In this chapter, we have showed a method by which multiple modules are assigned to different situations caused by the alternation
of the other agent's policy so that an agent may learn purposive behaviors for the specified situations as consequences of the other
agent's behaviors. Macro actions are introduced to realize simultaneous learning of competitive behaviors in a multi-agent system.
Results of a soccer situation and the importance of the learning scheduling in case of none-simultaneous learning without macro
actions, as well as the validity of the macro actions in case of simultaneous learning in the multi-agent system, were shown. We
have also showed another learning system using the state values instead of the physical sensor values and macro...
Tipo: 12
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/modular_learning_systems_for_behavior_acquisition_in_multi-agent_environment
Modular Machining Line Design and Reconfiguration: Some Optimization Methods
Provedor de dados: 192
Autores: S. Belmokhtar; A.I. Bratcu; A. Dolgui.
Tipo: 5
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/modular_machining_line_design_and_reconfiguration__some_optimization_metho
ds
Modular Walking Robots
Provedor de dados: 192
Autores: Ion Ion; Ion Simionescu; Adrian Curaj; Alexandru Marin.
The walking robots are used to unconventional displacement of the technological loads over the unarranged terrains. The modular
constructions of the walking robots led to a more suppleness and very good adaptation to any terrain surface. The displacement is
carried out at the very most circumstances and with a minimum expenditure of energy if the leg mechanisms are designed in
accordance with the above prescriptions
Tipo: 3
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/modular_walking_robots
Momentum Compensation for the Fast Dynamic Walk of Humanoids Based on the Pelvic Rotation of
Contact Sport Athletes
Provedor de dados: 192
Autores: Jun Ueda; Kenji Shirae; Shingo Oda; Tsukasa Ogasawara.
In this chapter, the trunk-twistless walk of contact sport athletes was investigated from a motion measurement. The antiphase
pelvic rotation was applied to the fast walk of humanoid HRP-2.The walking action including the momentum compensation was
Tipo: 12
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/momentum_compensation_for_the_fast_dynamic_walk_of_humanoids_based_on_
the_pelvic_rotation_of_contact
MO-Miner: A Data Mining Tool Based on Multi-Objective Genetic Algorithms
Provedor de dados: 192
Autores: Gina M. B. de Oliveira; Luiz G. A. Martins; Maria C.; S. Takiguti.
The application of a multi-objective GA-based environment named MO-miner, inspired by the family of algorithms NSGA and
designed to discover accurate and interesting dependence modeling rules, was investigated in this work. Our investigation was
performed by applying MO-miner to two distinct public data sets named Nursery and Zoo, composed by 12960 and 101 registers,
respectively. The accuracy and the interestingness of the rules mined by MO-miner were compared with those found by a
single-objective standard genetic algorithm, based in its turn on the
Tipo: 22
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/mo-miner__a_data_mining_tool_based_on_multi-objective_genetic_algorithms
Motion Detection and Object Tracking for an AIBO Robot Soccer Player
Provedor de dados: 192
Autores: Javier Ruiz-del-Solar; Paul A. Vallejos.
In this work we proposed an approach for motion detection and object tracking with a moving camera, with application to robot
soccer. In the proposed system, the camera movements are compensated in software by aligning the current frame and the
background. Results of the motion detection and tracking of objects in real-world video sequences using
Tipo: 17
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/motion_detection_and_object_tracking_for_an_aibo_robot_soccer_player
Motion Planning and Reconfiguration for Systems of Multiple Objects
Provedor de dados: 192
Autores: Adrian Dumitrescu.
The different reconfiguration models discussed in this survey have raised new interesting mathematical questions and revealed
surprising connections with other older ones. For instance the key ideas in the reconfiguration algorithm in [18] were derived from
the properties of a system of maximal cycles, similar to those of the block decomposition of graphs [16]. The lower bound
configuration with unit disks for the sliding model in [5] uses "rigidity" considerations and properties of stable packings of disks
studied a long time ago by B?r?czky [7]; in particular, he showed that there exist stable systems of unit disks with arbitrarily small
density. A suitable modification of his construction yields our lower bound. The study of the lifting model offered...
Tipo: 24
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/motion_planning_and_reconfiguration_for_systems_of_multiple_objects
Motion Tracking for Minimally Invasive Robotic Surgery
Provedor de dados: 192
Autores: Martin Groeger; Klaus Arbter; Gerd Hirzinger.
Motion tracking in minimally invasive surgery is a fundamental issue to adapt medical robotic systems to the changing
environment of the operating field. The two example scenarios show that the intelligent and adaptive robotic systems can
contribute considerably to make surgery more gentle to the patient by reducing traum and to assist the surgeon with the increased
demands and difficulaties of minimally invasive surgery, in which direct contact is lost to the operating field. Automated
laparoscope guidance fulfills the assistant surgeon's task of camera guidance in a reliable and non-exhausting manner, and
represents an important step towards minimally
Tipo: 10
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/motion_tracking_for_minimally_invasive_robotic_surgery
Moving Cast Shadow Detection
Provedor de dados: 192
Autores: Wei Zhang; Q.M. Jonathan Wu; Xiangzhong Fang.
In this chapter, we have provided a brief overview of the works about moving cast shadow detection. The state-of-the-art methods
have been categories into color model, textural model, and geometric model according to the information and model utilized,
which have been disscussed systemically. Furthermore, all kinds of statistical models have been employed to tackle the problem,
which are also analyzed in detail. From the results, we can see that different method is fit for different situation and it is very hard
to get a method in common use. Therefore, the future work may be the fusion of different information by statistical model to
realize robust shadow detection.
Tipo: 3
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/moving_cast_shadow_detection
Moving Segmentation Up the Supply-Chain: Supply Chain Segmentation and Artificial Neural
Networks
Provedor de dados: 192
Autores: Sunil Erevelles; Nobuyuki Fukawa.
This paper explained the concept of supply-side segmentation and transvectional alignment, and applies these concepts in the
artificial neural network (ANN). To the best of our knowledge, no research has applied ANN in explaining the heterogeneity of
both the supply-side and demand-side of a market in forming relational entity that consists of firms at all levels of the supply chain
and the demand chain. The ANN offers a way of operationalizing the concept of supply-side segmentation. In today's business
environment, where competition occurs more among the networks that consist of sets of firms rather than simply among firms,
researchers and practitioners need to understand the heterogeneity of the supply side of a market at all levels in the supply chain....
Tipo: 18
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/moving_segmentation_up_the_supply-chain__supply_chain_segmentation_and_art
ificial_neural_networks
Multi Robotic Conflict Resolution by Cooperative Velocity and Direction Control
Provedor de dados: 192
Autores: Satish Pedduri; K. Madhava Krishna.
A method by which the velocity and orientation axis of the robot can be dissected into various portions and these portions labeled
as conflict free or conflicting with a particular set of robots, unreachable and reachable is presented. The conflict free intervals
along the axis that are also represent the solution space for the robot. When the entire reachable space is conflicting with one or
more robots it points to the need for cooperation between robots. For a pair of robots that are in conflict with one another and
either of them unable to resolve the conflict individually plot of the joint solution space demarcates area where cooperative change
of velocities or directions can result in collision freeness. For a pair of robots the entire solution space...
Tipo: 29
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/multi_robotic_conflict_resolution_by_cooperative_velocity_and_direction_control
Multi-Agent Based Distributed Manufacturing
Provedor de dados: 192
Autores: J. Li; J.Y. H. Fuh; Y.F. Zhang; A.Y.C. Nee.
Tipo: 1
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/multi-agent_based_distributed_manufacturing
Multi-Agent System Concepts Theory and Application Phases
Provedor de dados: 192
Autores: Adel Al-Jumaily; Mohamed Al-Jaafreh.
The three robots with the current speeds in the circle formation can lock up a dynamic target of up to a speed of 0.300
meters/second. With that speed whenever the target tries to get out of the circle, it is blocked by one of the attackers and it has to
avoid them and go back inside the circle. At worst case if the target's speed is slightly more than 0.300 the target is caught by one
of the attackers doing the circle formation, but it can never escape.
Tipo: 19
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/multi-agent_system_concepts_theory_and_application_phases
Multi-Automata Learning
Provedor de dados: 192
Autores: Verbeeck Katja; Nowe Ann; Vrancx Peter; Peeters Maarten.
In this chapter we have demonstrated that Learning Automata are interesting building blocks for multi-agent Reinforcement
learning algorithms. LA can be viewed as policy iterators, that update their action probabilities based on private information only.
Even in multi-automaton settings, each LA is updated using only the environment response, and not on the basis of any
knowledge regarding the other automata, i.e. nor their strategies, nor their feedback. As such LA based agent algorithms are
relatively simple and the resulting multi-automaton systems can still be treated analytically. Convergence proofs already exist for
a variety of settings ranging from a single automaton model acting in a simple stationary random environment to a distributed
automata...
Tipo: 9
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/multi-automata_learning
Multicriteria Optimal Humanoid Robot Motion Generation
Provedor de dados: 192
Autores: Genci Capi; Yasuo Nasu; Mitsuhiro Yamano; Kazuhisa Mitobe.
This paper proposed a new method for humanoid robot gait generation based on several objective functions. The proposed method
is based on multiobjective evolutionary algorithm. In our work, we considered two competing objective functions: MCE and
MTC. Based on simulation and experimental results, we conclude: Multiobjective evolution is efficient because optimal humanoid
robot gaits with completely different characteristics can be found in one simulation run. The nondominated solutions in the
obtained Pareto-optimal set are well distributed and have satisfactory diversity characteristics. The optimal gaits generated by
simulation gave good performance when they were tested in the real hardware of "Bonten-Maru" humanoid robot. The optimal
gait reduces the...
Tipo: 9
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/multicriteria_optimal_humanoid_robot_motion_generation
Multicriterial Decision-Making Control of the Robot Soccer Team
Provedor de dados: 192
Autores: Petr Tucnik.
Tipo: 22
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/multicriterial_decision-making_control_of_the_robot_soccer_team
Multidimensional of Manufacturing Technology, Organizational Characteristics, and Performance
Provedor de dados: 192
Autores: 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
Multi-Focal Visual Servoing Strategies
Provedor de dados: 192
Autores: Kolja Kuehnlenz; Martin Buss.
In this chapter novel visual servoing strategies have been proposed based on multi-focal active vision systems able to overcome
common drawbacks of conventional approaches: a tradeoff between field of view and sensitivity of vision devices and a large
variability of the control performance due to distance dependency and singular configurations of the visual controller. Several
control approaches to exploit the benefits of multi-focal vision have been proposed and evaluated in simulations: Serial switching
between vision devices with different characteristics based on performance- and field-of-view-dependent switching conditions,
usage of several of these vision devices at the same time observing different parts of a reference structure, and individual...
Tipo: 3
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/multi-focal_visual_servoing_strategies
Multi-Layered Learning System for Real Robot Behavior Acquisition
Provedor de dados: 192
Autores: Yasutake Takahashi; Minoru Asada.
We showed a series of approaches to the problem of decomposing the large state action space at the bottom level into several
subspaces and merging those subspaces at the higher level. As future works, there are a number of issues to extend our current
methods. Interference between modules One module behavior might have inference to another one which has different actuators.
For example, the action of a navigation module will disturb the state transition from the view point of the kicking device module;
the catching behavior will be success if the vehicle stays while it will fail if the vehicle moves. Self-assignment of modules It is
still an important issue to find a purposive behavior for each learning module automatically. In the paper (Takahashi &...
Tipo: 22
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/multi-layered_learning_system_for_real_robot_behavior_acquisition
Multi-Legged Robot Control Using GA-Based Q-Learning Method With Neighboring Crossover
Provedor de dados: 192
Autores: Tadahiko Murata; Masatoshi Yamaguchi.
In this chapter, we proposed the neighboring crossover that improves the performance of QDSEGA for the multi-legged robot
control problems. By introducing the neighboring crossover, we could reduce the number of generations to attain the target gain in
the problem. We also show the fine effect of the modified reward for the problems with the moving target. When the target is
moving in the problem, the robot needs to learn how to adjust its position toward the target. That is, it should learn how to adjust
its direction toward the target, and how to convey its body toward the target. By adjusting the reward, we could improve the
control of the multi-legged robot.
Tipo: 19
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/multi-legged_robot_control_using_ga-based_q-learning_method_with_neighboring
_crossover
Multilevel Intelligent Control of Mechatronical Technological Systems
Provedor de dados: 192
Autores: Tugengold Andrei Kirillovich; Ryzhkin Anatoliy Andreevich; Lukianov Evjeny Anatolievich; Wojciechowicz Boleslav.
The structure under consideration as a whole meets the following intellectual controlling systems requirements: • • • • •
Intellectual functions plenitude due to the realized procedures of the artificial intellect strategic, coordinating and executive level
methods. Methods actions directions, connected with given task completion and the decision – making search. Cardinal perceived
information stream expanding (due to the very object and environment evaluation) and variety alternatives of behaviors. Planning
and controlling at the decision – mating system hierarchy. Reciprocal subordination of the regulation task, action planning and
behavior strategy choice as a form of parallelly acting reverse connection. System state image synthesis intellectuality due...
Tipo: 43
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/multilevel_intelligent_control_of_mechatronical_technological_systems
Multi-Modal Human Verification Using Face and Speech
Provedor de dados: 192
Autores: Changhan Park; Joonki Paik.
In this chapter, we present a human verification method using combined face and speech information in order to improve the
problem of single biometric verification. Single biometric verification has the fundamental problems of high FAR and FRR. So
we present a
Tipo: 22
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/multi-modal_human_verification_using_face_and_speech
Multimodal Range Image Segmentation
Provedor de dados: 192
Autores: Michal Haindl; Pavel Zid.
We proposed novel fast and accurate range segmentation method based on the combination of range & intensity profile
modelling and curve-based region growing. A range profile is modelled using an adaptive simultaneous regression model. The
recursive adaptive predictor uses spatial correlation from neighbouring data what results in improved robustness of the algorithm
over rigid schemes, which are affected with outliers often present at the boundary of distinct shapes. A parallel implementation of
the algorithm is straightforward, every image row and column can be processed independently by its dedicated processor. The
region growing step is based on the cubic spline curve model. The algorithm performance is demonstrated on the set of test range
images...
Tipo: 2
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/multimodal_range_image_segmentation
Multi-Model Approaches for Bilinear Predictive Control
Provedor de dados: 192
Autores: Anderson Cavalcanti; André Maitelli; Adhemar Fontes.
This chapter showed the importance and the relevance of multi-model approaches. Several researches has been proposed in order
to solve design problems in process that operates in a large range (like batch processes). Some proposals of multi-model have
been presented in this chapter and its comparison with classic approaches. All multi-model approaches presented better
performance when compared to single-model approach. The next step of this research is to adjust these approaches to a robust and
stable algorithm of multi-model.
Tipo: 15
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/multi-model_approaches_for_bilinear_predictive_control
Multiple Omnidirectional Vision System and Multilayered Fuzzy Behavior Control for Autonomous
Mobile Robot
Provedor de dados: 192
Autores: Yoichiro Maeda.
The multiple omnidirectional vision system (MOVIS) with three omni-cameras and its selflocalization method for the autonomous
mobile robot were proposed in this paper. Moreover, the experiment of the measurement performance and self-localization by
MOVIS on the real miniature soccer field was carried out by using the proposed method. As a result, we confirmed that the
measurement of MOVIS is remarkably more accurate than that of a single omni-vision and the vertical stereo omni-vision, and the
self-localization performance is relatively useful in all area of soccer field. In the near future, we would like to develop the real
soccer robot with MOVIS and the proposed self-localization method.
Tipo: 9
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/multiple_omnidirectional_vision_system_and_multilayered_fuzzy_behavior_contr
ol_for_autonomous_mobile
Multiple Sensor Fusion and Motion Control of Snake Robot Based on Soft-Computing
Provedor de dados: 192
Autores: Woo-Kyung Choi; Seong-Joo Kim; Hong-Tae Jeon.
The goal of this paper in a snake robot and sensor fusion is that the snake robot which imitates a real snake's an activity and being
adapted to topography and has multiple sensors operates well with considering environment around it. To avoid overloads of a
processor and process a huge data of multiple sensors in distribute methods, fusion module of sensor is constructed in a module.
In a low level of sensor processes, we worked sensor fusion
Tipo: 19
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/multiple_sensor_fusion_and_motion_control_of_snake_robot_based_on_soft-com
puting
Multipurpose Low-Cost Humanoid Platform and Modular Control Software Development
Provedor de dados: 192
Autores: Filipe Silva; Vítor Santos.
In this chapter we have described the development and integration of hardware and software components to build a small-size
humanoid robot based on off-the-shelf technologies. A modular design is conceived to ensure easy maintenance and faster
reproducibility. The most relevant feature of this implementation includes the distributed architecture in which independent and
self-contained control units may allow either a cooperative or a standalone operation. The integration in these simpler control
units of sensing, processing and acting capabilities play a key role towards localised control based on feedback from several
sensors. The adoption of an outer motion control loop to provide accurate trajectory tracking was presented and has been
experimentally...
Tipo: 4
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/multipurpose_low-cost_humanoid_platform_and_modular_control_software_devel
opment
Multi-Robot Systems and Distributed Intelligence: The ETHNOS Approach to Heterogeneity
Provedor de dados: 192
Autores: Antonio Sgorbissa.
We presented ETHNOS, a software architecture and a programming environment for the real-time control of distributed Multi
Robot systems; its properties have been described as well as its influence on the development of a soccer team for RoboCup.
Throughout the chapter, we have argued that the ART team in Stockholm 1999 has been an unique experience because of its
extreme heterogeneity: players in the team differed both in the hardware and in the software, and were designed in total autonomy
by different research units with almost no cooperation; however, after only one week of training before RoboCup, they were able
to coordinate themselves on the soccer field and to win the second prize. ETHNOS contribution to achieving this is discussed. In
particular,...
Tipo: 22
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/multi-robot_systems_and_distributed_intelligence__the_ethnos_approach_to_heter
ogeneity
Multiscale Manipulations with Multiple Parallel Mechanism Manipulators
Provedor de dados: 192
Autores: Gilgueng Hwang; Hideki Hashimoto.
We have shown a dexterous micromanipulation system based on single-master and multislave device configuration and its
deformable object micromanipulation such as styrene block and roe. The system enables 6 d.o.f. object position control using 2
parallel mechanism micromanipulators. It has potential applications for manipulating, characterization, complicated device
assembly, and biological cell manipulation. In addition to the
Tipo: 17
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/multiscale_manipulations_with_multiple_parallel_mechanism_manipulators
Multi-sensor Data Fusion Based on Belief Functions and Possibility Theory: Close Range
Antipersonnel Mine Detection and Remote Sensing Mined Area Reduction
Provedor de dados: 192
Autores: Nada Milisavljevic; Isabelle Bloch; Marc Acheroy.
Several fusion methods for close range humanitarian mine detection and remote sensing mined area reduction are presented and
compared. These methods are based on the belief functions as well as on the fuzzy/possibility theory. Regarding close range mine
detection, the differences at the combination step are mainly highlighted in this comparison. The modeling step is performed
according to the semantics of each framework, but the designed functions are as similar as possible, so as to enhance the
combination step. Different fusion operators are tested, depending on the information and its characteristics. An appropriate
modeling of the data along with their combination in a possibilistic framework leads to a better differentiation between mines and
friendly...
Tipo: 4
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/multi-sensor_data_fusion_based_on_belief_functions_and_possibility_theory__clo
se_range_antipersonnel
Multi-View Face Recognition with Min-Max Modular Support Vector Machines
Provedor de dados: 192
Autores: Zhi-Gang Fan; Bao-Liang Lu.
We have applied the min-max modular support vector machine and the part-versus-part task decomposition method to dealing
with multi-view face recognition problems. We have demonstrated that face pose information can be easily incorporated into the
procedure of dividing a multi-view face recognition problem into a series of relatively easier two-class subproblems. We have
performed some experiments on the UMIST database and compared with the standard support vector machines. The experimental
results indicate that the minmax modular support vector machine can improve the accuracy of multi-view face recognition and
reduce the training time. As a future work, we will perform experiments on large-scale face databases with various face poses. We
believe that the...
Tipo: 7
Palavras-chave: Face Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/multi-view_face_recognition_with_min-max_modular_support_vector_machines
Music Description and Processing: An Approach Based on Petri Nets and XML
Provedor de dados: 192
Autores: Adriano Barate.
The author wants to acknowledge researchers and graduate students at LIM, and the members of the IEEE Standards Association
WG on MX (PAR1599) for their cooperation and efforts. Special acknowledgments are due to: Denis Baggi, Goffredo Haus and
Luca Andrea Ludovico for their invaluable work as working group chair, co-chair, and coordinator of the IEEE Standard
Association WG on MX (PAR1599).
Tipo: 23
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/music_description_and_processing__an_approach_based_on_petri_nets_and_xml
Natural Scene Text Understanding
Provedor de dados: 192
Autores: Celine Mancas Thillou; Bernard Gosselin.
This last section aims at concluding this chapter by summing up main steps in the first part to highlight important points according
to us to realize an efficient and versatile NS text understanding and the second parts emphasizes interesting work prolongations in
other image processing fields and the focus to give in next years. Our SMC algorithm has been proposed based on a
multi-hypothesis text extraction by selecting either the right clustering metric or the dual information between colour and
illumination, using log-Gabor filters. Several points have been detailed such as the superiority of metrics over colour spaces in a
clustering framework inside a general NS context. Angle-based similarities have overcome any other colour spaces to handle
complex...
Tipo: 16
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/natural_scene_text_understanding
Nearest Feature Rules and Dissimilarity Representations for Face Recognition Problems
Provedor de dados: 192
Autores: Mauricio Orozco Alzate; German Castellanos Dominguez.
In this chapter, we presented a series of theoretical and experimental considerations regarding the nearest feature rules and
dissimilarity representations for face recognition problems, analyzed separately as well as a combined approach. Firstly, a study
about the asymptotic behavior of the nearest feature classifiers was conducted, following the wellknown procedure derived for the
k-NN rule. We concluded that, if an arbitrarily large number of samples is available, there is no significant difference between
k-NN and its geometric generalizations: the nearest feature rules. Moreover, as for k-NN, it is not possible to say something
general about the asymptotic behavior in the finite-sample case. It might be possible to perform an analysis for specific...
Tipo: 18
Palavras-chave: Face Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/nearest_feature_rules_and_dissimilarity_representations_for_face_recognition_pro
blems
Nerve Sparing Axillary Dissection Using the da Vinci Surgical System
Provedor de dados: 192
Autores: Susan M. L. Lim; Cheng-Kiong Kum; Foong-Lian Lam.
Improved surgical techniques in breast cancer surgery have evolved over the years, which include skin and areolar-sparing
mastectomy, segmental mastectomy, oncoplastic breast procedures, and reconstructive options. (Simmons et al., 2003; Gerber et
al., 2003) This increased use of breast-conserving therapy for treatment of breast cancer has nearly eliminated the major morbidity
of loss of the breast. The present focus of postoperative morbidity has shifted to the axillary dissection, a procedure which for
many women has become the major cause of longterm morbidity after local therapy for breast cancer. (Harris et al., 1999) In the
surgical approach to the axilla however, apart from the sentinel node biopsy, there have been few innovations in techniques to...
Tipo: 17
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/nerve_sparing_axillary_dissection_using_the_da_vinci_surgical_system
Networked Control Systems for Electrical Drives
Provedor de dados: 192
Autores: Baluta Gheorghe; Lazar Corneliu.
In this chapter, a remote control laboratory for electrical drive systems is presented. The laboratory allows the students to develop
network based control systems using an architecture based on I/O devices, communication modules and server-client application
implemented with Lookout and LabVIEW environment facilities and to operate on real electrical drive systems through Intranet
and Internet. Three examples were presented demonstrating the potentiality of the networked control system laboratory to
remotely control the electrical drive systems and to develop new network based control system structure. Work is in progress to
upgrade the laboratory with new electrical drive systems: D.C. brushless servomotor electrical drives system.
Tipo: 5
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/networked_control_systems_for_electrical_drives
Networking Multiple Robots for Cooperative Manipulation
Provedor de dados: 192
Autores: M. Moallem.
Tipo: 22
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/networking_multiple_robots_for_cooperative_manipulation
Neural Control of Actions Involving Different Coordinate Systems
Provedor de dados: 192
Autores: Cornelius Weber; Mark Elshaw; Jochen Triesch; Stefan Wermter.
Sigma-Pi units lend themselves to the task of frame of reference transformations. Multiplicative attentional control can
dynamically route information from a region of interest within the visual field to a higher area (Andersen et al, 2004). With an
architecture involving Sigma-Pi weights activation patters can be dynamically routed, as we have shown in Fig. 8 b). In a model
by Grimes and Rao (2005) the dynamic routing of information is combined with feature extraction. Since the number of hidden
units to be activated depends on the inputs, they need an iterative procedure to obtain the hidden code. In our scenario only the
position of a stereotyped activation hill is estimated. This allows us to use a simpler, SOM-like algorithm. 7.1 Are Sigma-Pi
Units...
Tipo: 30
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/neural_control_of_actions_involving_different_coordinate_systems
Neural Forecasting Systems
Provedor de dados: 192
Autores: Takashi Kuremoto; Masanao Obayashi; Kunikazu Kobayashi.
Though RL has been developed as one of the most important methods of machine learning, it is still seldom adopted in forecasting
theory and prediction systems. Two kinds of neural forecasting systems using SGA learning were described in this chapter, and
the experiments of training and short-term forecasting showed their successful performances comparing with the conventional NN
prediction method. Though the iterations of MLP with SGA and SOFNN with SGA in training experiments took more than that of
MLP with BP, both of their computation time were not more than a few minutes by a computer with 3.0GHz CPU. A problem of
these RL forecasting systems is that the value of reward in SGA algorithm influences learning convergence seriously, the
optimum reward...
Tipo: 1
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/neural_forecasting_systems
Neural Network Solutions for Forward Kinematics Problem of HEXA Parallel Robot
Provedor de dados: 192
Autores: M. Dehghani; M. Eghtesad; A. A. Safavi; A. Khayatian; M. Ahmadi.
In this chapter, we proposed to use neural networks for FK solution of HEXA robot, which can be elaborated to generate the best
estimation of forward kinematics of the robot. The research results in this chapter are quite important as they solve a problem for
which there is no known closed form solution. Besides, the presented solution in this research has the better prediction and obtains
smaller error in compare to the other works which have studied FKP of HEXA robot to the best of our knowledge.
Tipo: 15
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/neural_network_solutions_for_forward_kinematics_problem_of_hexa_parallel_rob
ot
Neural-Based Navigation Approach for a Bi-Steerable Mobile Robot
Provedor de dados: 192
Autores: Azouaoui Ouahiba; Ouadah Noureddine; Aouana Salem; Chabi Djeffer.
In the implemented neural-based navigation, the two intelligent behaviors necessary to the navigation, are acquired by learning
using GBP algorithm. They enable Robucar to be more autonomous and intelligent in partially structured environments.
Nevertheless, there are a number of issues that need to be further investigated. At first, the Robucar must be endowed with one or
several actions to come back to eliminate a stop in a dead zone situation. Another interesting alternative is the use of a better
localization not only based on odometry but by fusing data of other sensors such as laser scanner.
Tipo: 3
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/neural-based_navigation_approach_for_a_bi-steerable_mobile_robot
Neuro- and Fascial Anatomy in the Male Pelvis for Robotic Radical Prostatectomy
Provedor de dados: 192
Autores: Atsushi Takenaka; Ashutosh K. Tewari; Masato Fujisawa.
These tri-zonal and ganglion cell concepts may be beneficial to new surgeons undertaking nerve-sparing robotic radical
prostatectomy. An anatomic approach to the EPF might lead to improvement of the functional outcomes. Anatomically, there was
no two-layer structure of the Denonvilliers' fascia. It is important to delineate the difference between embryologic concept,
surgical anatomy, and histologic findings in order to avoid misunderstanding of the term "Denonvilliers' fascia.
Tipo: 33
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/neuro-_and_fascial_anatomy_in_the_male_pelvis_for_robotic_radical_prostatecto
my
New Advances in Voice Activity Detection using HOS and Optimization Strategies
Provedor de dados: 192
Autores: J.M. Gorriz; J. Ramirez; C.G. Puntonet.
This paper showed three different schemes for improving speech detection robustness and the performance of speech recognition
systems working in noisy environments. These methods are based on: i) statistical likelihood ratio tests (LRTs) formulated in
terms of the integrated bispectrum of the noisy signal. The integrated bispectrum is defined as a cross spectrum between the signal
and its square, and therefore a function of a single frequency variable. It inherits the ability of higher order statistics to detect
signals in noise with many other additional advantages; ii) Hard decision clustering approach where a set of prototypes is used to
characterize the noisy channel. Detecting the presence of speech is enabled by a decision rule formulated in terms of...
Tipo: 3
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/new_advances_in_voice_activity_detection_using_hos_and_optimization_strategie
s
New Measures for Supply Chain Vulnerability: Characterizing the Issue of Friction in the Modelling
and Practice of Procurement
Provedor de dados: 192
Autores: 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_frict
ion_in_the_modelling_a
New Types of Keypoints for Detecting Known Objects in Visual Search Tasks
Provedor de dados: 192
Autores: Andrzej Sluzek; Saiful Islam.
Tipo: 23
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/new_types_of_keypoints_for_detecting_known_objects_in_visual_search_tasks
Non-Invasive Estimates of Local Field Potentials for Brain-Computer Interfaces: Theoretical
Derivation and Comparison with Direct Intracranial Recordings
Provedor de dados: 192
Autores: Rolando Grave de Peralta Menendez; Sara L. Gonzalez Andino.
This chapter shows that there is a mathematical relationship between potentials measured at the scalp (EEG) and a scalar field
inside the brain. This scalar field is a potential field for the current source density vector sharing the same sources and sinks of the
intracranial potential measured inside the brain volume. The estimation of this potential field is mathematically equivalent to the
use of the irrotational source model of ELECTRA inverse solution and for that reason it is denoted as eLFP. Extensive theoretical
and practical elements needed to understand and implement the estimation of eLFP are also included. The simulations presented
shed some light on the basic questions that can arise in front of these estimates, i.e., how much information can...
Tipo: 9
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/non-invasive_estimates_of_local_field_potentials_for_brain-computer_interfaces_
_theoretical_derivati
Nonlinear Model-Based Control of a Parallel Robot Driven by Pneumatic Muscle Actuators
Provedor de dados: 192
Autores: Harald Aschemann; Dominik Schindele.
In this contribution, a cascaded trajectory control based on differential flatness is presented for a parallel robot with two degrees of
freedom driven by pneumatic muscles. The modelling of this mechatronic system leads to a system of nonlinear differential
equations of eighth order. For the characteristics of the pneumatic muscles polynomials serve as good approximations. The inner
control loops of the cascade involve a flatness-based control of the internal muscle pressure with high bandwidth. For the outer
control loop three different control approaches have been investigated leading to a decoupling of the crank angles and the mean
pressures as controlled variables. Simulation results emphasize the excellent closed-loop performance with maximum...
Tipo: 2
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/nonlinear_model-based_control_of_a_parallel_robot_driven_by_pneumatic_muscl
e_actuators
Non-Monotonic Reasoning on Board a Sony AIBO
Provedor de dados: 192
Autores: David Billington; Vladimir Estivill-Castro; Rene Hexel; Andrew Rock.
One of the most satisfying aspects of our implementation is that it has proven efficient enough to be running on board a Sony
AIBO while in competition in the soccer 4-legged league or in RoboCup@Home. Table 1 shows the CPU-timings on board an
ERS-7 running our C++ implementation with three different models and two situations. It may be surprising that while the robot
was in the playing state, chasing the ball and executing kicks, the execution is faster than while standing as a goalie. However, the
standing situations have usually on average 2 landmarks per frame. But while playing, frames with 2 objects in sight are less
frequent. In all cases, the inference engine is executed six times per frame, to verify if each of the landmarks is consistent.
Model...
Tipo: 3
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/non-monotonic_reasoning_on_board_a_sony_aibo
Nonparametric Identification of Nonlinear Dynamics of Systems Based on the Active Experiment
Provedor de dados: 192
Autores: Magdalena Bockowska; Adam Zuchowski.
The presented method can be useful in identification of the structure of a model of nonlinear dynamics of 1st and higher orders.
The advantage of the proposed solution is its simplicity and possibility of evaluation of its accuracy. The application of the
averaged differentiation with correction ensures one to evaluate an averaged signal and its derivatives close to their real values. A
novelty is the proposed procedure of the correction of the averaged differentiation. The method allows to obtain a structure of the
model of the nonlinear dynamics of 1st or 2nd order. The advantage of this identification is the fact that it can be used even if the
measured signals are disturbed and the dynamics is nonlinear. In case of
Tipo: 8
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/nonparametric_identification_of_nonlinear_dynamics_of_systems_based_on_the_a
ctive_experiment
Non-rigid Stereo-motion
Provedor de dados: 192
Autores: Alessio Del Bue; Lourdes Agapito.
The authors would like to thank the Royal Society European Science Exchange Programme, EPSRC Grant GR/S61539/01 and the
Spanish Ministry of Science project TIC2002-00591 for financial support. Enrique Mu?oz, Jose Miguel Buenaposada and Luis
Baumela provided the code for the synthetic 3D face model. Thanks to Andrew Fitzgibbon for matlab functions for bundle
adjustment. Alessio Del Bue is supported by Funda??o para a Ci?ncia e a Tecnologia (ISR/IST plurianual funding) through the
POS_Conhecimento Program that includes FEDER funds.
Tipo: 14
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/non-rigid_stereo-motion
Non-Time Reference Gait Planning and Stability Control for Bipedal Walking
Provedor de dados: 192
Autores: Xianxin Ke; Jinwu Qian; Zhenbang Gong.
A non-time reference gait planning method is proposed. The usual reference variable, time, is substituted by a non-time variable in
gait, so the whole gait-planning phase can be divided into two phases, (1) planning the space walking path: Taking the forward
locomotion of upper-body as reference variable, considering the constraint of the environment, the walking path of a robot without
collision with other objects is designed, thus the relative locomotion of the parts of the robot is obtained; (2) planning the
trajectory of the non-time reference variable: according to the constraint of ZMP stability, design the forward locomotion of
upper-body. The gait-planning problem is changed to the optimization problem. Using the excellent optimization and...
Tipo: 4
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/non-time_reference_gait_planning_and_stability_control_for_bipedal_walking
Novel Approaches to Speech Detection in the Processing of Continuous Audio Streams
Provedor de dados: 192
Autores: Janez Zibert; Bostjan Vesnicer; France Mihelic.
This chapter addresses the problem of speech detection in continuous audio streams and explores the impact of speech/non-speech
segmentation on speech-processing applications. We proposed a novel approach for deriving speech-detection features based on
phoneme transcriptions from generic speech-recognition systems. The proposed phoneme-recognition features were designed to
be recognizer and language independent and could be applied in different speech/non-speech segmentation-classification
frameworks. In our evaluation experiments two segmentation-classification frameworks were tested, one based on the Viterbi
decoding of hidden Markov models, where speech/non-speech segmentation and detection were performed simultaneously, and
the other framework, where...
Tipo: 2
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/novel_approaches_to_speech_detection_in_the_processing_of_continuous_audio_s
treams
Novel Robotic Applications using Adaptable Compliant Actuation. An Implementation Towards
Reduction of Energy Consumption for Legged Robots
Provedor de dados: 192
Autores: Bjorn Verrelst; Bram Vanderborght.
This publication discusses the importance of variable compliance for legged robots. Use of passive compliance in the actuation
reduces reflected inertia which primarily is interesting
Tipo: 26
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/novel_robotic_applications_using_adaptable_compliant_actuation__an_implement
ation_towards_reduction_
Object Recognition for Obstacles-free Trajectories Applied to Navigation Control
Provedor de dados: 192
Autores: W. Medina-Melendez; L. Fermin; J. Cappelletto; P. Estevez G. Fernandez-Lopez; J. C. Grieco.
1
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
Obstacle Detection Based on Fusion Between Stereovision and 2D Laser Scanner
Provedor de dados: 192
Autores: Raphael Labayrade; Dominique Gruyer; Cyril Royere; Mathias Perrollaz; Didier Aubert.
Tipo: 5
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/obstacle_detection_based_on_fusion_between_stereovision_and_2d_laser_scanner
Obtaining Humanoid Robot Controller Using Reinforcement Learning
Provedor de dados: 192
Autores: Masayoshi Kanoh; Hidenori Itoh.
In this chapter, we proposed a dynamic allocation method of basis functions, AE-GSBFN, in reinforcement learning. Through
allocation and elimination processes, AE-GSBFN overcomes the curse of dimensionality and avoids a fall into local minima. To
confirm the effectiveness of AE-GSBFN, we applied it to the motion control of a humanoid robot. We demonstrated that
AE-GSBFN is capable of providing better performance than A-GSBFN, and we succeeded in enabling the learning of motion
control of the robot. The future objective of this study is to do some general comparisons of our method with other dynamic neural
networks, for example, Fritzke's "Growing Neural Gas" (Fritzke, 1996) and Marsland's "Grow When Required Nets" (Marsland et
al., 2002). An analysis of...
Tipo: 21
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/obtaining_humanoid_robot_controller_using_reinforcement_learning
Off-line Programming Industrial Robots Based in the Information Extracted From Neutral Files
Generated by the Commercial CAD Tools
Provedor de dados: 192
Autores: Vitor Bottazzi; Jaime Fonseca.
Actually, the robot programming is still a hard work (Wrn, 1998). Some causes are: difficulty of available equipment reserve to
improve it, complex handling, and technologic approach demanded to learn it. This research demonstrates that the manufacturing
cell integration can be accelerated, the communication between different platforms of robots can be optimized and costs with
specialized people can be reduced. The off-line programming method was created to minimise the integration cell time. But the
contemporary off-line programming has not brought significative gains to the manufacture cell integration, also to reduce the
robot programmer working hours. The contemporary programming tools to manufacture cells were projected without the
necessary...
Tipo: 18
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/off-line_programming_industrial_robots_based_in_the_information_extracted_fro
m_neutral_files_generat
Omni-directional Mobile Microrobots on a Millimeter Scale for a Microassembly System
Provedor de dados: 192
Autores: Zhenbo Li; Jiapin Chen.
This chapter has presented the construction of an omni-directional mobile microrobot system, with the microrobot less than one
cubic centimeter in volume and its unique dualwheels driven by electromagnetic micromotors, two millimeters in diameter, for
purpose of microassembly in narrow space. The results show that the microrobot can move continuously or in stages with high
precision under the two novel micro step control approaches, which is necessary for the microassembly mission. This
omni-directional mobility and the high precision movement show that the omni-directional mobile microrobot will have many
potential applications in micro fields. Although this work shows a good performance of a microrobot, there is still some further
work needed for this...
Tipo: 26
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/omni-directional_mobile_microrobots_on_a_millimeter_scale_for_a_microassemb
ly_system
Omnidirectional Mobile Robot - Design and Implementation
Provedor de dados: 192
Autores: Ioan Doroftei; Victor Grosu; Veaceslav Spinu.
Omnidirectional vehicles have great advantages over conventional (non-holonomic) platforms, with car-like Ackerman steering or
differential drive system, for moving in tight areas. They can crab sideways, turn on the spot, and follow complex trajectories.
These robots are capable of easily performing tasks in environments with static and dynamic obstacles and narrow aisles. Such
environments are commonly found in factory workshop offices, warehouses, hospitals, etc. Flexible material handling and
movement, with real-time control, has become an integral part of modern manufacturing. The development of an omnidirectional
vehicle was pursued to further prove the effectiveness of this type of architecture and to add a ground vehicle platform that is
capable of...
Tipo: 29
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/omnidirectional_mobile_robot_-__design_and_implementation
Omnidirectional Vision-Based Control from Homography
Provedor de dados: 192
Autores: Youcef Mezouar; Hicham Hadj Abdelkader; Philippe Martinet.
In this paper hybrid vision-based control schemes valid for the entire class of central cameras was presented. Geometrical
relationship between imaged points and lines was exploited to estimate a generic homography matrix from which partial
Euclidean reconstruction can be obtained. The information extracted from the homography matrix were then used to design
vision-based control laws. Results with simulated data confirmed the relevance. In future work, the robustness and stability
analysis with respect to calibration errors must be studied.
Tipo: 21
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/omnidirectional_vision-based_control_from_homography
On Direct Adaptive Control for Uncertain Dynamical Systems - Synthesis and Applications
Provedor de dados: 192
Autores: Simon Hsu-Sheng Fu; Chi-Cheng Cheng.
Tipo: 30
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/on_direct_adaptive_control_for_uncertain_dynamical_systems_-_synthesis_and_a
pplications
On Foveated Gaze Control and Combined Gaze and Locomotion Planning
Provedor de dados: 192
Autores: Kolja Kuhnlenz; Georgios Lidoris; Dirk Wollherr; Martin Buss.
This chapter presents a foveated active vision planning concept for robot navigation in order to overcome drawbacks of
conventional active vision when trading field of view versus measurement accuracy. This is the first approach of task-related
control of foveated active vision in the context of humanoid robots as well as localization and mapping. In a typical robot
navigation scenario the benefits of foveated active vision have been demonstrated: an improved localization accuracy combined
with an extended visible field compared to conventional active vision. As a generic information maximization principle has been
used the gaze control strategy is generalizable to other scenarios depending on the definition of the task-related information
measures,...
Tipo: 30
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/on_foveated_gaze_control_and_combined_gaze_and_locomotion_planning
On the Analogy in the Emergent Properties of Evolved Locomotion Gaits of Simulated Snakebot
Provedor de dados: 192
Autores: Ivan Tanev; Thomas Ray; Katsunori Shimohara.
We considered the adaptation of evolved locomotion gaits of a simulated snake-like robot (Snakebot) to two distinct changes in
the fitness landscape which, in the real-world, are most likely to cause a degradation of the performance of Snakebot ? (i) a
challenging terrain and (ii) a Snakebot's partial mechanical damage. We focused on the generality of the locomotion gaits, adapted
to these changes in the fitness landscape, and observed the emergence of an additional elevation of the body and increased
winding angle as common traits in these gaits. Discovering the strong correlation between the genotypes of the adapted gaits, we
concluded that the adaptation is achieved through a drift towards adjacent niches in the genotypic space of the evolving...
Tipo: 29
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/on_the_analogy_in_the_emergent_properties_of_evolved_locomotion_gaits_of_si
mulated_snakebot
On the Analysis and Kinematic Design of a Novel 2-DOF Translational Parallel Robot
Provedor de dados: 192
Autores: Jinsong Wang; Xin-Jun Liu; Chao Wu.
Tipo: 09
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/on_the_analysis_and_kinematic_design_of_a_novel_2-dof_translational_parallel_r
obot
On the Estimation of Asymptotic Stability Region of Nonlinear Polynomial Systems: Geometrical
Approaches
Provedor de dados: 192
Autores: Anis Bacha; Houssem Jerbi; Naceur Benhadj Braiek.
An advanced discrete algebraic method has been developed to determine and enlarge the region of asymptotic stability for
autonomous nonlinear polynomial discrete time systems. The exactness of the obtained RAS in this case constitutes the main
advantage of the proposed approach. The proposed technique is proved theoretically and tested via numerical simulation on the
discrete polynomial Van Der Pool model. The original discrete developed method is equivalent to the reversing trajectory method
which used to determine the RAS for continuous systems. Further research will be focused on the development and the
implementation of an optimal numerical tool which allows to reach the larger region of asymptotic stability for discrete nonlinear
systems.
Tipo: 4
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/on_the_estimation_of_asymptotic_stability_region_of_nonlinear_polynomial_syst
ems__geometrical_approa
On the Robust Dynamics Identification of Parallel Manipulators: Methodology and Experiments
Provedor de dados: 192
Autores: Houssem Abdellatif; Bodo Heimann; Jens Kotlarski.
The present chapter discussed most significant aspects to achieve accurate and robust dynamics identification for parallel
manipulators with 6 dof's. Hereby, the adequate consideration of structural properties of such systems has been stressed out. First,
an efficient methodology to determine the inverse dynamics in a parameterlinear form has been presented, which enables the use
of linear estimation techniques. Periodic excitation has been proved to be a powerful method for parallel robots, since it allows for
appropriate consideration of hard workspace constraints. Due to measurement noise and cross coupling between the actuators, the
achievement of the identification in a statistical framework is recommended. This includes the consideration of...
Tipo: 1
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/on_the_robust_dynamics_identification_of_parallel_manipulators__methodology_
and_experiments
On the Use of a Hexapod Table to Improve Tumour Targeting in Radiation Therapy
Provedor de dados: 192
Autores: Juergen Meyer; Matthias Guckenberger; Juergen Wilbert; Kurt Baier.
High precision image-guided radiotherapy demands a high degree of spatial accuracy for treatment delivery. Recent advances in
imaging technology for radiotherapy have been shown to yield information with respect to the tumour position with
sub-millimetre accuracy. Differences between planned and actual tumour position at treatment can be calculated in six DOF. With
standard equipment, it is not possible to correct for these set-up errors with the same accuracy as they were detected. Furthermore,
it is not possible to correct for all rotational errors. These limitations can be overcome with the robotic HexaPOD table. With the
combination of 3D volume imaging on the linac and the HexaPOD table, an overall mean positioning accuracy of 0.3 mm and
0.3? was...
Tipo: 30
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/on_the_use_of_a_hexapod_table_to_improve_tumour_targeting_in_radiation_ther
apy
On the Use of Queueing Petri Nets for Modeling and Performance Analysis of Distributed Systems
Provedor de dados: 192
Autores: Samuel Kounev; Alejandro Buchmann.
1
Tipo: 8
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/on_the_use_of_queueing_petri_nets_for_modeling_and_performance_analysis_of_
distributed_systems
One Approach to the Fusion of Inertial Navigation and Dynamic Vision
Provedor de dados: 192
Autores: Stevica Graovac.
The algorithm of fusion of data originating from the strap-down inertial navigation system (INS) and the dynamic vision based
visual navigation system (VNS) has been suggested for the general case when the appropriate landmarks are in the field of a TV
camera's view. The procedure is of weighted averaging type, allowing the adjustment of weighting factors having in mind the
physical nature of errors characterizing both systems and according to the self-evaluation of some intermediate estimates made
inside the VNS. The overall procedure could be reasonably reduced according to the particular application and to some
Tipo: 3
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/one_approach_to_the_fusion_of_inertial_navigation_and_dynamic_vision
Online Identification for the Automated Threaded Fastening Using GUI Format
Provedor de dados: 192
Autores: Nicola Ivan Giannoccaro; Mongkorn Klingajay.
The experimental tests have presented the validation of estimated parameters with the experiment data from [Ngemoh97] to
validate. The test results has shown that the estimated parameters can be identified up-to four parameters for this experimental
tests.
Tipo: 42
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/online_identification_for_the_automated_threaded_fastening_using_gui_format
On-line Scheduling on Identical Machines for Jobs with Arbitrary Release Times
Provedor de dados: 192
Autores: Rongheng Li; Huei-Chuen Huang.
Tipo: 6
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/on-line_scheduling_on_identical_machines_for_jobs_with_arbitrary_release_times
Operational Amplifiers and Active Filters: A Bond Graph Approach
Provedor de dados: 192
Autores: Gilberto Gonzalez; Roberto Tapia.
In this work an operational amplifier is shown in a bond graph model. The proposed bond graph takes account the input and
output resistances, open loop gain, supply voltages, slew rate and frequency compensation of an operational amplifier. Therefore,
an advantage of this model is to determine the performance of applications based on operational amplifiers considering the type of
linear integrated circuit to obtain the internal parameters from the data sheets. Finally, open loop and closed loop configurations of
the operational amplifier in the physical domain have been shown.
Tipo: 16
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/operational_amplifiers_and_active_filters__a_bond_graph_approach
Optical Correlator based Optical Flow Processor for Real Time Visual Navigation
Provedor de dados: 192
Autores: 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
Optical Three-Axis Tactile Sensor
Provedor de dados: 192
Autores: M. Ohka.
In this chapter, mechanism and evaluation of the optical three-axis tactile sensor are described to show sensing characteristics on
three components of force vector applied to the sensing element. Then, recognition method for subtle convex portions of flat plate
is presented to show effective of the present method using a series of experiments. In future work, the author plans to mount the
present three-axis tactile sensors on a micro and robotic fingers to perform verification experiments and will perform edge tracing
of an object and object manipulation. In these experiments, the presented recognition method will be effective to determine subtle
concave and convex portions located on any surfaces.
Tipo: 6
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/optical_three-axis_tactile_sensor
Optimal Design of a New Wheeled Mobile Robot by Kinetic Analysis for the Stair-Climbing States
Provedor de dados: 192
Autores: Chun-Kyu Woo; Hyun Do Choi; Mun Sang Kim; Soo Hyun Kim; Yoon Keun Kwak.
In order to be utilized in building inspection, building security, and military reconnaissance, a new type of WMR was designed
with a passive linkage-type locomotive mechanism for improved adaptability to rough terrain and stair-climbing without the
active control techniques. Two designed concepts, `adaptability' and `passivity', were considered for the design of the linkage-type
locomotive mechanism of the WMR. The proposed mechanism, composed of a simple 4-bar linkage mechanism and a limited pin
joint, allows the WMR to adapt passively to rough terrain and to climb stairs. A state analysis was carried out to determine the
states that primarily influence the WMR's ability to climb the stair. For the several dominant states suggested from the state...
Tipo: 17
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/optimal_design_of_a_new_wheeled_mobile_robot_by_kinetic_analysis_for_the_st
air-climbing_states
Optimal Design of Mechanisms for Robot Hands
Provedor de dados: 192
Autores: J.A. Cabrera; F. Nadal; A. Simon.
In this paper, we showed a new algorithm (POEMA) based on the Differential Evolution strategy, but it has been extended to
tackle multiobjective optimization problems. For this purpose, new features have been developed. This work uses the
Pareto-based approach to classify the population into non-dominated and dominated individuals. The algorithm is used to
optimize several goal functions in a hand robot mechanism, subject to different constraints. The same method can be applied to
optimize any other goal functions in other different problems. One of the features of the used method is that there is not an unique
solution to the problem, as the method finds several solutions which are called non-dominated solutions and every non-dominated
solution is a good...
Tipo: 6
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/optimal_design_of_mechanisms_for_robot_hands
Optimal Design of Parallel Kinematics Machines with 2 Degrees of Freedom
Provedor de dados: 192
Autores: Sergiu-Dan Stan; Vistrian Maties; Radu Balan.
The fundamental guidelines for genetic algorithm to optimal design of micro parallel robots have been introduced. It is concluded
that with three basic generators selection, crossover and mutation genetic algorithm could search the optimum solution or
near-optimal solution to a complex optimization problem of micro parallel robots. In the paper, design optimization is
implemented with Genetic Algorithms (GA) for optimization considering transmission quality index, design space and workspace.
Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of
advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply
discarded. The...
Tipo: 14
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/optimal_design_of_parallel_kinematics_machines_with_2_degrees_of_freedom
Optimal Motion Planning for Manipulator Arms Using Nonlinear Programming
Provedor de dados: 192
Autores: Jong-keun Park.
In this chapter, we present a practical and reliable method for finding the minimum torque, minimum energy, minimum overload,
and minimum time motions for the manipulators moving in an obstacle field, subject to the limits of velocity-dependent actuator
forces. Arbitrary point-to-point manipulator motions are represented by a point in a finitedimensional vector space parameterized
by quintic B-splines. The novel idea in this work is the concept of the minimum overload trajectory, in which the
actuator-overloads achieve their minimum values with the total motion time fixed. The minimum time motion is defined
rigorously with this concept and it is obtained by successive searches for the minimum overload trajectory. There are various local
minimal motions...
Tipo: 13
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/optimal_motion_planning_for_manipulator_arms_using_nonlinear_programming
Optimal Path Planning of Multiple Mobile Robots for Sample Collection on a Planetary Surface
Provedor de dados: 192
Autores: J.C. Cardema; P.K.C. Wang.
In this work, we gave mathematical formulations of the sample collection problem for single and multiple robots as optimization
problems. These problems are more complex than the well-known NP-hard Traveling Salesman Problem. In order to gain some
insight on the nature of the solutions, algorithms are developed for solving simplified versions of these problems. This study has
been devoted to centralized operation. If communication between the rovers is considered, as in autonomous operation, the nature
of the result will be different. The problem posed here is simplified to facilitate mathematical formulation. To determine whether
the strategies and algorithms discussed in this paper
Tipo: 28
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/optimal_path_planning_of_multiple_mobile_robots_for_sample_collection_on_a_
planetary_surface
Optimal Velocity Planning of Wheeled Mobile Robots on Specific Paths in Static and Dynamic
Environments
Provedor de dados: 192
Autores: Maria Prado.
A method to compute velocity, acceleration and deceleration upper boundary functions for WMRs is described in this chapter.
These functions confine the operating variables into safety regions in order to generate trajectories that are feasible, safe and with
low tracking errors. The method first deals with issues related to the performances of steering, tractive and braking subsystems of
wheeled robots, as well as mechanical properties of wheelground contact. Next, the motion capabilities of the robot's guide point
are calculated as functions of the previous results, attending to the kinematics and dynamics of the complete robot system.
Operational constraints caused by the need for fitting and synchronising the robot's motion with its environment are also...
Tipo: 16
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/optimal_velocity_planning_of_wheeled_mobile_robots_on_specific_paths_in_stati
c_and_dynamic_environme
Optimising Spoken Dialogue Strategies within the Reinforcement Learning Paradigm
Provedor de dados: 192
Autores: Olivier Pietquin.
This chapter described a formal description of a man-machine spoken dialogue suitable to introduce a mapping between
man-machine dialogues and (partially observable) Markov decision processes. This allows data-driven optimization of a dialogue
manager's interaction strategy using the reinforcement learning paradigm. Yet, such an optimization process often requires tenths
of thousands of dialogues which are not accessible through real interactions with human users because of time and economical
constraints. Expanding existing databases by means of dialogue simulation is a solution to this problem and several approaches
can be envisioned as discussed in section 0. In this context, we described the particular task of speech-based database querying
and its...
Tipo: 13
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/optimising_spoken_dialogue_strategies_within_the_reinforcement_learning_paradi
gm
Optimization of a 2 DOF Micro Parallel Robot Using Genetic Algorithms
Provedor de dados: 192
Autores: 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
Optimization of Multi-Tiered Supply Chain Networks with Equilibrium Flows
Provedor de dados: 192
Autores: Suh-Wen Chiou.
This chapter addresses a new solution scheme for a three-tiered supply chain equilibrium network problem involving two-level
kinds of decision makers. A MPEC program for the three-tiered supply chain network problem was established. In this chapter,
from a nonsmooth approach, firstly, we proposed a globally convergent SPSS approach to optimally solve the MPEC program.
The first order sensitivity analysis for the three-tiered supply chain equilibrium network was conducted. Numerical computations
using a 9-node supply chain network from literature were performed. Computational comparative analysis was also carried out at
two sets of distinct initial data in comparison with earlier and recent proposed methods in solving the multi-tiered supply chain
network...
Tipo: 13
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/optimization_of_multi-tiered_supply_chain_networks_with_equilibrium_flows
Optimize Variant Product Design Based on Component Interaction Graph
Provedor de dados: 192
Autores: Elim Liu; Shih-Wen Hsiao.
Tipo: 19
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/optimize_variant_product_design_based_on_component_interaction_graph
Optimizing Mathematical Morphology for Image Segmentation and Vision-based Path Planning in
Robotic Environments
Provedor de dados: 192
Autores: Francisco A. Pujol; Mar Pujol; Ramon Rizo.
In general terms, the path planning process for suitable morphological gradient threshold. To do this, global morphological
operators have been used to compute the gradient and the Laplacian and, after a proper binarization, the distance between the ideal
segmentation and the MGT segmentation has been computed. As a consequence, the gradient threshold with the lowest distance
has been selected as the optimal threshold value. Experimental results show that our model is fast and robust and could be applied
for real-time imaging. As a future work, to fully appreciate the implications of incorporating a path planner into a robot system it
is necessary to consider a real robot system. The use of simulations can give a good idea of the ability to solve the basic...
Tipo: 7
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/optimizing_mathematical_morphology_for_image_segmentation_and_vision-base
d_path_planning_in_robotic_
Outlier Detection Methods for Industrial Applications
Provedor de dados: 192
Autores: Silvia Cateni; Valentina Colla; Marco Vannucci.
A description of traditional approaches and of the most widely used methods within each category has been provided. As standard
outlier detection methods fail to detect outliers in industrial data, the use of artificial intelligence techniques has also been
proposed, because it presents the advantage of requiring poor or no a priori assumption on the considered data. A procedure for
outlier detection in a database has been proposed which exploits a Fuzzy Inference System in order to evaluate four features for a
pattern that characterize its location within the database. The system has been tested on a real industrial application, where outliers
can provide indications on malfunctionings or anomalous process conditions. The presented results clearly...
Tipo: 14
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/outlier_detection_methods_for_industrial_applications
Parallel Manipulators with Lower Mobility
Provedor de dados: 192
Autores: Raffaele Di Gregorio.
Tipo: 20
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/parallel_manipulators_with_lower_mobility
Parallel Robot Scheduling with Genetic Algorithms
Provedor de dados: 192
Autores: Tarik Cakar; Harun Resit Yazgan; Rasit Koker.
The genetic algorithms (GA) have the great advantage and success in the solution of NP problems. There are various important
applications on this way. In this study, the job with n-number of precedence constraints is assigned minimizing total earliness and
tardiness and maximum flow time on m-number of parallel machine. Genetic algorithms and simulated annealing methods were
used to find the solutions, which minimizes the total earliness and tardiness costs. In GA, the solution alternatives, which were
obtained by using genetic operators, were investigated to understand that if they are feasible or not and the feasible ones according
to precedence constraints were considered. The way, trying to make infeasible solutions feasible, was not selected....
Tipo: 8
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/parallel_robot_scheduling_with_genetic_algorithms
Parameterization of MRP for Supply Planning Under Lead Time Uncertainties
Provedor de dados: 192
Autores: A. Dolgui; F. Hnaien; A. Louly; H. Marian.
We studied an MRP parameterization problem for assembly systems under component lead time uncertainties. This problem of
inventory control and production planning under uncertainties is crucial for industry. Most publications are devoted to customer
demand uncertainties. In contrast, lead time uncertainties seem not be sufficiently studied, in particular, for the control of
component inventories for assembly systems with random component procurement times (lead times). Nevertheless, many of
industrial applications exist where the component lead times are random. For the case of assembly systems with random lead
times and a random demand, if the demand and component lead times are independent random variables, the following
decomposition can be made. The...
Tipo: 14
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/parameterization_of_mrp_for_supply_planning_under_lead_time_uncertainties
Parametrically Excited Dynamic Bipedal Walking
Provedor de dados: 192
Autores: Fumihiko Asano; Zhi-Wei Luo.
This chapter described a novel method of generating a biped gait based on the principle of parametric excitation. We confirmed
the validity of swing-leg actuation through numerical simulations. A high-speed and energy-efficient gait was easily accomplished
by pumping the swing-leg mass. We confirmed that energy-efficiency can be improved by using elastic elements without
changing the walking pattern. It is possible to achieve a minimum class of specific resistance by optimally adjusting mechanical
impedances to satisfy maximum efficiency condition. The greatest contribution of our study was achieving energy-efficient and
high-speed dynamic biped locomotion without having to take ZMP conditions into account. We hope that our approach will
provide new...
Tipo: 1
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/parametrically_excited_dynamic_bipedal_walking
Particle Swarm Optimization for Simultaneous Optimization of Design and Machining Tolerances
Provedor de dados: 192
Autores: Liang Gao; Chi Zhou; Kun Zan.
Tolerance assignment is very important in product design and machining. The conventional sequentially tolerance allocation
suffers from several drawbacks. Therefore, a simultaneous tolerance assignment approach is adopted to overcome these
drawbacks. However, the optimization task is usually difficult to tackle due to the nonlinear, multi-variable and high constrained
characteristics. In trying to solve such constrained optimization problem, penalty function based methods have been the most
popular approach. However, since the penalty function approach is generic and applicable to any type of constraint, their
performance is not always satisfactory and consistent. In view of the memory characteristics of PSO, a new constraints handling
strategy suit for...
Tipo: 17
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/particle_swarm_optimization_for_simultaneous_optimization_of_design_and_mac
hining_tolerances
Particle Swarm Optimization in Structural Design
Provedor de dados: 192
Autores: Ruben E. Perez; Kamran Behdinan.
Particle Swarm Optimization is a population-based algorithm, which mimics the social behaviour of animals in a flock. It makes
use of individual and group memory to update each particle position allowing global as well as local search optimization.
Analytically the PSO behaves similarly to a traditional line-search where the step length and search direction are stochastic.
Furthermore, it was shown that the PSO search strategy can be represented as a discrete-dynamic system which converges to an
equilibrium point. From a stability analysis of such system, a parameter selection heuristic was developed which provides an
initial guideline to the selection of the different PSO setting parameters. Experimentally, it was found that using the derived
heuristics...
Tipo: 21
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/particle_swarm_optimization_in_structural_design
Particle Swarm Optimization - Stochastic Trajectory Analysis and Parameter Selection
Provedor de dados: 192
Autores: M. Jiang; Y. P. Luo; S. Y. Yang.
The stochastic process theory is applied to analyze the particle swarm optimization algorithm determined by five-dimensional
real-value parameter tuple { , c1, c2, a, b}, considering the randomness thoroughly. Specifically speaking, stochastic convergence
analysis is conducted on PSO algorithm when it is in stagnation phase, and the convergent properties of expectation and variance
sequence of particle's position are studied. The analysis results determines corresponding parameter ranges, both in formular and
graphical form. This result is helpful to understand the mechanism of PSO algorithm and select appropriate parameters to make
PSO algorithm more powerful. After the theoretical stochastic convergence analysis of PSO algorithm in stagnation phase,...
Tipo: 11
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/particle_swarm_optimization_-_stochastic_trajectory_analysis_and_parameter_sel
ection
Passive-type Intelligent Walker Controlled Based on Caster-like Dynamics
Provedor de dados: 192
Autores: Yasuhisa Hirata; Asami Muraki; and Kazuhiro Kosuge.
In this paper, we introduce the concept of the passive robotics and the passive-type intelligent walker referred to as RT Walker
developed based on the passive robotics concept. For improving the maneuverability of the walker in an environment such as a
home, an
Tipo: 11
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/passive-type_intelligent_walker_controlled_based_on_caster-like_dynamics
Path Coordination Planning and Control in Robotic Material Handling and Processing
Provedor de dados: 192
Autores: Xuan F. Zha; Xiaoqi Chen.
This chapter presented a unified approach to robot trajectories coordination planning and control in Cartesian space. The unified
treatment of the robot end-effector's position and orientation is based on the pose ruled surface concept and used in trajectory
interpolations. The generation and control of pose trajectories for robot end effector could be carried out by generating the 3D
robot pose ruled surface or path and determining the minimum or maximum value of its area function with kinematics and
dynamics constraints. The models and algorithms as demonstrated in this chapter are generally reliable and effective if control
parameters are appropriately selected. Comparing with existing methods, the proposed planning and control models and
algorithms are...
Tipo: 12
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/path_coordination_planning_and_control_in_robotic_material_handling_and_proc
essing
PCA and LDA Based Neural Networks for Human Face Recognition
Provedor de dados: 192
Autores: Alaa Eleyan; Hasan Demirel.
5.1. Training and Testing of Neural Networks Two neural networks, one for PCA based classification and the other for LDA
based classification are prepared. ORL face database is used for training and testing. The training is performed by n poses from
each subject and the performance testing is performed by 10-n poses of the same subjects. After calculating the eigenfaces using
PCA the projection vectors are calculated for the training set and then used to train the neural network. This architecture is called
PCA-NN. Similarly, after calculation of the fisherfaces using the LDA, projection vectors are calculated for the training set.
Therefore, the second neural network is trained by these vectors. This architecture is called LDA-NN (Eleyan & Demirel,...
Tipo: 6
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/pca_and_lda_based_neural_networks_for_human_face_recognition
PEACE: An Excavation-Type Demining Robot for Anti-Personnel Mines
Provedor de dados: 192
Autores: Yoshikazu Mori.
The author thanks Mr. Hachiroda Tokuni of NOUKOU Co, Ltd., and Dr. Yoshio Kobayashi for providing a great deal of valuable
advice and many suggestions. Kazuhiro Takayama, Takeshi Adachi and Shintaro Omote have been his lab members in Tokyo
Metropolitan University. The author would like to thank them for great efforts and lots of help.
Tipo: 14
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/peace__an_excavation-type_demining_robot_for_anti-personnel_mines
Petri Net Based Modelling of Communication in Systems on Chip
Provedor de dados: 192
Autores: Holger Blume; Thorsten von Sydow; Jochen Schleifer; Tobias G. Noll.
It is a key task of modern System-on-Chip (SoC) and Network-on-Chip (NoC) design to efficiently explore this design space
regarding aspects like performance, flexibility and power consumption presumably in an early stage of the design flow in order to
reduce design time and design costs. In this chapter several examples for modelling of on-chip communication using Petri Net
based modelling techniques have been presented. These examples include modelling of internal processor communication and
modelling of inter-processor communication using a crossbar switch fabric. For these examples deterministic and stochastic Petri
Nets have been applied as modelling technique. More complex NoC communication has been modelled applying Coloured Petri
Nets. The results...
Tipo: 3
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/petri_net_based_modelling_of_communication_in_systems_on_chip
Petri Net Transformations
Provedor de dados: 192
Autores: Hartmut Ehrig; Kathrin Hoffmann; Julia Padberg; Claudia Ermel; Ulrike Prange; Enrico Biermann; Tony Modica.
The main idea of Petri net transformations is to extend the classical theory of Petri nets by a rule-based technique that allows to
model the changes of the Petri net structure. There have been already a few approaches to describe transformations of Petri nets
formally (e.g. in [2, 3, 31, 6, 32]). The intention has been mainly on reduction of nets to support verification, and not on the
software development process as in our case. This use of transformations has been one of the main focus areas of the
DFG-Research group Petri Net Technology. There are some large studies in various application areas as medical information
Tipo: 1
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/petri_net_transformations
Petri Nets for Component-Based Software Systems Development
Provedor de dados: 192
Autores: Leandro Dias da Silva; Kyller Gorgonio; Angelo Perkusich.
1
Tipo: 21
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/petri_nets_for_component-based_software_systems_development
Photorealistic 3D Model Reconstruction based on the Consistency of Object Surface Reflectance
Measured by the Voxel Mask
Provedor de dados: 192
Autores: K. K. Chiang; K. L. Chan; H. Y. Ip.
SFSPC works well to model objects with more color inhomogeneity or sufficient texture information. It can quite accurately carve
the concave regions. However, if the object contains a large, flat area in homogeneous color, partial surface estimation may not
truly identify the real surface voxels. Besides, the computational time is still a problem. The higher the resolution is set, the more
accurate and finer reconstructed model is generated. However, as the number of voxels in the volumetric model increases, more
computation is needed to process the entire model. As for SFSPC, most of the time is spent on the partial surface estimation
process. The computational time is directly proportional to the number of remaining voxels after the voting-based SFS. It...
Tipo: 7
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/photorealistic_3d_model_reconstruction_based_on_the_consistency_of_object_sur
face_reflectance_measur
Planning Versatile Motions for Humanoid in a Complex Environment
Provedor de dados: 192
Autores: Tsai-Yen Li; Pei-Zhi Huang.
Building autonomous humanoid robots has been the goal of many applications in robotics and computer animation. Spatial
reasoning is a key capability to enable a robot to accept high-level commands and move autonomously. In this chapter, we have
described a motion-planning system that can generate feasible humanoid animations with versatile locomotion in a complex
virtual environment. The focus has been put on designing a global path planner that can generate a gross motion plan respecting
the environmental and the humanoid constraints. The reachability can be defined by the properties of humanoid and can be
extended through locomotion abilities. With the new problem definition, we modify the Best-First planning algorithm to account
for user preference on...
Tipo: 32
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/planning_versatile_motions_for_humanoid_in_a_complex_environment
Playing Games with Robots - A Method for Evaluating Human-Robot Interaction
Provedor de dados: 192
Autores: Min Xin; Ehud Sharlin.
From the description of our game-based HRI testbed above, we would like to provide some lessons learned in terms of the
benefits and challenges of our approach and application. First and foremost, this testbed is relatively simple to construct and cost
effective. Using readily available products such as the AIBO and the RolaBoardTM, we were able to rapidly construct and
prototype our testbed. This again speaks to the flexible nature of games which can be created with whatever is easily assessable or
modified to make implementation easier. Second, because the game has simple and well defined rules and is played within a
bounded environment, we can rapidly prototype new games and design new user studies. In fact, we are currently in the second
iteration of...
Tipo: 26
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/playing_games_with_robots_-_a_method_for_evaluating_human-robot_interaction
PLEIA: A Reconfigurable Platform for Evaluation of HCI Acting
Provedor de dados: 192
Autores: Peralta H.; Monacelli E.; Riman C.; Baklouti M.; Ben Ouezdou F.; Mougharbel I.; Laffont I.; Bouteille J.
Today the methods used by the medical team and occupational therapist are often qualitative. PLEIA software can be employed as
a tool to evaluate the pointing user's capabilities. We proposed the new indexes to improve the classical evaluations methods that
use the common factors as distance, time, errors and trajectory. The index command load shows the energy that the user employs
to act on his technical aid. This energy could be not to be in direct relation with the efficiency, when the user realizes a task.
PLEIA's capacities can be expanded as rehabilitation platform, telerehabilitation and experimentation platform for HCI systems
with different haptic devices. The experiments are based on the real evaluation cases. In two cases, we evaluated the...
Tipo: 23
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/pleia__a_reconfigurable_platform_for_evaluation_of_hci_acting
Pneumatic Actuators for Climbing, Walking and Serpentine Robots
Provedor de dados: 192
Autores: Grzegorz Granosik.
Pneumatic actuators originally limited to simple motion between two hard stops, are now becoming more and more popular, and
substituting in many cases electric drives. Especially robots intended to contact with ground, obstacles, co-operating with other
robots and humans require drives strong, compliant and safe. We have shown a few projects of quite different machines, all taking
benefits from various pneumatic drives. But this chapter does not cover all important areas of possible applications for
pneumatics. Actuators with high power/weight ratio are needed in mechanical systems that support human motion in
rehabilitation, welfare, and sports. Moreover, mechanical systems for entertainment requires various, smooth motions. Actuators
applied to these...
Tipo: 28
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/pneumatic_actuators_for_climbing__walking_and_serpentine_robots
Polygonal Approximation of Digital Curves Using the State-of-the-art Metaheuristics
Provedor de dados: 192
Autores: Peng-Yeng Yin.
In this chapter, we investigate the polygonal approximation problem which is fundamental to many image analysis tasks.
Traditional problem-specific heuristics are not suitable to be applied alone because the quality of the obtained result depends on
the initial setting of the algorithms and the properties of the curves. On the other hand, metaheuristic approaches can produce
stable approximation quality for various kinds of curves. We have illustrated the implementations based on two newly developed
metaheuristics, namely the ACO and the PSO. To circumvent the underlying problem, specific features have been introduced such
as the ACO graph representation, PSO genetic operators, penalty functions, and the hybrid strategy. Experimental results on
several...
Tipo: 24
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/polygonal_approximation_of_digital_curves_using_the_state-of-the-art_metaheuri
stics
Pose Estimating the Human Arm Using Kinematics and the Sequential Monte Carlo Framework
Provedor de dados: 192
Autores: Thomas Moeslund.
In this article we have shown how to pose estimate the human arm using monocular computer vision. The hypothesis behind our
approach is that the fewer possible solutions and the better the search through these, the higher the likelihood of finding the
correct pose in a particular frame. To achieve fewer solutions we did two things. Firstly, we introduced a very compact
representation of the human arm based on the position of the hand measured in the current image. We denoted this representation
the local screw axis model. Secondly, we applied the kinematics of the human arm in order to prune the solution space. In average
our constraints can prune the solution-space with 97% Our representation of the arm is based on the position of the hand in the
image....
Tipo: 38
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/pose_estimating_the_human_arm_using_kinematics_and_the_sequential_monte_c
arlo_framework
Position / Force Hybrid Control of a Manipulator with a Flexible Tool Using Visual and Force
Information
Provedor de dados: 192
Autores: Jian Huang; Isao Todo; Tetsuro Yabuta.
Several experiments have been performed to prove the effectiveness of the proposed method as shown in Fig.9. The control
parameters used in the experiments are given in Table 1.
Tipo: 36
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/position___force_hybrid_control_of_a_manipulator_with_a_flexible_tool_using_v
isual_and_force_informa
Positioning in Robots Soccer
Provedor de dados: 192
Autores: Hesam T. Dashti; Shahin Kamali; Nima Aghaeepour.
Tipo: 2
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/positioning_in_robots_soccer
Possibilities of Force based Interaction with Robot Manipulators
Provedor de dados: 192
Autores: 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
Posture and Movement Estimation Based on Reduced Information. Application to the Context of
FES-based Control of Lower-Limbs
Provedor de dados: 192
Autores: Nacim Ramdani; Christine Azevedo-Coste; David Guiraud; Philippe Fraisse; Rodolphe Heliot; Gael Pages.
In this chapter we have introduced several approaches for the estimation, detection and classification of the posture or movement
of disabled patients. They are founded on nonintrusive sensors and are meant for closed-loop control in the context of functional
restoration via electrical stimulation. While taking advantage of an available walker, we have investigated the potential of using
only arm support measurements. Then, we found that we can reconstruct patients standing postures only with a fairly large
uncertainty. However, we found that these measurements can be used for detecting patients trunk movement. When miniature
sensors are attached onto the patient's body, then it is possible to efficiently detect transitions such as sit-to-stand or classify...
Tipo: 16
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/posture_and_movement_estimation_based_on_reduced_information__application_
to_the_context_of_fes-base
Posture and Vibration Control Based on Virtual Suspension Model for Multi-Legged Walking Robot
Provedor de dados: 192
Autores: Qingjiu Huang.
In this chapter, we treat a six-legged walking robot as a study example of the multi-legged walking robot, and introduce the
newest study on a control for the posture and vibration of the robot using suspension mechanism to realize the better stability and
the better adaptability of its walking for unknown rough terrain. Firstly, in order to constrain the body posture of multi-legged
walking robot when it is walking, a suspension dynamic model with virtual springs and virtual dampers was constructed for the
vertical direction, the directions of the pitch angle, and the direction of the roll angle of its body, respectively. And then
considering the nonlinear disturbances and trade-off problem in the design of suspension, a robust control using sliding mode...
Tipo: 4
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/posture_and_vibration_control_based_on_virtual_suspension_model_for_multi-leg
ged_walking_robot
Power Plant Maintenance Scheduling Using Ant Colony Optimization
Provedor de dados: 192
Autores: Wai Kuan Foong; Holger Robert Maier; Angus Ross Simpson.
In this chapter, a formulation for applying Ant Colony Optimization (ACO) to power plant maintenance scheduling optimization
(PPMSO) has been developed and successfully tested using four case studies (original and modified versions of two benchmark
case studies from the literature). In particular, the performance of the heuristic formulation developed, the two local search
algorithms introduced and the overall utility of the ACO-PPMSO formulation were investigated. The results obtained have shown
that the heuristic formulation improves the performance of the ACO-PPMSO algorithm significantly when applied to the four case
studies investigated. It was found that while the PPMSO-2-opt local search operator seems to work well for unconstrained
problems, it is...
Tipo: 16
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/power_plant_maintenance_scheduling_using_ant_colony_optimization
Power Tillers for Demining in Sri Lanka: Participatory Design of Low-cost Technology
Provedor de dados: 192
Autores: Cepolina Emanuela Elisa.
Considering the increasing consensus on the fact that mine action should be regarded as a development activity, there should be
rapid change of the current approach. The paper summarises few topics in the domain and introduces a new integrated approach to
the design of simpleffective demining technologies. The methodology is applied to the design of a simple modular machine for
assisting mine removal through ground processing and vegetation cutting. The tractor unit is chosen in the agricultural machines
domain (power tillers), so that to assure the full consistency with the local expertise and habits. Cost and sophistication
minimisation is primary objective of the present project. The machine is equipped with a pneumatic remote control, versatile
enough...
Tipo: 16
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/power_tillers_for_demining_in_sri_lanka__participatory_design_of_low-cost_tech
nology
Powered Human Gait Assistance
Provedor de dados: 192
Autores: Kevin W. Hollander; Thomas G. Sugar.
Adaptation of powered actuated devices to assist elderly or weak individuals implies special design requirements. These actuators
must be powerful enough to perform the tasks required of them yet remain efficient, lightweight and safe to its wearer. A
spring-based actuator can contribute to all of these things. Springs are inherently powerful and lightweight. For the examples
actuators developed above, the springs have `power to weight' ratios of approximately 300,000 W/kg. Springs are an efficient
form of energy storage. For unstressed spring steel, its efficiency is reported to be 99.9% (Carlson, 1980). Springs are by nature
compliant and back drivable, thus providing a natural measure of safety. Additionally, the other mechanical actuator elements,
like...
Tipo: 12
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/powered_human_gait_assistance
Predicting Surface Roughness in Grinding Using Neural Networks
Provedor de dados: 192
Autores: Paulo R. Aguiar; Carlos E. D. Cruz; Wallace C. F. Paula; Eduardo C. Bianchi.
The technique of surface roughness prediction has been developed using multi-sensor method with AE sensor and power meter for
grinding process. Based on the results presented in this research, it can be concluded that acoustic emission and cutting power
signals are very good input parameters to the neural network for surface roughness prediction of ground parts. Thus, the
implementation of these signals is feasible in the control of grinding process in industry, provided that very low percentage of
"bad" errors presented by the neural network was found. From the sets used in the training of the neural networks, and for the
grinding conditions and methods employed, the set number 3 composed only by the DPO parameter and depth of cut has
presented the best...
Tipo: 03
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/predicting_surface_roughness_in_grinding_using_neural_networks
Predictive Force Control of Robot Manipulators in Nonrigid Environments
Provedor de dados: 192
Autores: L.F. Baptista; J.M.C. Sousa; J.M.G. Sa da Costa.
Tipo: 31
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/predictive_force_control_of_robot_manipulators_in_nonrigid_environments
Preface
Provedor de dados: 192
Autores: Kresimir Delac; Mislav Grgic.
Tipo: 0
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/preface
Preface: Multiprocessor Scheduling, Theory and Applications
Provedor de dados: 192
Autores: Eugene Levner.
1
Tipo: 0
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/preface__multiprocessor_scheduling__theory_and_applications
Preface: Swarm Intelligence, Focus on Ant and Particle Swarm Optimization
Provedor de dados: 192
Autores: Felix T.S. Chan; Manoj Kumar Tiwari.
1
Tipo: 0
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/preface__swarm_intelligence__focus_on_ant_and_particle_swarm_optimization
Pricing in Supply Chain under Vendor Managed Inventory
Provedor de dados: 192
Autores: Subramanian Nachiappan; Natarajan Jawahar.
The authors thank the Management, the Principal, and the Head of Mechanical Engineering Department of Thiagarajar College of
Engineering, Madurai, India and the Nottingham University Business School, Nottingham, UK for providing necessary facilities
to carry out this work. The authors specially thank Department of Science and Technology (SERC Division), New Delhi for the
BOYSCAST fellowship (SR/BY/E-09/06) to carry out this research work at Nottingham University and All India Council for
Technical Education
Tipo: 20
Palavras-chave: Supply Chain.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/pricing_in_supply_chain_under_vendor_managed_inventory
Principal Screws and Full-Scale Feasible Instantaneous Motions of Some 3-DOF Parallel
Manipulators
Provedor de dados: 192
Autores: Z. Huang; J. Wang; S. H. Li.
This chapter presents a study on the full-scale instant twists motions of 3-DOF parallel manipulators. The study is of extremely
benefit to understand and correctly apply a mechanism. It is based on principal screws of the screw system. The key problem is to
derive three principal screws from a given 3-DOF mechanism. It needs to set the relation between the pitches of the principal
screws and the three linear inputs of the mechanism. In this chapter, the effective method to identify the principal screws of a
third-order screw system of 3-DOF mechanisms is presented. For obtaining the principal screws there introduce two methods, the
quadratic curve degenerating theory and quadric degenerating theory. Besides, the imaginary-mechanism influence coefficient...
Tipo: 18
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/principal_screws_and_full-scale_feasible_instantaneous_motions_of_some_3-dof_
parallel_manipulators
Probabilistic and Statistical Layered Approach for High-Level Decision Making in Soccer Simulation
Robotics
Provedor de dados: 192
Autores: Carlos Bustamante; Leonardo Garrido.
1
Tipo: 6
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/probabilistic_and_statistical_layered_approach_for_high-level_decision_making_i
n_soccer_simulation_r
Progressive Design through Staged Evolution
Provedor de dados: 192
Autores: Ricardo A. Tellez; Cecilio Angulo.
The progressive design method allows for the evolution of complex controllers in complex robots. However, the process is not
performed in a complete automatic way as the evolutionary robotics approach aims to have. Instead, a gradual shaping of the
controller is performed, where there is a human trainer who directs the learning process, by presenting increasingly complex
learning tasks, and deciding the best combination of modules over time, until the final complex goal is reached. This process of
human shaping seems unavoidable to us if a complex robot body, sensors/actuators, environment and task are imposed before
hand. This point has also been suggested by other researchers (Urzelai et al. 1998; Muthuraman et al., 2003). But, different to
other...
Tipo: 26
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/progressive_design_through_staged_evolution
Projective Rectification with Minimal Geometric Distortion
Provedor de dados: 192
Autores: Hsien-Huang P. Wu; Chih-Cheng Chen.
This chapter presented a new way of parameterizing the homography, which leads to a new approach of projective rectification for
stereo images. Compared with the previous works, the novelty of this new algorithm is that it uses mean-square distance as
minimization criterion which has more well-defined geometric meaning. Furthermore, instead of putting constraint on x-axis
disparity, we use shearing transform to achieve a single solution for the projective rectification problem, and greatly reduce the
geometric distortion. Visual inspection and quantitative evaluation of the rectification results show the accuracies of the proposed
method and its low geometric distortion. Experiments on different types of image pairs with various y-disparity values have...
Tipo: 13
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/projective_rectification_with_minimal_geometric_distortion
Prototypic Force Feedback Instrument for Minimally Invasive Robotic Surgery
Provedor de dados: 192
Autores: Ulrich Seibold; Bernhard Kuebler; Gerd Hirzinger.
Tipo: 28
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/prototypic_force_feedback_instrument_for_minimally_invasive_robotic_surgery
Pseudo Stereovision System (PSVS): A Monocular Mirror-based Stereovision System
Provedor de dados: 192
Autores: Theodore P. Pachidis.
A system for stereovision based on mirrors and a beam-splitter, was presented. PSVS, as it is called, is a low cost system with
well-located features (accuracy, stability, compact construction). Equations and relations, concerning its construction and
calculation of points coordinates in 3D space, taking into consideration refraction phenomena due to beamsplitter, were derived.
Keeping always in mind the low construction cost and the possibility to easy constructed and used by anyone, new methods were
introduced. These methods concern the correspondence algorithm used complex images separation and stereoscopic images
reconstruction. Some problems during separation and reconstruction of images were explained. However, more research for this
issue is...
Tipo: 17
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/pseudo_stereovision_system__psvs___a_monocular_mirror-based_stereovision_sy
stem
Pseudogradient Estimation of Digital Images Interframe Geometrical Deformations
Provedor de dados: 192
Autores: 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_deformatio
ns
PURE: A Fuzzy Model for Product Upgradability and Reusability Evaluation for Remanufacture
Provedor de dados: 192
Autores: Ke Xing; Kazem Abhary; Lee Luong.
Tipo: 11
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/pure__a_fuzzy_model_for_product_upgradability_and_reusability_evaluation_for_
remanufacture
Q-Learning Adjusted Bio-Inspired Multi-Robot Coordination
Provedor de dados: 192
Autores: Yan Meng.
The proposed QVP-PSO algorithm has the following characteristics: (1) Robots act independently, asynchronously, and in
parallel, without maintaining a global model; (2) Robots use a simple control algorithm regardless of the changes under a dynamic
environment; and (3) Robots can only communicate with their neighbors to share information; (4) the randomness of the robot
movement has been reduced to achieve more reasonable robot/target distribution. Compared to the VP-PSO method, extensive
simulation results demonstrate the higher performance of the QVP-PSO algorithm in three different measurements, i.e., search
ending time, total travel time of robots (which is directly related to the overall power consumption of the system), and the
robot/target...
Tipo: 8
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/q-learning_adjusted_bio-inspired_multi-robot_coordination
Qualitative Environmental Health Impact Assessment in Veles, Republic of Macedonia
Provedor de dados: 192
Autores: Vladimir Kendrovski; Dragan Gjorgjev.
Large quantities of industrial waste are generated in the mining, metallurgical, fertilizer, and chemical industries, as well as in the
coal-fired power plants. Most of the larger industries have their own industrial waste sites. During the 3 week of June 2007 we
investigated environmental health conditions in 2defined hotspots. The Table shows distribution of hazards, possible health effects
and potentional number of excised people by hazardous sides. Hazardous site Former Smelter Company Veles + Fertilizer
company Hazards Lead, nickel and cadmium contamination during past years of smelter company activities Possible health
effects Lead: toxic and carcinogenic effects in pregnant women and children; CNS damages Potential number of excised people
47.000...
Tipo: 5
Palavras-chave: Environmental Technologies.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/qualitative_environmental_health_impact_assessment_in_veles__republic_of_mac
edonia
Quantifying and Optimizing Failure Tolerance of a Class of Parallel Manipulators
Provedor de dados: 192
Autores: Chinmay S. Ukidve; John E. McInroy; Farhad Jafari.
6.1 Conclusions This work proves that for a certain class of parallel manipulators functioning about a single point in its
workspace, the mean squared relative manipulability over all possible cases of a given number of actuator failures is always
constant irrespective of the geometry of the manipulator. In this context, optimal fault tolerant manipulability is defined and
quantified using a simple algebraic formulation. The definition is more suited to parallel manipulators since they can retain
kinematic stability under failures which constitute loss of actuators. For micromanipulation, symmetric OGSPs can be designed to
possess optimal manipulability under actuator failures. OGSP geometries that may be rendered singular due to faults can be
identified...
Tipo: 3
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/quantifying_and_optimizing_failure_tolerance_of_a_class_of_parallel_manipulato
rs
Quantitative Dexterous Workspace Comparison of Serial and Parallel Planar Mechanisms
Provedor de dados: 192
Autores: Geoff T. Pond; Juan A. Carretero.
Through either method of obtaining a constrained dimensionally homogeneous Jacobian matrix (proposed by (Gosselin, 1992) or
by (Pond & Carretero, 2006)) for planar mechanisms, a choice exists on which of the potential six Cartesian velocity
components on the end effector be used to define the task space velocity variables. The choice has an influence on the resulting
Jacobian matrix and therefore its condition number and singular values. Without constraining the Jacobian matrix, the condition
number was demonstrated to be essentially meaningless, as in (Kim & Ryu, 2003). In terms of measuring dexterity, the
constrained dimensionally homogeneous Jacobian matrices (J'P) are superior to the screw based Jacobian matrix (J) in that the y
are...
Tipo: 10
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/quantitative_dexterous_workspace_comparison_of_serial_and_parallel_planar_me
chanisms
Quantitative Models for Centralised Supply Chain Coordination
Provedor de dados: 192
Autores: Mohamad Y. Jaber; Saeed Zolfaghari.
This chapter presented a review of quantitative models for centralised supply chain coordination. Although we do not claim that
this review has exhausted all related articles, we have reviewed most significant models available in the literature between 1990 to
mid 2007. The chapter classifies the existing literature on the centralised supply chain coordination into three groups: a) two-level
supply chain, b) three-level supply chain, and c) four or more levels. With majority of publications being in the first group, it is
noticeable that the general case of n-level (centralised) supply chain coordination has not been
Tipo: 17
Palavras-chave: Supply Chain.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/quantitative_models_for_centralised_supply_chain_coordination
Randomized Robot Trophallaxis
Provedor de dados: 192
Autores: Trung Dung Ngo; Henrik Schioler.
We presented our study of randomized robot trophallaxis through the main aspects of modeling, simulation and real
implementation. The modeling is kept at an abstract level in order to provide general analytical results of intergro-differential
equation governing the evolution of expected energy levels and variance as function of position velocity and time. The model is
partly used to evaluate the performance associated to embedded environments such as the position and density of charging station
and robots. Ultimately, survivability is the final target of the developed model. Besides, the concept “randomized robot
trophallaxis” is further clarified through simulation results. The developed simulation
Tipo: 11
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/randomized_robot_trophallaxis
Rapid Prototyping for Robotics
Provedor de dados: 192
Autores: Imme Ebert-Uphoff; Clement M. Gosselin; David W. Rosen; Thierry Laliberte.
The rapid prototyping framework presented in this chapter provides fast, simple and inexpensivemethods for the design and
fabrication of prototypes of robotic mechanisms.As evidenced by the examples presented above, the prototypes can be of great
help togain more insight into the functionality of the mechanisms, as well as to convey theconcepts to others, especially to
non-technical people. Furthermore, physical prototypescan be used to validate geometric and kinematic properties such as
mechanicalinterferences, transmission characteristics, singularities and workspace. Actuated prototypes have also been
successfully built and controlled. Actuated mechanisms can be used in lightweight applications or for demonstration purposes.
The main limitation in such...
Tipo: 2
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/rapid_prototyping_for_robotics
Reaction-Diffusion Algorithm for Vision Systems
Provedor de dados: 192
Autores: Atsushi Nomura; Makoto Ichikawa; Rismon H. Sianipar; Hidetoshi Miike.
This chapter presented the reaction-diffusion algorithm for vision systems. After a brief explanation of the reaction-diffusion
system, we presented a class of algorithms for edge detection, grouping and stereo disparity detection by utilizing the
FitzHugh-Nagumo type reaction-diffusion equations; all of the algorithms are necessary for the realization of vision systems.
Previous algorithms, in particular, those proposed by Marr and his collaborators, utilize the Gaussian filter; the output of the filter
is equivalent to the solution of the diffusion equation. In contrast to this, the reaction-diffusion algorithm has non-linear reaction
terms coupled with diffusion equations. The non-linearity of the algorithm and the Turing-like condition can help to...
Tipo: 4
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/reaction-diffusion_algorithm_for_vision_systems
Real-Time 3-D Environment Capture Systems
Provedor de dados: 192
Autores: Jens Kaszubiak; Robert Kuhn; Michael Tornow; Bernd Michaelis.
The field of environment capture technology is vast: a wide range of different measured variables are processed. A complete
picture of the surroundings can be provided by deploying very many sensors. In other words we can gain comprehensive
information on the surroundings. Optical sensors and camera systems can be deployed in a variety of ways, so that massive
amounts of varied information can be acquired with few sensors.
Tipo: 12
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/real-time_3-d_environment_capture_systems
Real-Time Evolutionary Algorithms for Constrained Predictive Control
Provedor de dados: 192
Autores: Mario Luca Fravolini; Antonio Ficola; Michele La Cava.
This work introduces an improved Evolutionary Algorithm for the real-time Model Based Predictive Control of nonlinear
dynamical systems. The main issues involved in the practical real-time implementation of this control scheme have been pointed
out and addressed by adapting and extending some known concepts of the conventional Evolutionary MBPC. The advantage of
the online adaptation of the dimension of the search space has been pointed out and a new adaptive mutation range operator in
function of the actual prediction error has been proposed. The problem related to the computational delay has been faced by
inserting an intermittent feedback strategy in the basic Evolutionary MBPC. This extension allows the computation of one
generation of the EA in more...
Tipo: 8
Palavras-chave: Frontiers in Evolutionary Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/real-time_evolutionary_algorithms_for_constrained_predictive_control
Real-Time Object Segmentation of the Disparity Map Using Projection-Based Region Merging
Provedor de dados: 192
Autores: Dongil Han.
If we can get more accurate result than the conventional stereo vision system, performance of object recognition and collision
avoidance will be improved in robot vision applications. So, we used the process of stereo matching algorithm with post
processing in this chapter. The problems such as lack of texture and existence of occlusion area must be carefully considered in
matching algorithm and accurate dividing objects must be processed. Also post processing module is necessary as removal of
remaining noise. Thus, this chapter developed stereo matching post process algorithm that is able to provide distance between
robot and the object regarding trellis-based parallel stereo matching result and to provide the object's area data in real time and
examined...
Tipo: 1
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/real-time_object_segmentation_of_the_disparity_map_using_projection-based_reg
ion_merging
Real-Time Optimization Approach for Mobile Robot
Provedor de dados: 192
Autores: Hiroki Takeuchi.
1
Tipo: 11
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/real-time_optimization_approach_for_mobile_robot
Real-Time Pattern Recognition with Adaptive Correlation Filters
Provedor de dados: 192
Autores: Vitaly Kober; Victor H. Diaz-Ramirez; J. Angel Gonzalez-Fraga; Josue Alvarez-Borrego.
Adaptive pattern recognition is still in state of rapid evolution. In this chapter we proposed digital and hybrid optodigital systems
designed on the base of adaptive correlation filters to improve recognition of objects in cluttered backgrounds. It was shown that
the proposed iterative filter design algorithms with a few training iterations helps us to take the control over the whole correlation
plane. The digital systems are based on iterative training of the SDF filters. The hybrid systems additionally take into account real
characteristics of used optoelectronics devices. The digital systems can be easily implemented in a computer, whereas the hybrid
systems are able to provide real-time pattern recognition. The computer simulation and experimental...
Tipo: 27
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/real-time_pattern_recognition_with_adaptive_correlation_filters
Real-Time Vision Based Mouth Tracking and Parameterization for a Humanoid Imitation Task
Provedor de dados: 192
Autores: Sabri Gurbuz; Naomi Inoue; Gordon Cheng.
Source: Humanoid Robots, New Developments, Book edited by: Armando Carlos de Pina Filho ISBN 978-3-902613-02-8,
pp.582, I-Tech, Vienna, Austria, June 2007
Tipo: 14
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/real-time_vision_based_mouth_tracking_and_parameterization_for_a_humanoid_i
mitation_task
Recognition of Partially Occluded Elliptical Objects using Symmetry on Contour
Provedor de dados: 192
Autores: June-Suh Cho; Joonsoo Choi.
In this paper, we have discussed how to estimate parameters and to reconstruct the occluded shape of partial elliptical objects in
image databases. In order to reconstruct occluded shapes, we used mirror symmetry, which provides powerful method for the
partial object recognition. Unlike the existing methods, a proposed method tried to reconstruct occluded shapes and regions within
objects, since most objects in a domain have symmetrical figures. However, we have limitations in the shape of objects and the
occluded region of objects. For example, if a pan has an occlusion in handle, it cannot correctly reconstruct and be recognized.
Another minor limitation of a proposed method is that it is sensitive to the pose of an object. For example, if we cannot see...
Tipo: 23
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/recognition_of_partially_occluded_elliptical_objects_using_symmetry_on_contour
Recognizing Human Pose and Actions for Interactive Robots
Provedor de dados: 192
Autores: Odest Chadwicke Jenkins; German Gonzalez Serrano; Matthew M. Loper.
We have presented a neuro-inspired method for monocular tracking and action recognition for movement imitation. Our approach
combines vocabularies of kinematic motion learned offline with online estimation of a demonstrator's underlying virtual
trajectory. A modular approach to pose estimation is taken for computational tractability and emulation of structures hypothesized
in neuroscience. Our current results suggest our method can perform tracking and recognition from partial observations at
interactive rates. Our current system demonstrates robustness with respect to the viewpoint of the camera, the speed of
performance of the action, and recovery from ambiguous situations.
Tipo: 06
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/recognizing_human_pose_and_actions_for_interactive_robots
Reconfigurable Mechatronic Robotic Plug-and-Play Controller
Provedor de dados: 192
Autores: Johan Potgieter; Jonathan Zyzalo; Olaf Diegel.
When the entire system was put together, adequate control of the robot was possible. Overall the system performed well enough to
get controlled motion of the six joints of the PUMA robot arm. The system was also subsequently used to control a CNC lathe.
There were, however, a few problems with the final system. The system also requires some further enhancement to achieve better
control of joint positioning. The main problem occurred with the logic power supply. Every now and then the logic power, which
supplies all the encoder circuits and microprocessors, would fail to power the most essential parts of the system. This would result
in unpredictable behaviour from the robot arm and make it unsafe. It was found that the grounding of the logic power supply...
Tipo: 45
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/reconfigurable_mechatronic_robotic_plug-and-play_controller
Reduced DOF Type Walking Robot Based on Closed Link Mechanism
Provedor de dados: 192
Autores: Katsuhiko Inagaki.
In this chapter, we have proposed a new type of walking machine by use of reduced DOF mechanical design. Our walking
machine is designed for environment that has combination of flat terrain and some steps. This mobile environment is often found
in environment for human walking, such as office or factory. Therefore, our walking machine is enough practical, though it has a
limitation in walling environment. As the result of our simulations and experiment, we can get the following results. Our walking
machine can walk on flat terrain by use of 6 DOF. Then, to realize walking over a step, 7 DOF is minimum required number of
DOF. In this case, there exists a limitation about the body direction. If more than 2 DOF are applied, it can remove this limitation.
As...
Tipo: 3
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/reduced_dof_type_walking_robot_based_on_closed_link_mechanism
Redundant Actuation of Parallel Manipulators
Provedor de dados: 192
Autores: Andreas Mueller.
In this chapter the dynamics modeling of redundantly actuated PKM is reviewed, and the redundancy resolution is addressed. The
resolution takes into account different secondary tasks, such as backlash avoidance and stiffness control. It was aimed to point out
the potential of redundant actuation, but also the challenges that need to be addressed. In this contribution the effect of kinematic
parameter uncertainties on the control of redundantly actuated PKM is analyzed. It is shown how geometric uncertainties effect
the control system. The application of standard model-based control schemes to redundantly actuated PKM is shown not only to
change the control system, but also to change the way in which control forces act upon the system. A consequence thereof...
Tipo: 5
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/redundant_actuation_of_parallel_manipulators
Rehabilitation of the Paralyzed Lower Limbs Using Functional Electrical Stimulation: Robust Closed
Loop Control
Provedor de dados: 192
Autores: Samer Mohammed; Philippe Poignet; Philippe Fraisse; David Guiraud.
The main challenge that we face when applying FES to the paralyzed lower limbs is to avoid hyperstimulation and to defer the
muscular fatigue as much as possible. Few
Tipo: 19
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/rehabilitation_of_the_paralyzed_lower_limbs_using_functional_electrical_stimulat
ion__robust_closed_l
Reinforcement Evolutionary Learning for Neuro-Fuzzy Controller Design
Provedor de dados: 192
Autores: Cheng-Jian Lin.
A novel reinforcement sequential-search-based genetic algorithm (R-SSGA) is proposed. The better chromosomes will be initially
generated while the better mutation points will be determined for performing efficient mutation. We formulate a number of time
steps before failure occurs as the fitness function. The proposed R-SSGA method makes the design of TSK-Type fuzzy controllers
more practical for real-world applications, since it greatly lessens the quality and quantity requirements of the teaching signals.
Two typical examples were presented to show the fundamental applications of the proposed R-SSGA method. Simulation results
have shown that 1) the R-SSGA method converges quickly; 2) the R-SSGA method requires a small number of population sizes
(only 4);...
Tipo: 3
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/reinforcement_evolutionary_learning_for_neuro-fuzzy_controller_design
Reinforcement Learning Algorithms in Humanoid Robotics
Provedor de dados: 192
Autores: Dusko Katic; Miomir Vukobratovic.
This study considers a optimal solutions for application of reinforcement learning in humanoid robotics Humanoid Robotics is a
very challenging domain for reinforcement learning, Reinforcement learning control algorithms represents general framework to
take traditional robotics towards true autonomy and versatility. The reinforcement learning paradigm described above has been
successfully implemented for some special type of humanoid robots in the last 10 years. Reinforcement learning is well suited to
training biped walk in particular teaching a robot a new behavior from scalar or fuzzy feedback. The general goal in synthesis of
reinforcement learning control algorithms is the development of methods which scale into the dimensionality of humanoid
robots...
Tipo: 22
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/reinforcement_learning_algorithms_in_humanoid_robotics
Reinforcement Learning Embedded in Brains and Robots
Provedor de dados: 192
Autores: Cornelius Weber; Mark Elshaw; Stefan Wermter; Jochen Triesch; Christopher Willmot.
This work has been funded partially by the EU project MirrorBot, grant IST-2001-35282, and NEST-043374 coordinated by SW.
CW, JT and AF are supported by the Hertie Foundation, and the EU projects PLICON, grant MEXT-CT-2006-042484, and Daisy,
grant FP6-2005015803. Urs Bergmann provided feedback on the manuscript.
Tipo: 7
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/reinforcement_learning_embedded_in_brains_and_robots
Reinforcement Learning for Building Environmental Control
Provedor de dados: 192
Autores: Konstantinos Dalamagkidis; Dionysia Kolokotsa.
1
Tipo: 15
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/reinforcement_learning_for_building_environmental_control
Reinforcement Learning in System Identification
Provedor de dados: 192
Autores: Mariela Cerrada; Jose Aguilar.
This work has been partially presented in the International Symposium on Neural Networks ISNN 2006.
Tipo: 2
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/reinforcement_learning_in_system_identification
Reinforcement Learning of Stable Trajectory for Quasi-Passive Dynamic Walking of an Unstable
Biped Robot
Provedor de dados: 192
Autores: Tomohiro Shibata; Kentarou Hitomoi; Yutaka Nakamura; Shin Ishii.
In this study, we proposed an on-line RL method suitable for Quasi-PDW by a 2D biped robot, whose possession of knees makes
the system unstable. Our study is underlaid by the perspective of low energy consumption and good correspondence to human
walking. RL was applied not only for the hip joint but also for the knee joints of the robot, and our learning method was successful
in making the unstable robot produce stable walking after as small as 500 training episodes, despite of usage of simple intermittent
controllers. Although the controller itself was simple, simulation experiments on downslopes with
Tipo: 10
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/reinforcement_learning_of_stable_trajectory_for_quasi-passive_dynamic_walking
_of_an_unstable_biped_r
Reinforcement Learning to Support Meta-Level Control in Air Traffic Management
Provedor de dados: 192
Autores: Daniela P. Alves; Li Weigang; Bueno B. Souza.
This research presented a solution for Meta-Level Control application and reinforcement learning in the decision process to
improve the efficiency for the exchange of messages within a distributed system in ATFM. As a part of the research of the
Evaluation and Decision Support Module (MAAD), the reinforcement learning approach was applied and developed as a
sub-module (MRL) with adaptation of two algorithms: Q-learning and SARSA. The Meta-Level Control was developed as
another sub-module (MDC) for making decision regarding information process. One of the advantages of the use of reinforcement
learning is that the agents acquire experience during the iteration process with the environment. As a similar form of learning, it
utilizes system performance as...
Tipo: 22
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/reinforcement_learning_to_support_meta-level_control_in_air_traffic_managemen
t
Reinforcement Learning-Based Supervisory Control Strategy for a Rotary Kiln Process
Provedor de dados: 192
Autores: Xiaojie Zhou; Heng Yue; Tianyou Chai.
In this chapter, we focus on the discussion about an implementation strategy of how to employ reinforcement learning in control
of a typical complex industrial process to enhance control performance and adaptability for the variations of operating conditions
of the automatic control system. Operation of large rotary kilns is difficult and relies on experienced human operators observing
the burning status, because of their inherent complexities. Thus the problem of human-machine coordination is addressed when
we design the rotary kiln control system, and the human intervention and adjustment can be introduced. Except for emergent
operation conditions that need urgent human operation for system safety, the fact is observed that human interventions to the...
Tipo: 17
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/reinforcement_learning-based_supervisory_control_strategy_for_a_rotary_kiln_pr
ocess
Relative Control and Management Philosophy
Provedor de dados: 192
Autores: Che-Wei Chang.
Tipo: 24
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/relative_control_and_management_philosophy
Reliability Prediction and Sensitivity Analysis of Web Services Composition
Provedor de dados: 192
Autores: Duhang Zhong; Zhichang Qi; Xishan Xu.
In this paper, we introduce an approach to predict the reliability of Web services composition. We present the transformation
algorithms from BPEL, which is the de facto industry standard of Web services composition specification, to CSPN models.
Using the model, we can compute the reliability prediction of the web service composition. The major contribution of this paper is
a reliability prediction technique that takes into account the structure of BPEL specification and the concurrent nature of service
composition. For future work, we will transform all control-flow constructs of BPEL (including link, scope, faultHandler etc) into
Petri nets. And we will use our CSPN model to give a more precise estimation of the reliability and performance of web...
Tipo: 20
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/reliability_prediction_and_sensitivity_analysis_of_web_services_composition
Research and Development for Life Support Robots that Coexist in Harmony with People
Provedor de dados: 192
Autores: Nobuto Matsuhira; Hideki Ogawa; Hiroshi Mizoguchi.
The ongoing development of life support robots is presented by introducing the newly developed sharp ear robot ApriAlphaTM
V3 and the person-following robot ApriAttendaTM from the viewpoint of human interfaces and mobile intelligence. In the future,
by making full use of advanced network technology, home-use robots are expected to be at the core of home network systems and
the widespread adoption of robots in everyday life is expected to be greatly facilitated by improvements in their working
environment. Showing the concept of UDRobTM, the environmental design including objects should be considered from the
perspectives of both robots and humans. To realize life support robots, it is important to demonstrate what the robot can do in
terms of actual tasks....
Tipo: 15
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/research_and_development_for_life_support_robots_that_coexist_in_harmony_wit
h_people
Research on Hexapod Walking Bio-Robot's Workspace and Flexibility
Provedor de dados: 192
Autores: Baoling Han; Qingsheng Luo; Xiaochuan Zhao; Qiuli Wang.
Choosing the optimum design of hexapod walking robot’s leg as the cut-in point, this chapter studies the working space, the
flexibility of the robot and the calculation analysis process .In order to realize the optimum design of the robot mechanism; we
review the robot’s capability fully. Through analysis, we can get the different parameters from the different capability standard.
For example, during the process of optimum design of leg design, the small proportion of coxal joint will do good to the robot’s
working space and
Tipo: 5
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/research_on_hexapod_walking_bio-robot-s_workspace_and_flexibility
Reserve-Constrained Multiarea Environmental/Economic Dispatch Using Enhanced Particle Swarm
Optimization
Provedor de dados: 192
Autores: Lingfeng Wang; Chanan Singh.
Source: Swarm Intelligence: Focus on Ant and Particle Swarm Optimization, Book edited by: Felix T. S. Chan and Manoj Kumar
Tiwari, ISBN 978-3-902613-09-7, pp. 532, December 2007, Itech Education and Publishing, Vienna, Austria
Tipo: 22
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/reserve-constrained_multiarea_environmental_economic_dispatch_using_enhance
d_particle_swarm_optimiza
Resonance and Nonlinear Seismo-Acoustic Land Mine Detection
Provedor de dados: 192
Autores: Dimitri M. Donskoy.
We have presented an overview of our team’s (at Stevens Institute of Technology) contribution in development of resonance and
nonlinear Seismo-Acoustic Mine Detection (SAMD) techniques. Among our major accomplishments are the discovery and
quantitative characterization of mine resonances; the discovery of a very strong nonlinear dynamics of the buried mines
manifesting itself through the combination and intermodulation frequencies; the development of a physical model describing the
linear and nonlinear dynamics of the soil-mine systems; the development and field validation of the nonlinear detection technique
including data collection and processing algorithms. The developed model analytically describes linear and nonlinear responses of
the coupled...
Tipo: 5
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/resonance_and_nonlinear_seismo-acoustic_land_mine_detection
Risk Evaluation of Human-Care Robots
Provedor de dados: 192
Autores: Makoto Nokata; Koji Ikuta.
This chapter presented the study of a safety strategy for human-care robots. Case study of assessing several human-care robots
was carried out according to ISO/TR 12100-1:1992 and ISO 14121:1999. The problems of assessing these robots were discussed,
a safety strategy for human-care robots has been proposed. Determine limits of special factors, judgments by certification system,
benefit of robots for user have been added to the strategy. I undertook a new study of safety in the coexistent space of human and
machine in order to realize a human-care robot for the nursing of the aged or disabled. First, the human injury from robot and
machine was investigated thoroughly, and I found that it was important to treat safety strategies in the light of mechanical...
Tipo: 20
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/risk_evaluation_of_human-care_robots
RL Based Decision Support System for u-Healthcare Environment
Provedor de dados: 192
Autores: Devinder Thapa; In-Sung Jung; Gi-Nam Wang.
This paper presents and describes a Reinforcement Learning agent based model used for information acquiring and real time
decision support system at emergency circumstances. The well known reinforcement learning is utilized for modeling emergency
u-Healthcare system. Markov decision process is also employed to provide clear mathematical formulation in order to connect
reinforcement learning as well as to express integrated agent system. This method will be highly effective for the real time
diagnosis and treatment of high risk patient during the emergency circumstances, when they are away from the hospital premises.
Looking at the growing increase in the research area of ubiquitous devices this approach seems to be very beneficial and life
saving for the...
Tipo: 21
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/rl_based_decision_support_system_for_u-healthcare_environment
Robin Heart - Perspectives of Application of Mini Invasive Tools in Cardiac Surgery
Provedor de dados: 192
Autores: Zbigniew Nawrat; Pawel Kostka.
Tipo: 19
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/robin_heart_-_perspectives_of_application_of_mini_invasive_tools_in_cardiac_sur
gery
RoboCup is a Stage which Impulse the Research of Basic Technology in Robot
Provedor de dados: 192
Autores: Cheng Xian-yi; Xia De-shen.
This thesis discussed some main technologies in MAS and RoboCup. The aim is to let readers know more about Multi Agent
System and cause the Agent-oriented technology mature faster. There are four steps in the development of programming:
procedure oriented Programming, module oriented Programming, object oriented Programming and the last step of Agent oriented
Programming. Each process is a more and more abstract procedure, a more and more obscure modeling procedure, till in the end
reaches to automatic design of programming. Therefore the emergence of Agent-oriented is inevitable for programming. RoboCup
is a stage which impulse the research of basic technology in robot.
Tipo: 27
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/robocup_is_a_stage_which_impulse_the_research_of_basic_technology_in_robot
RoboCup@Home: Creating and Benchmarking Tomorrows Service Robot Applications
Provedor de dados: 192
Autores: Tijn van der Zant; Thomas Wisspeintner.
RoboCup@Home is a league that has its foundations in robotic soccer. Technologies developed in soccer are being transferred to
the @Home domain and on top op these technologies @Home might be able to give some more back. To reach the goal of
winning in 2050 it will be necessary to use technologies developed in the @Home league. Since @Home focuses on general
artificial intelligence in real world scenarios, theories will probably be developed that are not being developed in the soccer
scenarios. Especially if the brain, body and environment are considered to be a holistic system where interactions go in all
directions, the environment should also be paid attention to. Therefore the soccer leagues might also want to experiment with
more than the artificial...
Tipo: 26
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/robocup_home__creating_and_benchmarking_tomorrows_service_robot_applicati
ons
"RoboLase": Internet-Accessible Robotic Laser Scissors and Laser Tweezers Microscope Systems
Provedor de dados: 192
Autores: Linda Z. Shi; Michael W. Berns; Elliot Botvinick.
In this paper, the structure and features of the robotic laser scissors and laser tweezers microscope systems are presented. The
Robolase systems are shown to be accessible through the internet using the Logmein program, making it feasible to perform
biological experiments with remote collaborators. Future developments may involve the creation of separate log-in software for
simultaneous use by more than two users/collaborators as well as the use of dedicated fiber-optic lines between different locations.
The robotic laser scissors microscope system can be used to ablate a single microtubule and to study the subsequent
depolymerization. Ablating of both mitotic half spindles immediately after anaphase-onset was shown to prevent or delay
cytokinesis while...
Tipo: 29
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/_robolase___internet-accessible_robotic_laser_scissors_and_laser_tweezers_micro
scope_systems
Robot Assisted Laparoscopic Surgery for Aortoiliac Disease: A Systematic Review
Provedor de dados: 192
Autores: Jeroen Diks; Denise Nio; Willem Wisselink; Willem Bemelman.
Source: Medical Robotics, Book edited by Vanja Bozovic, ISBN 978-3-902613-18-9, pp.526, I-Tech Education and Publishing,
Vienna, Austria
Tipo: 20
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/robot_assisted_laparoscopic_surgery_for_aortoiliac_disease__a_systematic_review
Robot Attack on Vascular Surgery
Provedor de dados: 192
Autores: Petr Stadler.
1
Tipo: 30
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robot_attack_on_vascular_surgery
Robot Automation Systems for Deburring
Provedor de dados: 192
Autores: Beom-Sahng Ryuh; Gordon R. Pennock.
1
Tipo: 31
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/robot_automation_systems_for_deburring
Robot Calibration: Modeling Measurement and Applications
Provedor de dados: 192
Autores: Jose Mauricio S. T. Motta.
The calibration system proposed showed to improve the robot accuracy to well below 1mm. The system allows a large variation in
robot configurations, which is essential to proper calibration. A technique was used and a straightforward convention to build
kinematic models for a manipulator was developed, ensuring that no singularities are present in the error model. Mathematical
tools were implemented to optimize the kinematic model parameterization, avoiding redundancies between parameters and
improving the parameter identification process. A portable, ease of use, speedy and reliable Vision-based measuring system using
a single camera and a plane calibration board was developed and tested independently of the robot calibration process. The robot...
Tipo: 6
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/robot_calibration__modeling_measurement_and_applications
Robot Collaboration for Simultaneous Map Building and Localization
Provedor de dados: 192
Autores: M. Oussalah; D. Wilson.
This chapter investigated the state of the art of SLAM system whose aim is to simultaneously map the environment and provide
accurate positioning of the vehicle where the state of both vehicle and landmarks are brought into a single estimation process. The
estimation process supplies estimation of vehicle and landmarks in terms of mean and variance-covariance estimate of the state
vector conditional on the whole set of measurements. The construction of the map involves appropriate initialization step in which
some prior knowledge regarding the environment is reported, which allows us to ensure geometrical validation test later on, and
an alignment stage in which the observations are turned into landmark Cartesian coordinates. Next, a data association stage...
Tipo: 30
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robot_collaboration_for_simultaneous_map_building_and_localization
Robot Egomotion from the Deformation of Active Contours
Provedor de dados: 192
Autores: Guillem Alenya; Carme Torras.
This work is partially funded by the EU PACO-PLUS project FP6-2004-IST-4-27657. The authors thank the brewer company
DAMM in El Prat de Llobregat, Barcelona, and the robotics company Robosoft in Bidart, France, for their help in performing the
experiments.
Tipo: 1
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robot_egomotion_from_the_deformation_of_active_contours
Robot Kinematics: Forward and Inverse Kinematics
Provedor de dados: 192
Autores: Serdar Kucuk; Zafer Bingul.
1
Tipo: 04
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/robot_kinematics__forward_and_inverse_kinematics
Robot Learning by Active Imitation
Provedor de dados: 192
Autores: Juan Pedro Bandera; Rebeca Marfil; Luis Molina Tanco; Juan Antonio Rodriguez; Antonio Bandera; Francisco
Sandoval.
In this chapter, an architecture that endows a robot with the ability to imitate has been described. This architecture has modules
that provide action level and program level
Tipo: 27
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robot_learning_by_active_imitation
Robot Localisation Using a Distributed Multi-Modal Kalman Filter
Provedor de dados: 192
Autores: Oleg Sushkov; William Uther.
The above results show that the documented improvements have had a great effect on the overall accuracy of the localisation
system. The effectiveness of the Noise Filtering part of the system is staggering. It should be also noted that these experiments
only measured the (x, y) pose error, whereas the localisation system tracks much more data than those 2 dimensions, including the
ball position and velocity. All of the mentioned improvements to the localisation system allowed us to great flexibility and power
in terms of higher level behaviours. This is shown by the fact that our team came 2nd in the World Open in 2006, and in the same
year were the Australian Champions. National ICT Australia (NICTA) is funded by the Australian Government's Department of...
Tipo: 24
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robot_localisation_using_a_distributed_multi-modal_kalman_filter
Robot Mapping and Navigation by Fusing Sensory Information
Provedor de dados: 192
Autores: Maki K. Habib.
This chapter presented the state of the art, the complexity, and the challenges facing simultaneous and real-time mapping, obstacle
avoidance, and dynamic navigation for mobile robots. The development of an autonomous map building and maintenance method
with focus on incremental map building technique that is suitable for real-time obstacle detection and avoidance has been
presented. The chapter introduced a modified histogram grid based navigation techniques that is integrated with the concept of
vector field histogram to support real-time obstacle avoidance in parallel with the incremental map building. Through the
integrated implementation, the mobile robot was able to map the environment, avoid obstacles and move towards its target
successfully. The...
Tipo: 26
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robot_mapping_and_navigation_by_fusing_sensory_information
Robot Motion Trajectory-Measurement with Linear Inertial Sensors
Provedor de dados: 192
Autores: Bernard Favre Bulle.
The previous investigations have shown that it is possible to measure dynamic trajectory properties of industrial robots with
gyro-less inertial navigation systems. As typical for INS, there are certain sources of errors which distort the overall analysis
results to a certain extent. The proposed measurement principle is especially very sensitive to misalignment of the transducers in
the sensor head and to bias errors of the accelerometers. With redundant configurations (e. g. a higher number of transducers than
spatial degrees of freedom) there are certain possibilities to improve the overall accuracy by means of complementary filters and
Kalman filters. Further research should investigate the use of low-cost gyroscopes as a source of additional motion...
Tipo: 8
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/robot_motion_trajectory-measurement_with_linear_inertial_sensors
Robot Vision in the Language of Geometric Algebra
Provedor de dados: 192
Autores: Gerald Sommer; Christian Gebken.
1
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
Robot-Assisted Epicardial Ultrasound for Coronary Artery Localization and Anastomosis Quality
Assessment in Totally Endoscopic Coronary Bypass Surgery
Provedor de dados: 192
Autores: Ricardo P.J. Budde; Cornelius Borst; Patricia F.A. Bakker; Paul F. Gruendeman.
Epicardial ultrasound can successfully locate and assess the coronary arteries and assess anastomotic quality in the porcine
TECAB model within a few minutes. It therefore is a promising tool to help advance TECAB, but clinical confirmation of the
experimental results remains to be established.
Tipo: 3
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/robot-assisted_epicardial_ultrasound_for_coronary_artery_localization_and_anasto
mosis_quality_assess
Robot-based Gonioreflectometer
Provedor de dados: 192
Autores: Andreas Hoepe; Dirk Huenerhoff; Kai-Olaf Hauer.
The new gonioreflectometer of the PTB enables high precision goniometric measurements of diffuse reflecting samples within the
whole hemispheric range above the surface of the sample, due to its out-of-plane capabilities, by using a 5-axis-robot. The whole
facility was build using standard laboratory and engineering equipment. The five-axis robot model RV-2AJ from Mitsubishi
Electric could be used without any modification for this unusual field of application. The current wavelength range for
measurements and calibrations is 250 nm to 1700 nm. It is planned to extend this wavelength range up to 2500 nm in the near
future. It is also planned to install an additional lamp with increased UV output power in order to improve the current uncertainty
budget for...
Tipo: 32
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/robot-based_gonioreflectometer
Robotic Applications in Neurosurgery
Provedor de dados: 192
Autores: M. Sam Eljamel.
1
Tipo: 5
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotic_applications_in_neurosurgery
Robotic Assistance in Microvascular Surgery
Provedor de dados: 192
Autores: M.G.W. van den Heuvel; R.R.W.J. van der Hulst.
Tipo: 34
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotic_assistance_in_microvascular_surgery
Robotic Assisted Microsurgery (RAMS): Application in Plastic Surgery
Provedor de dados: 192
Autores: Sanjay Saraf.
Surgical robotic technology is now on the cusp of revolutionizing microsurgical capabilities. With the latest advancements in the
field of RAMS, the armamentarium available to the plastic surgeons will be greatly expanded. The advantages are self evident.
The use of RAMS technology during microsurgery will greatly improve the microsurgical outcome by providing surgeons with
greater precision, elimination of hand tremors, increased range of motion and enhanced 3-D visualization. With the continued
evolution of robotic surgical technology the robots are expected to become smaller, faster, lighter and dexterous with
exponentially increased application in micro-vascular surgery. The robots despite of technical advancements are never likely to
replace the...
Tipo: 27
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotic_assisted_microsurgery__rams___application_in_plastic_surgery
Robotic Body-Mind Integration: Next Grand Challenge in Robotics
Provedor de dados: 192
Autores: K. Kawamura; S. M. Gordon; P. Ratanaswasd.
Tipo: 01
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/robotic_body-mind_integration__next_grand_challenge_in_robotics
Robotic Exoskeletons for Upper Extremity Rehabilitation
Provedor de dados: 192
Autores: Abhishek Gupta; Marcia K. O'Malley.
Tipo: 21
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robotic_exoskeletons_for_upper_extremity_rehabilitation
Robotic Foregut Surgery
Provedor de dados: 192
Autores: Daniel T. McKenna; Jon C. Gould.
Robotic-assisted foregut surgery is an evolving field with an exciting future. There are many potential advantages to robotic
foregut surgery when compared to the conventional laparoscopic approach. The magnified, 3-dimensional image allows for a
better view of the operative field and may facilitate the identification and dissection of anatomy. The full range of motion, tremor
filtration, and motion scaling afforded by the robotic surgical system can enhance a surgeon’s skill, possibly leading to better
clinical outcomes and less fatigue. As demonstrated, these relatively new techniques may provide a clinical advantage to surgeons
performing esophagectomy, esophageal myotomies, or bariatric procedures. In addition, robotic assistance may in the future...
Tipo: 7
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotic_foregut_surgery
Robotic Gastrectomy with Lymphadenectomy for Gastric Cancer
Provedor de dados: 192
Autores: Casandra Anderson; Joshua Ellenhorn; Alessio Pigazzi.
The main advantages of robot technology over conventional laparoscopy include; 3-D stereoscopic vision, the ability to tremor
filter and scale motions, and the internally articulated instruments that are controlled by the robotic masters that transfer the
surgeon's hand movements to the tip of the instruments in an intuitive manner. All of these features enhance the surgeon's ability
to perform precise fine dissection. The disadvantages of the current robotic technology include the lack of tactile feedback, and
difficulty operating in multiple abdominal quadrants with heavy abdominal structures. Some of these concerns may be resolved
with the newest robotic model. (DaVinci S, Intuitive Surgical Inc, Sunnyvale, CA) Table 2 lists comparative data for...
Tipo: 22
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotic_gastrectomy_with_lymphadenectomy_for_gastric_cancer
Robotic Grasping: A Generic Neural Network Architecture
Provedor de dados: 192
Autores: Nasser Rezzoug; Philippe Gorce.
In this chapter, a new model was proposed to define the kinematics of various robotic structures including an anthropomorphic
arm and hand as well as industrial or service robots (MANUS). The proposed method is based on two neural networks. The first
one is dedicated to finger inverse kinematics. The second stage of the model uses reinforcement learning to define the appropriate
arm configuration. This model is able to define the whole upper limb configuration to grasp an object while avoiding obstacles
located in the environment and with noise and uncertainty. Several simulation results demonstrate the capability of the model. The
fact that no information about the number, position, shape and size of the obstacles is provided to the learning agent is an...
Tipo: 6
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/robotic_grasping__a_generic_neural_network_architecture
Robotic Long Bone Fracture Reduction
Provedor de dados: 192
Autores: A. E. Graham; S. Q. Xie; K. C. Aw; W. L. Xu; S. Mukherjee.
This research into a medical robot for realigning fractured bones aims to develop the interface, robot, and database technologies to
improve the working situation for users and outcome for recipients. Compared with other approaches to fracture reduction, the
system being developed here has a number of novel features. The geometric modeling has been effective in allowing a surgeon to
visualize the fractured bone and has not been reported elsewhere for fracture reduction to the authors knowledge. By displaying
the images to users in this form any mental strain they would face from reconstructing images can be removed. In addition to this,
modeling of the forces during reduction has provided a means to determine the requirement for a robotic device....
Tipo: 8
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotic_long_bone_fracture_reduction
Robotic Musicianship - Musical Interactions Between Humans and Machines
Provedor de dados: 192
Autores: Gil Weinberg.
I would like to thank Scott Driscoll, who took a significant role in designing and developing Haile and its rhythmical applications
in Phase 1, as well Mark Godfrey, Alex Rae, and John Rhoads, who helped in developing the melodic application in Phase 2. I
would also like to acknowledge Georgia Tech's College of Architecture, Music Department and the GVU centre for their support.
Tipo: 24
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/robotic_musicianship_-_musical_interactions_between_humans_and_machines
Robotic Neurosurgery
Provedor de dados: 192
Autores: Karas; Baig.
Surgical robots have clearly affected the current practice of neurosurgery through several FDA-approved devices, most notably in
the realm of radiosurgery. It is clear, however, that while the field of surgical robotics advances, attention must be given to the
details of brain and spine surgery and surgical anatomy. Integrations of new focused technologies then can be adapted more easily
into the neurosurgeon's already highly specialized operating environment. Creating the future of dexterity enhancement,
automation, and sensory feedback, is of most value to surgical robotics if it can be studied in the context of each specialty. The
robots most widely used in neurosurgery have been products of this contextual research, which concentrated on central...
Tipo: 13
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotic_neurosurgery
Robotic Rectal Cancer Surgery
Provedor de dados: 192
Autores: Minia Hellan; Joshua Ellenhorn; Alessio Pigazzi.
Major pitfalls of laparoscopic rectal surgery are the technical and anatomic complexity in the narrow pelvis where some
maneuvers are difficult to perform with non-articulating instruments. Because of the potential advantages of robotic assistance in
the pelvis, we started to assess the utility of the DaVinci system for total mesorectal excisions. We found that telerobotic surgery
facilitates several aspects of the pelvic dissection in the confined pelvic space, and that the three-dimensional imaging gives
excellent view of the pelvic anatomy. Early experiences with different robotic-assisted colorectal procedures such as colectomies
(Rawlings et al., 2006; D'Annibale et al., 2004), rectopexy (Munz et al., 2004) and anterior resections (D'Annibale et al.,...
Tipo: 23
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotic_rectal_cancer_surgery
Robotic Solutions in Pediatric Rehabilitation
Provedor de dados: 192
Autores: Michael Bailey-Van Kuren.
Tipo: 1
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robotic_solutions_in_pediatric_rehabilitation
Robotic-assisted Laparoscopic Renal and Adrenal Surgery
Provedor de dados: 192
Autores: Yves Caumartin; Jeffrey Warren; Patrick P.W. Luke.
Tipo: 18
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotic-assisted_laparoscopic_renal_and_adrenal_surgery
Robotics and Virtual Reality Applications in Mobility Rehabilitation
Provedor de dados: 192
Autores: Rares F. Boian; Grigore C. Burdea & Judith E. Deutsch.
The research reported here was supported by grants from the National Science Foundation (BES 0201687 and BES 9708020) and
from the New Jersey Commission for Science and Technology.
Tipo: 3
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robotics_and_virtual_reality_applications_in_mobility_rehabilitation
Robotics for Improving Quality, Safety and Productivity in Intensive Agriculture: Challenges and
Opportunities
Provedor de dados: 192
Autores: Gustavo Belforte; Paolo Gay; Davide Ricauda Aimonino.
The authors would like to thank National Instruments Italy s.r.l., Agricontrol s.n.c. and CeRSAA for their support to this research,
and R.Deboli, S. Tribocco, P. Pezzuto, G. Perin and G. Benvegn? for their cooperation in constructing the robot.
Tipo: 35
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/robotics_for_improving_quality__safety_and_productivity_in_intensive_agricultur
e__challenges_and_opp
Robotics in General Surgery
Provedor de dados: 192
Autores: James Wall; Venita Chandra; Thomas Krummel.
In summary, robotics has made a significant contribution to General Surgery in the past 20 years. In its infancy, surgical robotics
has seen a shift from early systems that assisted the surgeon to current teleoperator systems that can enhance surgical skills.
Telepresence and augmented reality surgery are being realized, while research and development into miniaturization and
automation is rapidly moving forward. The future of surgical robotics is bright. Researchers are working to address the
electromechanical limitations of current robotic systems. Increasing utilization and competition in the marketplace should drive
the cost of robotic systems down, improving their cost-effective proposition. By ultimately enabling increasingly complex
interventions...
Tipo: 36
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/robotics_in_general_surgery
Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation
Provedor de dados: 192
Autores: Kia Chua; Mohd Rizal Arshad.
This paper introduces a new technique for AUV target tracking and navigation. The image processing algorithm developed is
capable of extracting qualitative information of the terrain required by human operators to maneuver ROV for pipeline tracking. It
is interesting to note
Tipo: 19
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/robotics_vision-based_heuristic_reasoning_for_underwater_target_tracking_and_n
avigation
Robots That Learn Language: A Developmental Approach to Situated Human-Robot Conversations
Provedor de dados: 192
Autores: Naoto Iwahashi.
8.1 Sharing the risk of being misunderstood The experiments in learning a pragmatic capability illustrate the importance of
sharing the risk of not being understood correctly between the user and the robot. In the learning period for utterance
understanding by the robot, the values of the local confidence parameters changed significantly when the robot acted incorrectly
in the first trial and correctly in the second trial. To facilitate learning, the user had to gradually increase the ambiguity of
utterances according to the robot's developing ability to understand them and had to take the risk of not being understood
correctly. In the its learning period for utterance generation, the robot adjusted its utterances to the user while learning the global...
Tipo: 05
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/robots_that_learn_language__a_developmental_approach_to_situated_human-robo
t_conversations
Robust and Accurate Detection of Object Orientation and ID without Color Segmentation
Provedor de dados: 192
Autores: Hironobu Fujiyoshi; Tomoyuki Nagahashi; Shoichi Shimizu.
This section describes some of the benefits of the proposed method. - Easy set up To register reference patterns for each robot's
ID, orientation is obtained by clicking on the fronts of the robots to assign an ID to each one. There is no need to make a
rule-based reference table to identify objects. - Easy patch modification Since the white bar is used to estimate the robot's
orientation in the general method, there is less space in which to paste sub-marker patches. This means that our method allows for
more space on the top of the robot and that is very easy to modify the patch pattern because of its easy set up. - Robustness with
respect to varying light conditions There is no perfect color segmentation. Even if the lighting conditions change, because...
Tipo: 20
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/robust_and_accurate_detection_of_object_orientation_and_id_without_color_segm
entation
Robust and Efficient Robot Vision Through Sampling
Provedor de dados: 192
Autores: Alex North; William Uther.
The high level of detail and dependence upon environmental conditions makes creation of an accurate, robust and efficient robot
vision system a complex task. Rather than a traditional focus on colour segmentation of entire images, the vision system outlined
in this chapter moves towards detection of local relationships between a subset of the image pixels.
Tipo: 23
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robust_and_efficient_robot_vision_through_sampling
Robust Autonomous Navigation and World Representation in Outdoor Environments
Provedor de dados: 192
Autores: Favio Masson; Juan Nieto; Jose Guivant; Eduardo Nebot.
A solution to the SLAM problem is necessary to make a robot truly autonomous. For this reason, SLAM has been one of the main
research topics in robotics, especially during the last fifteen years. While the structure of the problem is today well known, there
are still many open problems, particularly when working in outdoor environments. We presented here some of the latest SLAM
algorithms that address the problem of localisation and mapping in large outdoor areas.
Tipo: 14
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/robust_autonomous_navigation_and_world_representation_in_outdoor_environme
nts
Robust, Fast and Accurate Solution of the Direct Position Analysis of Parallel Manipulators by Using
Extra-Sensors
Provedor de dados: 192
Autores: Rocco Vertechy; Vincenzo Parenti-Castelli.
This chapter addresses the solution of the direct position analysis (DPA) of parallel manipulators. More specifically, it focuses on
the determination of the actual configuration of parallel manipulators, which have legs of type UPS (where U, S and P are for
universal, spherical and prismatic pairs respectively), by using extra-sensor data, that is a number of sensor data which is greater
than the number of manipulator degrees of freedom. First, an extensive overview of the extra-sensor approaches that are available
in the literature for the solution of the manipulator direct position analysis is provided. Second, a general method is described
which makes it possible to solve accurately and in real-time the DPA of manipulators having general architecture,...
Tipo: 7
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/robust__fast_and_accurate_solution_of_the_direct_position_analysis_of_parallel_
manipulators_by_using
Robust Feature Detection Using 2D Wavelet Transform under Low Light Environment
Provedor de dados: 192
Autores: Youngouk Kim; Jihoon Lee; Woon Cho; Changwoo Park; Changhan Park; Joonki Paik.
The paper presents a local feature detection method for vSLAM-based self-localization of mobile robots. Extraction of strong
feature points enables accurate self-localization under various conditions. We first proposed NAST pre-processing filter to
enhance low light-level input images. The SIFT algorithm was modified by adopting wavelet transform instead of Gaussian
pyramid construction. The wavelet-based pyramid outperformed the original SIFT in the sense of processing time and quality of
extracted keypoints. A more efficient local feature detector and a compensation scheme of noise due to the low contrast images
are also proposed. The proposed scene recognition method is robust against scale, rotation, and noise in the local feature space.
Tipo: 20
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/robust_feature_detection_using_2d_wavelet_transform_under_low_light_environ
ment
Robust Microarray Image Processing
Provedor de dados: 192
Autores: Eugene Novikov; Emmanuel Barillot.
In this work we have presented a complete solution for robust, high-throughput, two-color microarray image processing
comprising procedures for automatic spot localization, spot quantification and spot quality control. The spot localization algorithm
is fully automatic and robust with respect to deviations from perfect spot alignment and contamination. As an input, it requires
only the common array design parameters: number of blocks and number of spots in the x and y directions of the array. Although
fully automatic, there is no guarantee that it will perform well for any array. Therefore, we offer some interactive tools to repair
grid in case if it is erroneous. Robust ratio estimation comprises two steps. First, linear regression filtering is used to...
Tipo: 11
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/robust_microarray_image_processing
Robust PSO-Based Constrained Optimization by Perturbing the Particle's Memory
Provedor de dados: 192
Autores: Angel Munoz Zavala; Arturo Hernandez Aguirre; Enrique Villa Diharce.
In this chapter, we described a robust PSO for solving constrained optimization problems. We discussed the premature
convergence problem, which still is an issue in evolutionary computation. A brief trip was made through several proposals to
attain a balance between exploration and exploitation. Also, we briefly review recent works that contribute with interesting ideas
for handling-constraints in PSO. This work presents an algorithm called PESO to handle constrained optimization problems.
Based on the empirical and theoretical results of several works, we explain and validate every component applied in PESO. We
empirically show the performance of PESO in a wellknow benchmark. PESO has shown high performance in constrained
optimization problems of linear...
Tipo: 4
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/robust_pso-based_constrained_optimization_by_perturbing_the_particle_s_memor
y
Safe Motion Planning for Human-Robot Interaction: Design and Experiments
Provedor de dados: 192
Autores: Dana Kulic; Elizabeth Croft.
The proposed safe planner reduces the factors affecting danger along the path. Using the two-stage planning approach reduces the
depth of local minima in the cost function, allowing the planner to execute quickly. Minimizing the danger criterion during the
planning stage ensures that the robot is in a low inertia configuration in the case of an unanticipated collision, as well as reducing
the chance of a collision by distancing the robot centre of mass from the user. This advance-planning approach puts the robot in a
better position to deal with real-time safety hazards. When an inverse kinematics routine is available for an articulated robot, the
performance of the planner can be further improved by adding a backwards search. That is, the path is...
Tipo: 8
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/safe_motion_planning_for_human-robot_interaction__design_and_experiments
Scheduling Analysis of FMS Using the Unfolding Time Petri Nets
Provedor de dados: 192
Autores: Jong kun Lee; Ouajdi Korbaa.
In this paper, we focused on the analysis of a cyclic schedule for the determination of the optimal cycle time and minimization of
WIP (Work In Process). Especially, this paper product ratio-driven FMS cyclic scheduling problem with each other products and
ratios has been dealt. We proposed a model that has two jobs and two machines. And TPN slice and unfolding are applied to
analyze this FMS model. We can divide original system into subsystem using TPN slice and change iterated cycle module into
acyclic module without any other behavior properties. Specially, we simulated our approach with IBM PC windows 2000 using
Visual C++, then our approach is faster than Korbaa's approach in the many resource shared. This means that the new approach is
more useful to...
Tipo: 13
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/scheduling_analysis_of_fms_using_the_unfolding_time_petri_nets
Scheduling for Dedicated Machine Constraint
Provedor de dados: 192
Autores: Arthur Shr; Peter P. Chen; Alan Liu.
We presented the Resource Schedule and Execution Matrix (RSEM) framework?a novel representation and manipulation method
for the tasks in this paper. The RSEM framework is used as a tool to analyze the issue of dedicated machine constraint and
develop solutions. The simulation also showed that the proposed LB scheduling approach was better than the LS method in
various situations. Although the simulations are simplified, they reflect the real situation we have met in the factory. The
advantage of the proposed RSEM framework is that we can easily apply various policies to the scheduling system by simple
calculation on a two-dimensional matrix. The matrix architecture is easy for practicing other semiconductor manufacturing
problems in the area with a similar...
Tipo: 23
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/scheduling_for_dedicated_machine_constraint
Scheduling under Unavailability Constraints to Minimize Flow-time Criteria
Provedor de dados: 192
Autores: Imed Kacem.
In this chapter, we considered the non-resumable version of scheduling problems under availability constraint. We addressed the
criterion of the weighted sum of the completion times. We presented the main works related to these problems. This presentation
shows that some problems can be efficiently solved (as an example, some proposed FPTAS have a strongly polynomial running
time). As future works, the idea to extend these results to other variants of problems is very interesting. The development of better
approximation algorithms is also a challenging subject.
Tipo: 3
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/scheduling_under_unavailability_constraints_to_minimize_flow-time_criteria
Scheduling with Communication Delays
Provedor de dados: 192
Autores: R. Giroudeau; J.C. Koenig.
Tipo: 4
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/scheduling_with_communication_delays
Scheduling with Setup Considerations: An MIP Approach
Provedor de dados: 192
Autores: Mohamed. K. Omar; Siew C. Teo; Yasothei Suppiah.
Tipo: 14
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/scheduling_with_setup_considerations__an_mip_approach
SCM Innovation for Business Globalization Based on Coupling Point Inventory Planning
Provedor de dados: 192
Autores: Koshichiro Mitsukuni; Yuichi Nakamura; Tomoyuki Aoki.
Tipo: 23
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/scm_innovation_for_business_globalization_based_on_coupling_point_inventory_
planning
Selection and Efficient Use of Local Features for Face and Facial Expression Recognition in a Cortical
Architecture
Provedor de dados: 192
Autores: Masakazu Matsugu.
In this chapter, we reviewed our previously proposed leaning methods (unsupervised and supervised) for appropriate and shared
(economical) local feature selection and extraction for generic face related recognition. In particular, we demonstrated feasibility
of our hierarchical, component based visual pattern recognition model, MCoNN, as an implicit constellation model in terms of
convolutional operation of local feature, providing a substrate for generic object detection/recognition. Detailed simulation study
showed that we can realize face recognition as well as facial expression recognition efficiently and economically with satisfactory
performances by using the same set of local features extracted from the MCoNN for face detection.
Tipo: 16
Palavras-chave: Face Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/selection_and_efficient_use_of_local_features_for_face_and_facial_expression_re
cognition_in_a_cortic
Selection of Best Alternative Process Plan in Automated Manufacturing Environment: An Approach
Based on Particle Swarm Optimization
Provedor de dados: 192
Autores: Felix T.S. Chan; Manoj Kumar Tiwari; Y. Dashora.
1
Tipo: 19
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/selection_of_best_alternative_process_plan_in_automated_manufacturing_environ
ment__an_approach_based
Selection of Obstacle Avoidance Behaviors Based on Visual and Ultrasonic Sensors for Quadruped
Robots
Provedor de dados: 192
Autores: Kiyotaka Izumi; Ryoichi Sato; Keigo Watanabe; Maki K. Habib.
This chapter presented a robust approach to the design of a set of behavioral actions and the use of a combination of these actions
to formulate different high level behaviors for quadruped robots. It then, enabled the robot to select the suitable behavior in
real-time to avoid obstacles based on sensory information through visual and ultrasonic sensors. The developed approach was
successfully tested to facilitate the navigation in real environments. 7.1 Future Work Intelligent systems should exhibit emergence
property that is not designed into any of its individual sub-components. In order to make these systems adaptable to various
situations and goals to be pursued in the world, it is necessary to dynamically select behaviors and to change their...
Tipo: 8
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/selection_of_obstacle_avoidance_behaviors_based_on_visual_and_ultrasonic_sens
ors_for_quadruped_robot
Semiotics and Human-Robot Interaction
Provedor de dados: 192
Autores: Joao Sequeira; M.Isabel Ribeiro.
The social barriers that still constrain the use of robots in modern societies will tend to vanish with the sophistication increase of
interaction strategies. Communication and interaction between people and robots occurring in a friendly manner and being
accessible to everyone, independent of their skills in robotics issues, will certainly foster the breaking of barriers. Socializing
behaviors, such as following people, are relatively easy to obtain with current state of the art robotics. However, achieving human
like interaction through motion (as
Tipo: 18
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/semiotics_and_human-robot_interaction
Sensor-based Global Planning for Mobile Manipulators Navigation Using Voronoi Diagram and Fast
Marching
Provedor de dados: 192
Autores: S. Garrido; D. Blanco; M.L. Munoz; L. Moreno; M. Abderrahim.
We present here a discussion regarding alternative planning approaches, the limitations of the proposed method, and the potential
effect on mobile robot's control architecture. 8.1. Comparison with existing methods The common limitation of all the reactive
navigation methods analyzed in this section is that they cannot guarantee global convergence to the goal location, because they
use only a fraction of the information available (the local sensory information). Some researchers have worked on introducing
global information into the reactive collision avoidance methods to avoid local traps situations. This approach has been adopted in
(Ulrich & Borenstein, 2000) which utilizes a look-ahead verification in order to analyze the consequences of a given...
Tipo: 22
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/sensor-based_global_planning_for_mobile_manipulators_navigation_using_voron
oi_diagram_and_fast_march
Sequencing and Scheduling in the Sheet Metal Shop
Provedor de dados: 192
Autores: B. Verlinden; D. Cattrysse; H. Crauwels; J. Duflou; D. Van Oudheusden.
Tipo: 20
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/sequencing_and_scheduling_in_the_sheet_metal_shop
Sequential Design of Optimum Sized and Geometric Tolerances
Provedor de dados: 192
Autores: M. F. Huang; Y. R. Zhong.
Tipo: 21
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/sequential_design_of_optimum_sized_and_geometric_tolerances
Serpentine Robots for Industrial Inspection and Surveillance
Provedor de dados: 192
Autores: Grzegorz Granosik; Johann Borenstein; Malik G. Hansen.
Tipo: 33
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/serpentine_robots_for_industrial_inspection_and_surveillance
Service Robots and Humanitarian Demining
Provedor de dados: 192
Autores: Maki K. Habib.
The major technical challenge facing the detection of individual mine, is having the ability to discriminate landmines from metal
debris, natural clutters and other objects without the need for vegetation cutting. Future efforts to improve detection should focus
on providing a discrimination capability that includes the fusion of information coming from multi heterogeneous and
homogenous sensors and the incorporation of advanced signal processing techniques to support real-time processing and decision
making. For the purpose of mine clearance, there is an urgent need to have cost-effective and efficient clearance techniques to
clear landmines in all types of terrains. This should be associated with neutralization, in which there is a need to develop safe,...
Tipo: 23
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/service_robots_and_humanitarian_demining
Sharing and Trading in a Human-Robot System
Provedor de dados: 192
Autores: Kai Wei Ong; Gerald Seet; Siang Kok Sim.
To exemplify the concept of sharing and trading discussed in the preceding sections, a case study based on the application of
security is presented to illustrate its working principles on the design and development of a HRS. 4.1 Application Case Study: An
Automated Security HRS Security has always been the fundamental issue in our present society to ensure the safety of our assets.
In a typical security system, surveillance and intrusion are two essential elements. Normally, a range of different physical security
devices and electronics surveillance systems are combined to automate surveillance and intrusion detection. Physical protection is
provided by human security guards, security containers, locks, vaults and structural barriers such as multiple...
Tipo: 29
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/sharing_and_trading_in_a_human-robot_system
Sheet Incremental Forming: Advantages of Robotised Cells vs. CNC Machines
Provedor de dados: 192
Autores: 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
Shortest Path Homography-Based Visual Control for Differential Drive Robots
Provedor de dados: 192
Autores: G. Lopez-Nicolas; C. Sagues; J.J. Guerrero.
We have presented a new homography-based approach for visual control of mobile robots. The control design is directly based on
the homography elements and deals with the motion constraints of the di erential drive vehicle. In our approach, called Shortest
Path Control, the motion is designed to follow a straight line path. Taking advantage of this specific trajectory we have proposed a
control law decoupling rotation and translation. Three di erent methods have been designed by choosing di erent homography
elements. Their performance depends on the conditions of the plane or the calibration. The methods use neither the homography
decomposition nor any measure of the 3D scene. Simulations shows the performance of the methods with odometry drift, image
noise...
Tipo: 30
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/shortest_path_homography-based_visual_control_for_differential_drive_robots
Simplified Modelling of Legs Dynamics on Quadruped Robots' Force Control Approach
Provedor de dados: 192
Autores: Jose L. Silvino; Peterson Resende; Luiz S. Martins-Filho; Tarcisio A. Pizziolo.
In this work, a dynamical model simplification was implemented and analysed considering a small quadruped mobile robot,
equipped with pantographic leg mechanisms. This specific leg design and characteristics were considered, as well the context of
realistic possible physical realization (dimensions, masses, inertias) of a laboratory prototype. A simplification was proposed
aiming the reduction of computational efforts for the evaluation of the matrices C(q,dq/dt) and G(q), corresponding respectively to
the centrifugal and Coriolis forces, and to the gravitational dynamical contributions. The resulting advantages of the presented
proposition were verified when comparing the numerical simulations of the leg mechanism motions taking the complete and...
Tipo: 8
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/simplified_modelling_of_legs_dynamics_on_quadruped_robot_s_force_control_ap
proach
Simulated Environment in Robot Soccer
Provedor de dados: 192
Autores: Gregor Klancar; Rihard Karba.
The introduced simulator is mostly used as a tool in the process of strategy and control design for real robot soccer game.
Therefore, its verification is done through transferability of the obtained strategy algorithms to the real system. The verification
shows that the behaviour of the simulator is similar enough to the real setup, which means that the designed algorithms (strategy
and low level control) can directly be used without modifications in real games as well. The designed simulator has significant
improvements in comparison with the available simulator in MiroSot leagues (simulator for SimuroSot) and other available
simulators; the advantages being dynamics motion modelling and a realistic shape of the robots, which contributes to a more...
Tipo: 7
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/simulated_environment_in_robot_soccer
Simulation and Experimental Tests of Robot Using Feature-Based and Position-Based Visual
Servoing Approaches
Provedor de dados: 192
Autores: M. H. Korayem; F. Heidari; H. Aliakbarpour.
It has been shown how to use a vision system to control industrial 3P and 6R robots. It was observed that before using this vision
system for controlling a robot, we need to know general information of the robot and the camera function and affects of light
conditions on taken images. We can assume these results from the system as a better and more accurate control on robot around.
In this system there is no need to know the first location of robot to calculate the required movement toward the goal, because
taken images will help us to know the distance of the object to the end effector and this is one of the advantages of this system.
Vision system can be used for path-related characteristics of robot. In this article, by applying vision system, the...
Tipo: 24
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/simulation_and_experimental_tests_of_robot_using_feature-based_and_position-b
ased_visual_servoing_ap
Simulation Modeling and Analysis of the Impacts of Component Commonality and Process Flexibility
on Integrated Supply Chain Network Performance
Provedor de dados: 192
Autores: Ming Dong; F. Frank Chen.
Tipo: 29
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/simulation_modeling_and_analysis_of_the_impacts_of_component_commonality_
and_process_flexibility_on_
Simulation of Visual Servoing Control and Performance Tests of 6R Robot Using Image-Based and
Position-Based Approaches
Provedor de dados: 192
Autores: M. H. Korayem; F. S. Heidari.
In this chapter, both position based and image based approaches were used to simulate control of the 6R robot. The IBVS control
approach, uses image features of a target-object from image (sensor) space to compute error signals directly. The error signals are
then used to compute the required actuation signals for the robot. The control law is also expressed in the image space. Many
researchers in this approach use a mapping function (called the image Jacobian) from the image space to the Cartesian space. The
image Jacobian, generally, is a function of the focal length of the lens of the camera, depth (distance between camera (sensor)
frame and target features), and the image features. In contrast, the PBVS control constructs the spatial relationship,...
Tipo: 14
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/simulation_of_visual_servoing_control_and_performance_tests_of_6r_robot_using
_image-based_and_positi
Simulation Optimization Using Swarm Intelligence as Tool for Cooperation Strategy Design in 3D
Predator-Prey Game
Provedor de dados: 192
Autores: Emiliano G. Castro; Marcos S. G. Tsuzuki.
The problem solving capability of the multiagent systems using co-operative strategies expands the solution universe of some
classes of problems to beyond some human limits of reasoning and intuition. The hard time we have trying to mentally process, in
a parallel fashion, the several "instances" sensorial-cognitive-motor that represents the agents is the reason that makes invariably
surprising the system's behavior as a whole. That is the emergent behavior. In this work, we tried to demonstrate that it is possible
to project these Distributed Artificial Intelligence systems knowing just how to model the problem. The "fine tuning" of the
project details was accomplished by a synthesis tool, using an optimization systems that also takes advantage of the...
Tipo: 6
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/simulation_optimization_using_swarm_intelligence_as_tool_for_cooperation_strat
egy_design_in_3d_preda
Simulation Study on Acquisition Process of Locomotion by Using an Infant Robot
Provedor de dados: 192
Autores: Katsuyoshi Tsujita; Tatsuya Masuda.
This chapter presented a simulation method for simulating, and thereby clarifying, the development process of human locomotion
that uses a model of an infant robot. The infant robot has many degrees of freedom. By making constraints and coordination for
many DOF of using "intensions" such as "want to stay sitting," or "want to move more forward," etc., various motion patterns
emerge according to a specific intension. In this study, this type of intension is given as the objective function and development of
motion pattern, and is simulated as an optimization or learning problem. Dynamically changing the intension according to the
development process changed the motion pattern of the infant robot, and it developed from sitting to crawling, toward...
Tipo: 21
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/simulation_study_on_acquisition_process_of_locomotion_by_using_an_infant_rob
ot
Singularity Robust Inverse Dynamics of Parallel Manipulators
Provedor de dados: 192
Autores: S. Kemal Ider.
A general method for the inverse dynamic solution of parallel manipulators in the presence of drive singularities is developed. It is
shown that at the drive singularities, the actuator forces cannot influence the end-effector accelerations instantaneously in certain
directions. Hence the end-effector trajectory should be chosen to satisfy the consistency of the dynamic
Tipo: 19
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/singularity_robust_inverse_dynamics_of_parallel_manipulators
Size-adapted Parallel and Hybrid Parallel Robots for Sensor Guided Micro Assembly
Provedor de dados: 192
Autores: Kerstin Schoettler; Annika Raatz; Juergen Hesselbach.
Micro assembly tasks demand low assembly uncertainties in the range of a few micrometers. This request results from the small
part sizes in the production of MST components and the resulting small valid tolerances. Since precision robots represent the
central component of an assembly system, an appropriate kinematic structure is crucial. These kinematic structures can be serial,
parallel or hybrid (serial/parallel). Although serial structures can be used for micro assembly, they have large moved masses and
need a massive construction of the frame and robot links to obtain an appropriate repeatability. Therefore, some size-adapted
parallel and hybrid parallel robot structures were presented in the previous sections. Very good repeatabilities were reached...
Tipo: 11
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/size-adapted_parallel_and_hybrid_parallel_robots_for_sensor_guided_micro_asse
mbly
Soft Computing Applications in Robotic Vision Systems
Provedor de dados: 192
Autores: Victor Ayala-Ramirez; Raul E. Sanchez-Yanez; Carlos H. Garcia-Capulin; Francisco J. Montecillo-Puente.
Several conclusions arise from our experience applying soft computing (specifically fuzzy logic and genetic algorithms) to
develop robotic vision applications. Fuzzy logic is well suited for problems where uncertainty representation is a critical issue. We
already applied fuzzy logic to cope with illumination changes when tracking objects in a visual sequence. Another domain for
application of fuzzy logic in robotic vision is to use it where only qualitative experience is available to perform a function. We
have applied it on the implementation of a fuzzy visual servocontroller. Genetic algorithms are useful in optimization related tasks
in robotic vision. For example, we have used this methodology to optimize the match between a parametric shape (a...
Tipo: 5
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/soft_computing_applications_in_robotic_vision_systems
Soft Computing Based Mobile Manipulator Controller Design
Provedor de dados: 192
Autores: Abdessemed Foudil; Benmahammed Khier.
Tipo: 17
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/soft_computing_based_mobile_manipulator_controller_design
Soil Pollution and Remediation Problems in Turkey
Provedor de dados: 192
Autores: E. Burcu Ozkaraova Gungor.
Since 1990s Turkey has made significant environmental progress with reforms in institutional and legislative frameworks. The
Ministry of Environment (now the Ministry of Environment and Forestry) was created and various environmental legislations
were adopted. As a part of national development plan, the National Environmental Action Plan was developed. Soil protection and
pollution issues were included in this plan and the need for the registration of environmental pollution was emphasized. Several
regulations for the control and prevention of soil pollution were enforced, however there are problems related to their
implementation. Despite the enforcement of both Hazardous Waste Control Regulation and Solid Waste Control Regulation, there
is still a need...
Tipo: 8
Palavras-chave: Environmental Technologies.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/soil_pollution_and_remediation_problems_in_turkey
Solving a Multi-Objective No-Wait Flow Shop Problem by a Hybrid Multi-Objective Immune
Algorithm
Provedor de dados: 192
Autores: R. Tavakkoli-Moghaddam; A. Rahimi-Vahed; A. Hossein Mirzaei.
This chapter has presented a new multi-objective immune algorithm (MOIA) for solving a no wait flow shop scheduling problem
with respect to the weighted mean completion time
Tipo: 11
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/solving_a_multi-objective_no-wait_flow_shop_problem_by_a_hybrid_multi-objec
tive_immune_algorithm
Solving Inter-AS Bandwidth Guaranteed Provisioning Problems with Greedy Heuristics
Provedor de dados: 192
Autores: Kin-Hon Ho; Ning Wang; George Pavlou.
In this chapter we have reviewed a cascaded negotiation model for negotiating and establishing SLAs for bandwidth guarantees
between ASes, and a network dimensioning system to solve the inter-AS bandwidth provisioning and the traffic assignment
problems systematically. We formulated the inter-AS bandwidth provisioning problem as an integer programming problem and
prove it to be NP-hard. An efficient genetic algorithm was proposed to solve the problem. Our simulation study shows that the
genetic algorithm has a near-optimal total inter-AS bandwidth provisioning cost. This cost is approximately 5%-30% and
75%-90% less than the cost achieved by a conventional greedy heuristic algorithm and a random-based algorithm respectively
under two customer-peering...
Tipo: 27
Palavras-chave: Greedy Algorithms.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/solving_inter-as_bandwidth_guaranteed_provisioning_problems_with_greedy_heu
ristics
Some Robotic Approaches and Technologies for Humanitarian Demining
Provedor de dados: 192
Autores: Stefan Havlik.
Some conceptual considerations in designing robotic systems for detection, localization neutralization of mines, especially
anti-personnel are presented. As discussed any robotic system for performing dangerous works under harsh working conditions
should satisfy
Tipo: 12
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/some_robotic_approaches_and_technologies_for_humanitarian_demining
Sonar Sensor Interpretation and Infrared Image Fusion for Mobile Robotics
Provedor de dados: 192
Autores: Mark Hinders; Wen Gao; William Fehlman.
We have developed a set of automatic algorithms that use sonar backscattering data to distinguish extended objects in the campus
environment by taking a sequence of scans of each object, plotting the corresponding backscatter vs. scan angle, extracting
abstract feature vectors and then categorizing them in various phase spaces. We have chosen to perform the analysis with multiple
scans per object as a balance between data processing requirements and robustness of the results. Although our current robotic
scanner is parked for each scan and then moves to the next scan location before scanning again, it is not difficult to envision a
similar mobile robotic platform that scans continuously while moving. It could then take ten or even a hundred scans while...
Tipo: 4
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/sonar_sensor_interpretation_and_infrared_image_fusion_for_mobile_robotics
Sound Localization of Elevation using Pinnae for Auditory Robots
Provedor de dados: 192
Autores: Tomoko Shimoda; Toru Nakashima; Makoto Kumon; Ryuichi Kohzawa; Ikuro Mizumoto; Zenta Iwai.
In this chapter, by using a system consisting of two microphones and one pinna, a method for sound localization using spectral
cues was considered. In particular, a robust spectral cue detection method was considered and a method for orientating the robot's
head toward a sound source was proposed. In addition, this chapter considers the use of sound source separation in order to
attenuate the effect of noise. The conclusions of this present study are summarized as follows: ? Real robotic pinnae were
designed and a robot using the pinnae was developed. ? In order to realize sound localization with vertical displacement, an
algorithm for detecting spectral cues using the developed pinnae was proposed. ? Spectral cue detection was made robust by
considering...
Tipo: 24
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/sound_localization_of_elevation_using_pinnae_for_auditory_robots
Space Exploration - towards Bio-Inspired Climbing Robots
Provedor de dados: 192
Autores: Carlo Menon; Michael Murphy; Metin Sitti; Nicholas Lan.
The potential advantages of gecko-inspired robots have been discussed and related to the particular problems of robotic systems in
space. Different approaches to climbing robots in general have been introduced and, in particular, differing approaches to
gecko-inspired systems have been discussed. The phenomenon of dry adhesion in nature has been introduced, along with methods
for its recreation in engineered materials. Different designs for robots intended to take advantage of gecko-like dry adhesion have
been conceived and prototyped, showing potential for further development. In particular, one design has been focused on the
realisation of a robust and reliable system, while the other, using novel materials and actuators, has potential for...
Tipo: 16
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/space_exploration_-_towards_bio-inspired_climbing_robots
Spatial Vision-Based Control of High-Speed Robot Arms
Provedor de dados: 192
Autores: 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
Spatiotemporal MCA Approach for the Motion Coordination of Heterogeneous MRS
Provedor de dados: 192
Autores: Fabio M. Marchese.
In this work we have proposed a new version of a decoupled and prioritized motionplanning algorithm for the coordination of a
Multi-Robot composed by mobile robots. This Motion-Planner is a single module of a wider multilayered architecture for the
coordination of MRS. Using a Multilayered Cellular Automata as paradigm for a joined space representation and planning
technique, we face contemporarily mobile robots having
Tipo: 7
Palavras-chave: Recent Advances in Multi Robot Systems.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/spatiotemporal_mca_approach_for_the_motion_coordination_of_heterogeneous_m
rs
Specific Parameters of the Perturbation Profile Differentially Influence the Vertical and Horizontal
Head Accelerations During Human Whiplash Testing
Provedor de dados: 192
Autores: Loriann M. Hynes; Natalie S. Sacher; James P. Dickey.
This study directly compared two different perturbation profiles, using repeated measures, to evaluate vertical and horizontal head
accelerations during whiplash-like perturbations. We observed that the magnitude of the vertical head accelerations depended on
the specific perturbation parameters; the horizontal and vertical acceleration magnitudes were not significantly different in the
mild perturbation, but the horizontal head accelerations were significantly larger than the vertical accelerations during the
moderate perturbations. These findings illustrate that human subjects have different responses to whiplash-like perturbations
depending on the specific acceleration profile parameters, including peak acceleration. This finding is in contrast to one...
Tipo: 14
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/specific_parameters_of_the_perturbation_profile_differentially_influence_the_vert
ical_and_horizontal
Speech Recognition in Unknown Noisy Conditions
Provedor de dados: 192
Autores: Ji Ming; Baochun Hou.
This chapter investigated the problem of speech recognition in noisy conditions assuming absence of prior information about the
noise. A method, namely universal compensation, was described, which combines multicondition model training and
missing-feature theory to model noises with unknown temporal-spectral characteristics. Multicondition training can be conducted
using simulated noisy data, to provide a coarse compensation for the noise, and missing-feature theory is applied to refine the
compensation by ignoring noise
Tipo: 11
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/speech_recognition_in_unknown_noisy_conditions
Speech Recognition Under Noise Conditions: Compensation Methods
Provedor de dados: 192
Autores: 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
Spoken Language and Vision for Adaptive Human-Robot Cooperation
Provedor de dados: 192
Autores: Peter Ford Dominey.
This beginning of the 21st century marks a period where humanoid robot mechatronics and the study of human and artificial
cognitive systems come in parallel to a level of maturity sufficient for significant progress to be made in making these robots more
human-like in there interactions. In this context, two domains of interaction that humans exploit with great fidelity are spoken
language, and the visual ability to observe and understand intentional action. A good deal of research effort has been dedicated to
the specification and implementation of spoken language systems for human-robot interaction (Crangle & Suppes 1994,
Lauria et al. 2002, Severinson-Eklund 2003, Kyriacou et al. 2005, Mavrides & Roy 2006). The research described in the
current...
Tipo: 11
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/spoken_language_and_vision_for_adaptive_human-robot_cooperation
Stability Analysis of a Simple Active Biped Robot with a Torso on Level Ground Based on Passive
Walking Mechanisms
Provedor de dados: 192
Autores: Terumasa Narukawa; Masaki Takahashi; Kazuo Yoshida.
We study a simple active biped robot on level ground to walk over a wide range of speed. The use of the torso for energy supply
and the swing-leg control for stable waking are introduced. Numerical simulations show that the swing-leg control enables the
biped robot on level ground to walk stably over a wide range of speed, and enlarges the stable region.
Tipo: 7
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/stability_analysis_of_a_simple_active_biped_robot_with_a_torso_on_level_groun
d_based_on_passive_walk
Stabilization of Fuzzy Takagi - Sugeno Descriptor Models; Application to a Double Inverted
Pendulum
Provedor de dados: 192
Autores: Thierry Marie Guerra; Sebastien Delprat; Salim Labiod.
The chapter focused on TS fuzzy models in descriptor form stabilization. As for classical TS models, they can be obtained in a
systematic way using the sector nonlinearity approach. Their main interest is to remain close to the nonlinear model. Thus, in
some cases the number of models involved can be highly reduced in comparison to a classical TS model representing the same
nonlinear model. Hence, the results obtained with the conditions of stabilization can allow reducing in a large way the
conservatism of preceding classical results. Nevertheless, if we want to outperform basic conditions of stabilization for TS models
in the descriptor form, a way is to use specific matrix transformation. The application of matrix transformation allowed
outperforming...
Tipo: 20
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/stabilization_of_fuzzy_takagi_-_sugeno_descriptor_models__application_to_a_do
uble_inverted_pendulum
Stair Gait Classification from Kinematic Sensors
Provedor de dados: 192
Autores: Wolfgang Svensson; Ulf Holmberg.
This chapter describes a compact portable measuring system which both can be used for analysing able-bodied as well as foot
orthosis control. Mounting the sensors on the frontal
Tipo: 28
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/stair_gait_classification_from_kinematic_sensors
Stereo Vision Based SLAM Issues and Solutions
Provedor de dados: 192
Autores: D.C. Herath; K.R.S. Kodagoda; G. Dissanayake.
In this chapter we have made an attempt to analyse the issues in stereo vision based SLAM and proposed plausible solutions.
Correct sensor modelling is vital in any SLAM implementation. Therefore, we have analyzed the stereo vision sensor behaviour
experimentally to understand the noise characteristics and statistics. It was verified that the stereo observations in its natural form
(i.e. [u,v,d]) can safely be assumed to represent Gaussian distributions. Then several SLAM implementation strategies were
discussed using stereo vision. Issues related to limited field of view of the sensor, number of features, spurious features, noise
parameters and nonlinearity in the observation model were discussed. It was shown that the filter inconsistency is mainly due...
Tipo: 29
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/stereo_vision_based_slam_issues_and_solutions
Stereo Vision Camera Pose Estimation for On-Board Applications
Provedor de dados: 192
Autores: A. Sappa; D. Geronimo; F. Dornaika; A. Lopez.
An efficient technique for a real time pose estimation of an on-board camera has been presented. It improves a previous proposal
(Sappa et al., 2006) by defining a dynamic threshold for selecting points to be fitted. After an initial mapping and filtering process,
a
Tipo: 3
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/stereo_vision_camera_pose_estimation_for_on-board_applications
Sticky Hands
Provedor de dados: 192
Autores: Joshua G. Hale; Frank E. Pollick.
We proposed the `Sticky Hands' game as a novel interaction between human and robot. The game was implemented by combining
a robot controller process and a learning algorithm with a
Tipo: 16
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/sticky_hands
Stochastic Analysis of a System Containing One Robot and (n-1) Standby Safety Units with an
Imperfect Switch
Provedor de dados: 192
Autores: B.S. Dhillon; S. Cheng.
1
Tipo: 34
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/stochastic_analysis_of_a_system_containing_one_robot_and__n-1__standby_safet
y_units_with_an_imperfec
Stochastic Metaheuristics as Sampling Techniques using Swarm Intelligence
Provedor de dados: 192
Autores: Johann Dreo; Patrick Siarry.
Population metaheuristics can be viewed as algorithms handling a probabilistic sampling of a probability distribution, representing
the objective function of an optimization problem. These algorithms can be described either as implicit, explicit or direct,
according to their way of sampling the objective function. These algorithms are iteratively manipulating the sample thanks to
components that can be classified among three tendencies: learning,
Tipo: 12
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/stochastic_metaheuristics_as_sampling_techniques_using_swarm_intelligence
Stochastic State Estimation for Simultaneous Localization and Map Building in Mobile Robotics
Provedor de dados: 192
Autores: Juan Andrade Cetto; Teresa A. Vidal Calleja; Alberto Sanfeliu.
We have shown that full correlation of the map model in the Kalman Filter based approach to Simultaneous Localization and Map
Building hinders full observability of the state estimate. A unit norm eigenvalue for the matrix F-KH makes the state error
estimate converge to a non zero mean constant bounded value in the linear case SLAM. Marginal stability of such partially
observable system produces also at least one psd solution to the steady state Riccati equation for the covariance error, provided the
initial conditions of P are also psd. Partial observability makes the final map dependant on the initial observations. This situation
can easily be remedied either by anchoring the map to the first landmark observed, or by having an external sensor that sees...
Tipo: 14
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/stochastic_state_estimation_for_simultaneous_localization_and_map_building_in_
mobile_robotics
Structure Based Classification and Kinematic Analysis of Six-Joint Industrial Robotic Manipulators
Provedor de dados: 192
Autores: Tuna Balkan; M. Kemal Ozgoren; M. A. Sahir Arikan.
Tipo: 05
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/structure_based_classification_and_kinematic_analysis_of_six-joint_industrial_rob
otic_manipulators
Study of Dance Entertainment Using Robots
Provedor de dados: 192
Autores: Kuniya Shinozaki; Akitsugu Iwatani; Ryohei Nakatsu.
In this paper, we have proposed dancing as a new application area for humanoid robots. First, we investigated the meaning of
entertainment and clarified several distinctive characteristics of it. Then we examined the role of robots in the area of
entertainment. By showing that dance performed by robots have several significant characteristics, we indicated that robot dance
could become a new type of entertainment. Following that, we described several features required for a dance robot to be a
success. As an example of a humanoid robot that can be used
Tipo: 27
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/study_of_dance_entertainment_using_robots
Study of Flexibility and Adaptability in Distributed Supply Chains
Provedor de dados: 192
Autores: Felix T. S. Chan; H. K. Chan.
Tipo: 27
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/study_of_flexibility_and_adaptability_in_distributed_supply_chains
Study on Locomotion of a Crawling Robot for Adaptation to the Environment
Provedor de dados: 192
Autores: Li Chen; Yuechao Wang; Bin Li; Shugen Ma; Dengping Duan.
The motivation of this research is to improve the locomotion adaptation to the environment of a crawling robot: Firstly, a new
reconfigurable modular crawling robot has been developed, which can not only move on a plane but also achieve some
3-dimensional motions while reconfigured. Secondly, the kinematic analysis combined with dynamics is taken to revise the
motion mechanism of traveling locomotion for better adaptation to the environment. It is found that the adaptability of locomotion
is close related with the environment parameters and the body shape: when keeping the initial winding angle unchanged, the
bigger the
Tipo: 18
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/study_on_locomotion_of_a_crawling_robot_for_adaptation_to_the_environment
Study on Three Dimensional Dual Peg-in-Hole in Robot Automatic Assembly
Provedor de dados: 192
Autores: Fei Yanqiong; Wan Jianfeng; Zhao Xifang.
In order to know the assembly process of a dual peg-in-hole and plan an insertion strategy in detail, it is important to analyze the
dual peg-in-hole in three dimensions. In this paper, the assembly contact and jamming of a dual peg-in-hole in three dimensions
are analyzed in detail. Firstly, 20 contact states of the three dimensional dual-peg are enumerated and geometric conditions are
derived. Secondly, the contact forces are described by the screw theory in three dimensions. With the static equilibrium equations,
the relationship between forces and moments for maintaining each contact state is derived. Thirdly, the jamming diagrams of the
three dimensional dual peg-in-hole are presented. Different peg and hole geometry, and different insertion depth may...
Tipo: 21
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/study_on_three_dimensional_dual_peg-in-hole_in_robot_automatic_assembly
Superposition-Inspired Reinforcement Learning and Quantum Reinforcement Learning
Provedor de dados: 192
Autores: Chun-Lin Chen; Dao-Yi Dong.
According to the existing problems in RL area, such as low learning speed and tradeoff between exploration and exploitation,
SIRL and QRL methods are introduced based on the theory of RL and quantum computation in this chapter, which follows the
developing roadmap from the superposition-inspired methods to the RL methods in quantum systems. Just as simulated annealing
algorithm comes from mimicking the physical annealing process, quantum characteristics also broaden our mind and provide
alternative approaches to novel RL methods. In this chapter, SIRL method emphasizes the exploration policy and uses a
probabilistic action selection method that is inspired by the state superposition principle and collapse postulate. The experiments,
which include a puzzle...
Tipo: 4
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/superposition-inspired_reinforcement_learning_and_quantum_reinforcement_learn
ing
Supervisory Control for Turnover Prevention of a Teleoperated Mobile Agent with a
Terrain-Prediction Sensor Module
Provedor de dados: 192
Autores: Jae Byung Park; Beom Hee Lee.
The turnover prevention control algorithm of a teleoperated mobile agent was presented. For online prediction of front terrain, a
low-cost terrain prediction sensor composed of a camera vision, a laser line generator, and an inclinometer was developed. The
terrain parameters were obtained by finding structured laser line projected onto the front terrain and used for turnover prevention
control through the quasi-static rollover analysis. As a result of turnover prevention control, the translational and rotational
velocities of the agent were restricted. However, the velocity restriction for turnover prevention may bring about the
inconsistencies between the intended motion and the reactive motion of the agent. Thus, the force reflection technique was...
Tipo: 1
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/supervisory_control_for_turnover_prevention_of_a_teleoperated_mobile_agent_wi
th_a_terrain-prediction
Supervisory Controller for Task Assignment and Resource Dispatching in Mobile Wireless Sensor
Networks
Provedor de dados: 192
Autores: Vincenzo Giordano; Frank Lewis; Prasanna Ballal; Biagio Turchiano.
In this chapter we have presented a discrete-event coordination scheme for sensor networks composed of both mobile and
stationary nodes. This architecture supports highlevel planning for multiple heterogeneous agents with multiple concurrent goals
in dynamic environment. The proposed formulation of the DEC represents a complete dynamical description that allows efficient
computer simulation of the WSN prior to implementing a given DE coordination scheme on the actual system. The similarity
between simulation and experimental results shows the effectiveness of the DEC for simulation analysis. The obtained results also
prove the striking potentialities of the matrix formulation of the DEC, namely: straightforward implementation of missions on the
ground of...
Tipo: 9
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/supervisory_controller_for_task_assignment_and_resource_dispatching_in_mobile
_wireless_sensor_networ
Supply Chain Collaboration
Provedor de dados: 192
Autores: Ana Meca; Judith Timmer.
In this chaper, we have reviewed and surveyed the literature on supply chain collaboration. As mentioned above, the game theory
models that include cooperative behaviour among retailers seem to be a natural framework to model cooperation (collaboration) in
supply chains that consist of a supplier and a finite number of retailers. Various researchers in this area have already adopted
several cooperative models dealing with supply chain coordination, and it is expected to see many more in the near future since, as
you may notice, this is a rather new area of research in supply chain management. One level of supply chain collaboration is the
inventory centralization. The main focus of concern here is to examine the effects of horizontal cooperation...
Tipo: 1
Palavras-chave: Supply Chain.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/supply_chain_collaboration
Supporting Complex Robot Behaviors with Simple Interaction Tools
Provedor de dados: 192
Autores: David J. Bruemmer; David I. Gertman; Curtis W. Nielsen; Douglas A. Few; William D. Smart.
When compared to the current military baseline, the mixed-initiative system produced a fourfold decrease in task time to
completion and a significant increase in detection accuracy.This is particularly interesting since previous attempts to create robotic
demining systems had failed to match human performance. The difference between past strategies and the one employed in this
study is not that the robot or sensor was more capable; rather, the most striking difference was the use of mixed-initiative control
to balance the capabilities and limitations of each team member. Without the air vehicle providing the tasking backdrop and the
human correlating it with the UGV map, it would not have been possible to specify the lane for the robot to search. The...
Tipo: 03
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/supporting_complex_robot_behaviors_with_simple_interaction_tools
Surgical Skills Training For Robotic Assisted Surgery
Provedor de dados: 192
Autores: Juan D. Hernandez R.; Fernando Bello; Ara Darzi.
Robotic surgery using telemanipulator systems has been proved to be feasible and safe in several tens of thousands of procedures
carried out around the world. It has demonstrated its utility in complex procedures in vascular, urological and bariatric surgery,
amongst other specialties. As a matter of fact, a totally laparoscopic coronary artery bypass is not feasible without the robot.
However, current evidence does not favour the widespread use of telemanipulators in general surgery, since the time and
outcomes do not differ from laparoscopic surgery, and costs are excessively high. Another factor against is the current size and
design of the system. Da Vinci's robotic arms are large and cumbersome, making setup times prolong surgeries. It can be...
Tipo: 11
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/surgical_skills_training_for_robotic_assisted_surgery
Swarm Intelligence and Image Segmentation
Provedor de dados: 192
Autores: Sara Saatchi; Chih-Cheng Hung.
Experimental results showed that SI techniques can improve the K-means and the SCL algorithms in recognizing the clusters. The
K-means algorithm often fails to realize clusters since it is heavily dependent on the initial cluster centers. The ACO-K-means and
PSO-Kmeans algorithms provides a larger search space compared to the K-means algorithm. By employing these algorithms for
clustering, the influence of the improperly chosen initial cluster centers will be diminished over a number of iterations. Therefore,
these algorithms are less dependent on randomly chosen initial seeds and is more likely to find the global optimal solution. We
have also shown that SI can be beneficial to the SCL algorithm. SI can help SCL find the global optima using the same...
Tipo: 10
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/swarm_intelligence_and_image_segmentation
Switching Control in the Presence of Constraints and Unmodeled Dynamics
Provedor de dados: 192
Autores: Vojislav Filipovic.
In this paper the switching controller with low-and-high gain and alloved over-saturation for uncertain system is considered. The
unmodeled dynamics satisfies matching conditions. Using picewise quadratic Lyapunov function it is proved the exponential
stability of the closed loop system. It would be interesting to develop the theory for output case and for the descrete-time case.
Also, extremely is important application of hybrid systems in distributed coordination problems (multiple robots, spacecraft and
unmanned air vehicles).
Tipo: 13
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/switching_control_in_the_presence_of__constraints_and_unmodeled_dynamics
Symbolic Trajectory Description in Mobile Robotics
Provedor de dados: 192
Autores: Pradel Gilbert; Caleanu Catalin Daniel.
Tipo: 25
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/symbolic_trajectory_description_in_mobile_robotics
Symmetry Signatures for Image-Based Applications in Robotics
Provedor de dados: 192
Autores: Kai Huebner; Jianwei Zhang.
In this work, bilateral symmetry has been proposed as a concept for the extraction of features from the visual data and their
application to robot navigation tasks. Symmetry in shape and vision is strongly motivated by biological and psychophysical
aspects. It is a natural feature that can be found in many scenes, whether they show structured indoor or unstructured outdoor
environments. We conclude with a review on the three main topics: 1. Symmetry as a Feature: Symmetry has been investigated in
several domains like biology, psychophysics, architecture and art. Accordingly, symmetry has also been applied as a valuable
attentional feature for the extraction of regions of interest or for object description by symmetric properties in computer vision....
Tipo: 28
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/symmetry_signatures_for_image-based_applications_in_robotics
Synchronized Scheduling of Manufacturing and 3PL Transportation
Provedor de dados: 192
Autores: Kunpeng Li; Appa Iyer Sivakumar.
In this chapter, the formulation of synchronized scheduling problem of production and transportation is presented. The solution
methodology is to decompose the overall problem into two sub-problems, i.e., the transportation allocation problem and machine
scheduling problem. The 3PL transportation allocation problem is formulated using an integer programming model. It is shown
that the problem is solvable in polynomial time. Furthermore, the formulations for single machine with and without random delay
are presented. The methods to solve these two problems are summarized. Further research can address the assembly sub-problem
with parallel machines or sequential machines, etc.
Tipo: 22
Palavras-chave: Multiprocessor Scheduling; Theory and Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/synchronized_scheduling_of_manufacturing_and_3pl_transportation
Synthesis of Prosthesis Architectures and Design of Prosthetic Devices for Upper Limb Amputees
Provedor de dados: 192
Autores: Marco Troncossi; Vincenzo Parenti-Castelli.
The DOPA procedure presented in this chapter was developed in order to formalize principles for decision making in the choice
and/or the design of upper limb prostheses for amputees with a high level disarticulation. The method makes it possible to tackle
the problem of prosthetic rehabilitation from a general perspective, consistently taking into consideration both the clinical aspects
and the technical issues involved in the design of upper limb prostheses. The DOPA algorithms make it possible to guide the
synthesis of the artificial arm model that achieves the optimal compromise between a given patient’s contrasting requirements in
terms of functionality and wearability of the device. This is possible by means of a systematic investigation of the...
Tipo: 30
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/synthesis_of_prosthesis_architectures_and_design_of_prosthetic_devices_for_upp
er_limb_amputees
Tactile Displays with Parallel Mechanism
Provedor de dados: 192
Autores: Ki-Uk Kyung; Dong-Soo Kwon.
This chapter deals with tactile displays and their mechanisms. We briefly reviewed research history of mechanical type tactile
displays and their parallel arrangement. And this chapter mainly describes two systems including tactile displays. The 5x6 pin
arrayed tactile display with parallel arrangement of piezoelectric bimorphs has been described in the section 3. The tactile display
has been embedded into a mouse device and the performance of the device has been verified from pattern display experiment.
Another focus of this chapter is describing a compact tactile display module and verifying its performance in a pen-like form
factor. As described in section 4, a small, safe, low power consuming, silent and light tactile display module with parallel and...
Tipo: 23
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/tactile_displays_with_parallel_mechanism
Talking Robot and the Autonomous Acquisition of Vocalization and Singing Skill
Provedor de dados: 192
Autores: Hideyuki Sawada.
In this paper a talking and singing robot was introduced, which is constructed mechanically with human-like vocal cords and a
vocal tract. By introducing the adaptive learning and controlling of the mechanical model with the auditory feedback, the robot
was able to
Tipo: 22
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/talking_robot_and_the_autonomous_acquisition_of_vocalization_and_singing_skil
l
Task Management for Soft Real-Time Applications Based on General Purpose Operating Systems
Provedor de dados: 192
Autores: Paulo Pedreiras; Luis Almeida.
Using general purpose operating systems for soft real time applications has several advantages related with low costs and the
abundance of device drivers and software tools. However, such applications still require adequate timing services, for process
activation and synchronization.
Tipo: 13
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/task_management_for_soft_real-time_applications_based_on_general_purpose_op
erating_systems
Task Space Approach of Robust Nonlinear Control for a 6 DOF Parallel Manipulator
Provedor de dados: 192
Autores: Hag Seong Kim.
This paper proposes and implements the task space approach of a robust nonlinear control with the system state and friction
estimation methodologies for the parallel manipulator which is a representative multi-input & multi-output nonlinear system
with uncertainties. In order to implement the proposed robust nonlinear control law, the indirect 6 DOF system state estimator is
firstly employed and confirmed the outstanding effects experimentally. The indirect system state estimation scheme consists of
Newton-Raphson method and the alpha-beta tracker algorithm, which is simple route and readily applicable to a real system
instead of a costly 6 DOF sensor or a model-based nonlinear state observer with the actuator length measurements. Secondly,
the...
Tipo: 22
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/task_space_approach_of_robust_nonlinear_control_for_a_6_dof_parallel_manipul
ator
Task-oriented and Purposeful Robot-Assisted Therapy
Provedor de dados: 192
Autores: Michelle J. Johnson; Kimberly J. Wisneski; John Anderson; Dominic Nathan; Elaine Strachota; Judith Kosasih; Jayne
Johnston; and Roger O. Smith.
This chapter discussed the development of a task-oriented therapy robot focused on real ADL training and performance. The
development of the software, HERALD, and the hardware platform and FES grasp glove has been discussed. We also presented
training and trajectory planning models that have been implemented with the system along with defining the pros and cons of
three possible models that can be used to accurately reflect natural movement of the wrist during ADL task. We presented three
case studies that briefly examined how the system has repeatable performance and has the ability to train stroke survivors. A low
functioning stroke survivor was successfully trained on the system using PTP ADL-like movement. The subject's kinematics,
especially movement...
Tipo: 13
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/task-oriented_and_purposeful_robot-assisted_therapy
Teaching a Robotic Child - Machine Learning Strategies for a Humanoid Robot from Social
Interactions
Provedor de dados: 192
Autores: Artur Arsenio.
We proposed in this chapter the application of a collection of learning algorithms to solve a broad scope of problems. Several
learning tools, such as Weighted-cluster modeling, Artificial Neural Networks, Nearest Neighbor, Hybrid Markov Chains,
Geometric Hashing, Receptive Field Linear Networks and Principal Component Analysis, were extensively applied to acquire
categorical information about actions, scenes, objects and people. This is a new complex approach to object recognition. Objects
might have various meanings in different contexts ? a rod is labeled as a pendulum if oscillating with a fixed endpoint. From a
visual image, a large piece of fabric on the floor is most often labeled as a tapestry, while it is most likely a bed sheet if it is found
on...
Tipo: 4
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/teaching_a_robotic_child_-_machine_learning_strategies_for_a_humanoid_robot_f
rom_social_interactions
Telemanipulated Long Bone Fracture Reduction
Provedor de dados: 192
Autores: Ralf Westphal; Simon Winkelbach; Thomas Goesling; Markus Oszwald; Tobias Huefner; Christian Krettek; Friedrich
Wahl.
The results obtained by the extensive experiments with the telemanipulator system clearly revealed the potential of robotic
systems supporting fracture reduction of the femur. Not only is it possible to achieve very high accuracies in the reductions, but
also the exposure of the operation team to X-ray radiation can be reduced, utilizing a robotic system in the presented way. The
direct and well controlled motions of the robotically moved fracture segments might support a gentle reduction, when compared
with manually performed reductions, which generally suffer from repetitive motions under high forces, implying high stress to the
soft tissue surrounding the fracture. However, whether or not this really has an impact on the healthy soft tissue, will have...
Tipo: 37
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/telemanipulated_long_bone_fracture_reduction
Telerobotic Surgery for Right and Sigmoid Colectomy
Provedor de dados: 192
Autores: Arthur Rawlings; David Crawford.
The first reported robotic colectomy was performed in March, 2001. Since then, fourteen other studies have been published
showing the safety and feasibility of using the da Vinci system for a colectomy and one study showed the safety and feasibility of
using the ZEUS system. No robot specific complication has yet to be reported. There are definite advantages as well as
disadvantages of using the da Vinci system for a colectomy. Though studies have been done comparing the cost of a laparoscopic
colectomy with a robotic colectomy, more work needs to be done looking at cost from an even wider perspective than just cost per
case. Is there any true marketing advantage to an institution having the da Vinci system? How does the cost of the robot as well as
the...
Tipo: 26
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/telerobotic_surgery_for_right_and_sigmoid_colectomy
Test Methods and Knowledge Representation for Urban Search and Rescue Robots
Provedor de dados: 192
Autores: Craig Schlenoff; Elena Messina; Alan Lytle; Brian Weiss; Ann Virts.
In this paper, we described an effort in which NIST is working with FEMA Task Force members to define performance
requirements and standard test methods as well as to assess the deployment potential of robots applied to the USAR domain. This
process has resulted in draft test method specifications based upon a well-defined set of robot requirements, which are currently
making their way through the standardization process. This chapter also describes a set of knowledge representation efforts that
are underway to make it easier for responders to easily determine the best robot for the environment in which they are confronted.
These knowledge representation efforts range from fairly informal ? a paperbased robot pocket guides which give high-level...
Tipo: 7
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/test_methods_and_knowledge_representation_for_urban_search_and_rescue_robot
s
The ALLADIN Diagnostic Device: An Innovative Platform for Assessing Post-Stroke Functional
Recovery
Provedor de dados: 192
Autores: Stefano Mazzoleni; Jo Van Vaerenbergh; Andras Toth; Marko Munih; Eugenio Guglielmelli; Paolo Dario.
This work was partly supported by the European Commission - 6th Framework Programme under the grant N. 507424
(ALLADIN ? Natural Language Based Decision Support in Neuro-rehabilitation). The ALLADIN project is co-ordinated by Jo
Van Vaerenbergh, Arteveldehogeschool (Gent, Belgium). The other partners of the ALLADIN project are: Language and
Computing NV (Belgium), Budapest University of Technology and Economics (Hungary), School of Electrical Engineering of the
University of Ljubljana (Slovenia), Zenon SA Robotics and Informatics (Greece), Multitel ASBL (Belgium), Trinity College
Dublin (Ireland), National
Tipo: 29
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/the_alladin_diagnostic_device__an_innovative_platform_for_assessing_post-strok
e_functional_recovery
The Allocation of Time and Location Information to Activity-Travel Sequence Data by Means of
Reinforcement Learning
Provedor de dados: 192
Autores: Wets Janssens.
The methodology presented in this paper was able to allocate time and location information to sequences that consist of activities
and transport modes. To the best of our knowledge, activity and location allocations have not yet been integrated and optimized in
previous research in order to achieve maximal rewards for a given activity-travel pattern. The methodology was based on the
reinforcement learning algorithm which has been used to help the agent search the optimal path in the huge number of states of
given environments. During learning, the Q-learning agent tries some actions (i.e., output values) on its environment. Then, it is
reinforced by receiving a scalar evaluation (the reward) of its actions. In a first implementation, it has been assumed...
Tipo: 19
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/the_allocation_of_time_and_location_information_to_activity-travel_sequence_dat
a_by_means_of_reinfor
The Analysis and Application of Parallel Manipulator for Active Reflector of FAST
Provedor de dados: 192
Autores: Xiao-qiang Tang; Peng Huang.
In order to guarantee the usage of active reflector and achieve the highest working frequency requirement, 5GHz, in FAST, fitting
accuracy of the active reflector is supposed to be analyzed. In this chapter, a novel 3 DOFs parallel mechanism, 3-PSS with
constraint leg, is proposed. This mechanism can fulfill the required movement to fit a paraboloid of revolution for the active
reflector. The kinematics of 3-PSS+C mechanism is studied. Based on that, the one and two-dimensional fitting accuracy are
calculated and the side length
Tipo: 15
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/the_analysis_and_application_of_parallel_manipulator_for_active_reflector_of_fas
t
The Application of Membrane Separation Processes as Environmental Friendly Methods in the Beet
Sugar Production
Provedor de dados: 192
Autores: Zita Seres; Julianna Gyura; Mirjana Djuric; Gyula Vatai; Matild Eszterle.
The data collected on the impact of the traditional sugar beet processing on the environment pollution have shown that the greatest
disadvantage is related to very high amount of required energy (mostly for the evaporation). The second important disadvantage is
associated with the high level of water consumption (mostly for the extraction). The third disadvantage is connected to the
purification of sugar juice and removal of non-sucrose compounds, undesired from the point of view of sugar quality. This chapter
is related to the third disadvantage, which can be avoided or at least decreased by introducing environmentally friendly operationmembrane separation, instead of traditional operationpurification by chemically induced precipitation of undesired...
Tipo: 13
Palavras-chave: Environmental Technologies.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/the_application_of_membrane_separation_processes_as_environmental_friendly_
methods_in_the_beet_sugar
The Bio-Inspired SCORPION Robot: Design,Control & Lessons Learned
Provedor de dados: 192
Autores: Spenneberg Dirk; Kirchner Frank.
The PCR-approach showed that it is possible to define models for the low-level biological motoric concepts and combine them, so
that they can be used with a behaviour-based control approach in a flexible way. The control of the posture, while the system is
walking, gives additional flexibility in comparison to the CCPG approach (Ayers 2002) or the Walknet approach (Cruse 1999). In
addition, the combination of different walking patterns, e.g., for an omni-directional movement, produces a rich motion repertoire
on the basis of a small set of elementary locomotion patterns which are defined with few parameters. But, recapitulating, none of
the existing bio-inspired approaches including the PCRapproach yet is able to use the full motion potentials which...
Tipo: 9
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/the_bio-inspired_scorpion_robot__design_control___lessons_learned
The Cobasa Architecture as an Answer to Shop Floor Agility
Provedor de dados: 192
Autores: Jose Barata.
Almeida, C. F. (2000). Contratos I - Conceitos; Fontes; Forma??o, Almedina, Coimbra. Barata, J., and Camarinha-Matos, L. M.
(1994). "Development of a FMS/FAS System." Studies in Informatics and Control, 3(2-3), 231-239. Barata, J., and
Camarinha-Matos, L. M. (2000). "Shopfloor Reengineering To Support Agility in Virtual Enterprise Environments." E-Business
and Virtual Enterprises, L. M. Camarinha-Matos, H. Afsarmanesh, and R. Rabelo, eds., Kluwer Academic Publishers, London,
287-291.
Tipo: 2
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/the_cobasa_architecture_as_an_answer_to_shop_floor_agility
The Design of a Pair of Identical Mobile Robots to Investigate Cooperative Behaviours
Provedor de dados: 192
Autores: Dale Carnegie; Andrew Payne; Praneel Chand.
The reduction in the range of the infrared sensors in bright sunlight indicates that it is advisable to include additional obstacle
avoidance sensors. Laser range finders are an attractive solution; however they tend to be expensive, requiring either high speed
electronics or a dedicated digital camera system (often with an associated frame grabber card). A simple alternative is the
incorporation of ultrasonic sensors. These can reliably project out to a distance of several meters, and detect obstacles that the
robot is likely to encounter. By narrowing the transmitted beam, multipath reflections can be reduced, and simple time-of-flight
calculations can easily yield the robot-to-obstacle distance. Accurate localisation of the robots will need further...
Tipo: 23
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/the_design_of_a_pair_of_identical_mobile_robots_to_investigate_co_-_operative_
behaviours
The Evolution and Ergonomics of Robotic-Assisted Surgical Systems
Provedor de dados: 192
Autores: Oussama Elhage; Ben Challacombe; Declan Murphy Mohammed S. Khan; Prokar Dasgupta.
Tipo: 6
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/the_evolution_and_ergonomics_of_robotic-assisted_surgical_systems
The Feasibility Analysis of Available-to-Promise in Supply-Chain System under Fuzzy Environment
Provedor de dados: 192
Autores: Chen-Tung Chen.
Along with the growth of information technology, the competition between enterprises has transformed into a competition
between supply-chains. Thus, a robust management and operation model of a supply-chain system will increase the
competitiveness for the enterprise. In addition, the order-fulfillment ability of the supply chain is the key factor for competitive
advantage. In this chapter, triangular fuzzy numbers have been used to express the various uncertainties in operation times.
Combining fuzzy set theory and PERT, a fuzzy PERT is proposed in this paper to compute the fuzzy earliest-start-time, fuzzy
earliest-finish-time, fuzzy latest-start-time and fuzzy latest-finish-time of each activity (member) in a supplyTipo: 22
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/the_feasibility_analysis_of_available-to-promise_in_supply-chain_system_under_f
uzzy_environment
The Holonic Production Unit: an Approach for an Architecture of Embedded Production Process
Provedor de dados: 192
Autores: Edgar Chacón; Isabel Besembel; Dulce M. Rivero; Juan Cardillo.
In a natural manner the business model, the chain of value, the product flow and the holonic approach allow us to capture a
coherent model of the production process in all of their globallity and complexity giving origin to the shown embedded model.
Tipo: 16
Palavras-chave: Advances in Robotics; Automation and Control.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/the_holonic_production_unit__an_approach_for_an_architecture_of_embedded_pr
oduction_process
The Learning Curve of Robot-Assisted Laparoscopic Surgery
Provedor de dados: 192
Autores: E. Olthof; D. Nio; W.A. Bemelman.
Few reports on the learning curve of robotic surgery are available. Studies to compare robotic with conventional laparoscopic
learning curves were even scarcer. To measure the learning curve of robotic surgical performance a diversity of parameters was
used throughout most studies. These parameters were not always well defined. Furthermore, a great variety of practice/time was
used to define an early or late experience phase of the learning curve. An experience bias was expected in most clinical series,
because of prior laparoscopic experience of the participating surgeons. All these issues limit an objective evaluation of the
learning curve of robotic surgery. However, although robotic systems are supposed to be "intuitive" in use, this technique
showed...
Tipo: 1
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/the_learning_curve_of_robot-assisted_laparoscopic_surgery
The Must-Have in Robotic Heart Surgery: Haptic Feedback
Provedor de dados: 192
Autores: Eva U. Braun; Hermann Mayer; Alois Knoll; Ruediger Lange; Robert Bauernschmitt.
Robots have a number of advantages over humans in performing routine manipulation tasks. Their accuracy and repeatability
allow robots to succeed in the medical and surgical market. Some of the weaknesses in current robotic devices, such as substantial
lack of haptic feedback and adaptability are to be highlighted. Currently it is not possible to “program” a robot to perform steps of
a surgical operation autonomously. Nevertheless, some of these limitations do not prevent robots from being useful in the
operating room; rather considerable human, technical and surgical input, guidance and advancement are needed. Surgical robots
can be viewed as “extending and enhancing human capabilities” rather than replacing surgeons, in contrast to the example of...
Tipo: 2
Palavras-chave: Medical Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/the_must-have_in_robotic_heart_surgery__haptic_feedback
The Potential for Modeling Human-Robot Interaction with GOMS
Provedor de dados: 192
Autores: Jill L. Drury; Jean Scholtz; David Kieras.
In this chapter we have shown how GOMS can be used to compare different interfaces for human-robot interaction. GOMS is
useful in determining the user's workload, for example when introducing different displays for sensors. GOMS models are also
useful in determining the upper and lower time limits for different procedures. For example, checking movement-related sensors
will depend on how many sensor windows the user has to look at and how many of these windows have to be manipulated to be
viewed. This can be extremely helpful in deciding what should be visible at what time to maximize the user's efficiency. GOMS
can also be used to evaluate potential new autonomy modes. In our example we used the escape mode on Interface A to show how
autonomy modes can be...
Tipo: 02
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/the_potential_for_modeling_human-robot_interaction_with_goms
The Rehabilitation Robots FRIEND-I & II: Daily Life Independency through Semi-Autonomous
Task-Execution
Provedor de dados: 192
Autores: Christian Martens; Oliver Prenzel; Axel Graeser.
This paper gives an overview of the functional capabilities of the rehabilitation robotics systems FRIEND-I and FRIEND-II as
well as an introspective view of the used underlying control principles and applied software techniques. It is shown that during the
different development steps of FRIEND-I the control of the system evolved from out direct speech control of the manipulator up
the fully autonomous execution of a "serve-drink task". It turned out that the control of a rehabilitation robot like FRIEND-I
becomes possible for a person without manipulative capabilities in his or her arms and hands. But there is still the need for more
robustness and reliability in execution, flexibility in usage and relief for its users, if the overall objective of 1.5...
Tipo: 9
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/the_rehabilitation_robots_friend-i___ii__daily_life_independency_through_semi-a
utonomous_task-execut
The Research of Noise-Robust Speech Recognition Based on Frequency Warping Wavelet
Provedor de dados: 192
Autores: Xueying Zhang; Wenjun Meng.
The later conculsions can be obtained from the experimental results of the fourth section. 1. The three parts of speech recognition
are conjunct one another and exist the relation restricted among themselves. Bark wavelet was used in improving the feature of
ZCPA and MFCC the latter effect is obviously better than the former.It illustrates that Bark wavelet and the speech character
described by MFCC feature are more closer than Bark wavelet and the speech character described by ZCPA feature. The fact is
also as such. Bark wavelet is constructed directly according to the hearing perception of human ear, and MFCC is the cepstrum
coefficents on the basis of Mel frequency. While Mel frequency is just the hearing frequency of human ear. Though the
frequency...
Tipo: 13
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/the_research_of_noise-robust_speech_recognition_based_on_frequency_warping_
wavelet
The Robotic Water Polo and Underwater Robot Cooperation Involved in the Game
Provedor de dados: 192
Autores: Zhang Lee; Guangming Xie; Dandan Zhang; Jinyan Shao.
We focus this chapter on the RWP and the underwater robot cooperation involved in the game, two useful methods are introduced
in this chapter for the game. These two methods have been certified by the experiments. Mankind invented the robot in the 20th
century and realized the use of robots initially. In the 21st century, humans will coexist with robots. Robot Football is the ideal
model to research the future sociality. A very wide range of fields are involved in the RWP, including machinery and electronics,
robotics and sensor information fusion, intelligent control, communications, computer vision, computer graphics, artificial
intelligence and so on. What is more significant is that the RWP makes the research and education combined. The game
combined...
Tipo: 29
Palavras-chave: Robotic Soccer.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/the_robotic_water_polo_and_underwater_robot_cooperation_involved_in_the_ga
me
The Role of 3D Simulation in the Advanced Robotic Design, Test and Control
Provedor de dados: 192
Autores: Laszlo Vajta; Tamas Juhasz.
In this paper we presented an overview about modern visualization approaches in the field of telerobotics and interactive robotics
simulation. We have made a comparison presenting the advantages and disadvantages between the (binocular) anaglyph and the
(monocular) motion stereo methods in our robot simulator application. At this time, our team in the Mobile- and Microrobotics
Laboratory is in the very center of experimenting with some of the great amount of available devices supporting advanced
monocular and binocular 3D techniques to find one that is the nearest to our requirements. From this aspect we presented the
RobotMAX simulator, which is currently under development at our laboratory: it will integrate robotics design (advanced
visualization,...
Tipo: 3
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL:
http://www.intechopen.com/articles/show/title/the_role_of_3d_simulation_in_the_advanced_robotic_design__test_and_control
The Role of Adaptive Environmental Management in Sustainable Development Case Study Assessing
the Economical Benefits of Sustainable Construction in Greece
Provedor de dados: 192
Autores: Odysseus G. Manoliadis.
Action research is seen as a process which both helps the development of this social capital, and provides lessons into how it can
be expanded. Moreover, building capacity for the use of participatory learning processes should be part of the method, that
capacity cannot be assumed to be there. The role of eadaptive environmental management for participation and measuring process
success is highlighted Finally the research points to the need to draw out lessons from across action research case studies, and
suggests some challenges for action research to help in large-scale collaborative learning. A version of Delphi study embracing a
development paradigm that places people at the centre and seeks to empower stakeholders to influence and share control over...
Tipo: 6
Palavras-chave: Environmental Technologies.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/the_role_of_adaptive_environmental_management_in_sustainable_development_c
ase_study_assessing_the_ec
The SocRob Project: Soccer Robots or Society of Robots
Provedor de dados: 192
Autores: Pedro U. Lima; Luis M. M. Custodio.
This paper described the SocRob project (on the development of methodologies for analysis, design and implementation of
multi-robot cooperative systems), its objectives, past, current and intended future work. One interesting feature of the project is
that it enables different approaches to the solution of the problem at hand. This naturally motivates competing research
approaches, as well as research on analysis methods to compare the different results. Furthermore, the project fosters education in
AI and Robotics related topics, because so many issues must be solved to handle the overall problem. Students from different
levels (undergraduate, graduate, post-doctorate) can get involved at different difficulty levels and accomplish project sub-goals.
They...
Tipo: 26
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/the_socrob_project__soccer_robots_or_society_of_robots
The Surgeon's Third Hand an Interactive Robotic C-Arm Fluoroscope
Provedor de dados: 192
Autores: Norbert Binder; Christoph Bodensteiner; Lars Matthaeus; Rainer Burgkart; Achim Schweikard.
Experiments with this world's first fully robotized C-arm show very promising results. Movements in the image plane, longbone
images, data acquisition for 3D reconstruction, and landmark based positioning were successfully implemented and tested. The
next version of our C-arm will overcome mechanical problems such as lacking positioning accuracy and mechanical deformation.
The value of an every-day OR-device can be increased by simple means. The workflow can be optimized and mistakes can be
prevented. Operation time is saved and radiation dose for patient and staff is minimized. The experiences of this study have
already been transferred to other systems such as OR microscope (Knopp et al. 2004) and showed similar promising results.
Chances are that the...
Tipo: 20
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/the_surgeon_s_third_hand_an_interactive_robotic_c-arm_fluoroscope
The Theory of Edge Detection and Low-level Vision in Retrospect
Provedor de dados: 192
Autores: Kuntal Ghosh; Sandip Sarkar; Kamales Bhaumik.
The theory of edge detection and the treatise on low-level vision presented in this chapter in the light of the non-classical receptive
field of retinal ganglion cells is a straightforward continuation of the approach of David Marr and his group. The appeal of the
present approach lies in its simplicity and easy implementation, although it should be kept in mind that no non-linear model of the
extended surround has been proposed here, which could be an interesting direction of future work. Potential applications of the
algorithm will include apart from areas of general edge enhancement, designing new robust visual capturing or
Tipo: 18
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/the_theory_of_edge_detection_and_low-level_vision_in_retrospect
The Use of Software Systems for Visualized Treatment Objectives in Orthognatic Surgery
Provedor de dados: 192
Autores: Zafer Ozgur Pektas; Beyza Hancioglu Kircelli; Ulkem Cilasun.
1
Tipo: 14
Palavras-chave: Medical Robotics.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/the_use_of_software_systems_for_visualized_treatment_objectives_in_orthognatic
_surgery
The Wafer Alignment Algorithm Regardless of Rotational Center
Provedor de dados: 192
Autores: HyungTae Kim; HaeJeong Yang; SungChul Kim.
The proposed equation for wafer alignment was derived from object transformation and simplified with some assumptions made.
The alignment algorithm had the iteration terms with the convergence constant. The algorithm was applied to a dicing machine.
After setup, the wafers were placed manually, and aligned with the proposed algorithm. The iteration was terminated until the
measured misalignment became below 1.0 vision pixel. The convergence constant varied from 0.5 to 1.5 for each case. For all 15
cases, the alignment was finished. The result showed that the simplified algorithm converged slower than the original equation.
But the delay was about 1.0 step according to the convergent constant. When the was above 1.0, the response curve had an
overshoot...
Tipo: 22
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/the_wafer_alignment_algorithm_regardless_of_rotational_center
Theoretical Investigations of the Control Movement of the CLAWAR at Statically Unstable Regimes
Provedor de dados: 192
Autores: Alexander Gorobtsov.
A new algorithm for the control of CLAWAR at statically unstable regimes was introduced and its effectiveness investigated via
numerical simulation. The essential advantages of the proposed approach may be summarized as follows. The proposal algorithm
was shown to be capable of providing the control movement of the spatial machines with arbitrary structures and redundant
constraints and actuators. The performance of method of modify the program movement was shown a steady state locomotion of
the CLAWAR. Based on proposed method can be created the virtual prototypes of the CLAWAR with stable locomotion at any
type of walking ? jump, run and etc. To solve that task is need to develop more effective software, based on parallel processing,
and create adaptive...
Tipo: 7
Palavras-chave: Bioinspiration and Robotics Walking and Climbing Robots.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/theoretical_investigations_of_the_control_movement_of_the_clawar_at_statically_
unstable_regimes
Timed Hierarchical Object-Oriented Petri Net
Provedor de dados: 192
Autores: Hua Xu.
Firstly, a high-level Petri net called timed hierarchical object-oriented Petri net (TOPN) is studied deeply in this chapter.
Tipo: 12
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/timed_hierarchical_object-oriented_petri_net
Time-Scaling of SISO and MIMO Discrete-Time Systems
Provedor de dados: 192
Autores: Bogdan Grzywacz.
1. The scaling of SISO systems is realised by equipping them with INPUT and FEEDBACK correctors (Fig. 2). It makes, that
external loops process the system output signal as well as system state variables and internal structure of system is not affected. 2.
The scaling of MIMO system is based on its “V” model and can be implemented, if linear and nonlinear SISO elements of this
model can be scaled using SISO structure shown in Fig. 2. 3. The presented algorithms can be successfully applied to
discrete-time models of continuous-time systems (see Example C). Thus, the discrete-time algorithms can occur helpful for
time-scaling of responses of continuous–time systems. 4. The perfect scaling of stable system conserves its stability. Furthermore,
the frequency...
Tipo: 18
Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/time-scaling_of_siso_and_mimo_discrete-time_systems
Topology and Geometry of Serial and Parallel Manipulators
Provedor de dados: 192
Autores: Xiaoyu Wang; Luc Baron.
By introducing characteristic constraints, kinematic chains of serial and parallel manipulators can be better characterized. This is
essential for both topology synthesis and geometry synthesis. On the one hand, topology synthesis of spatial manipulator is no
longer dimension-independent; most of the topology syntheses are actually the search for some special geometric constraints
which play a key role in determining the fundamental kinematic properties. On the other hand, it is necessary to identify the
characteristic constraints when performing geometry synthesis in order for the design space to correspond appropriately to the
manipulators having the intended kinematic properties. The graph structure of the proposed topological representation makes it...
Tipo: 4
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/topology_and_geometry_of_serial_and_parallel_manipulators
Towards a Quantitative Performance Measurement Model in a Buyer-Supplier Relationship Context
Provedor de dados: 192
Autores: Lamia Berrah; Vincent Cliville.
This study deals with performance measurement in a supply chain context. We have proposed in this sense a global framework to
consider, understand and improve the buyersupplier relationships. The major idea of this work is the overall performance concept.
In this sense, decision-makers have one single synthetic piece of information which is, on the one hand, consistent with the new
global industrial approach, and on the other hand, allows the comparison of situations conventionally considered as
"incomparable". More precisely, decision-makers cannot only choose the best supplier in a given context and w.r.t the industrial
projects under way, but also manage the relationship improvement, by analysing a detailed diagnosis and a quantitative evaluation
of the...
Tipo: 2
Palavras-chave: Supply Chain.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/towards_a_quantitative_performance_measurement_model_in_a_buyer-supplier_r
elationship_context
Towards Adaptive Control Strategy for Biped Robots
Provedor de dados: 192
Autores: Christophe Sabourin; Kurosh Madan; Olivier Bruneau.
In this chapter, we have described a control strategy based on both proprioceptive and exteroceptive information for autonomous
biped robots. The first presented results, carried out on the basis of computer based simulation techniques, are very promising and
prove that the proposed approach is a good way to improve the control strategy of a biped robot. First, we show that, with only
five reference gaits, it is possible to generate other gaits. The adjustment of the step length as a function of the average velocity is
due to the gait pattern based on the Fuzzy CMAC structure. Moreover, with a fuzzy evaluation of the distance between the robots'
feet and an obstacle, our control strategy allows to the biped robot to avoid an obstacle using step over...
Tipo: 9
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/towards_adaptive_control_strategy_for_biped_robots
Towards an Interactive Humanoid Companion with Visual Tracking Modalities
Provedor de dados: 192
Autores: Paulo Menezes; Frederic Lerasle; Jorge Dias; Thierry Germa.
This article presents the developments of a set of visual trackers dedicated to the upper human body parts. We have outlined visual
trackers a universal humanoid companion should deal with in the future. A brief state-of-art related to tracking highlight that
particle filtering is widely used in the literature. The popularity of this framework stems, probably, from its simplicity, ease of
implementation, and modelling flexibility, for a wide variety of applications. From these considerations, a first contribution relates
to visual data fusion and particle filtering strategies associations with respect to considered interaction modalities. This guiding
principle frames all the designed and developed trackers. Practically, the multi-cues associations proved...
Tipo: 19
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/towards_an_interactive_humanoid_companion_with_visual_tracking_modalities
Towards Model-based Vision Systems for Robot Soccer Teams
Provedor de dados: 192
Autores: Murilo Fernandes Martins; Flavio Tonidandel; Reinaldo A. C. Bianchi.
This chapter described the use of artificial intelligence and computer vision techniques to create a fast and robust real time vision
system for a robot soccer team. To increase the system performance, this work proposes a new approach to interpret the space
created by the Hough Transform, as well as a fast object recognition method based on constraint satisfaction techniques. The
system was implemented entirely in software using an off-theshelf frame grabber. Experiments using real time image acquisition
allow concluding that the implemented system is robust and tolerant to noises and color variation since it considers just the objects
form, and automatically determines the color information, needed only to distinguish the robots among themselves. Robots...
Tipo: 5
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/towards_model-based_vision_systems_for_robot_soccer_teams
Towards Tutoring an Interactive Robot
Provedor de dados: 192
Autores: Britta Wrede; Katharina J. Rohlfing; Thorsten P. Spexard; Jannik Fritsch.
Modelling learning on a robot requires that the robot acts in a social situation. We have therefore integrated a complex interaction
framework on our robot Barthoc that it is, thus, able to communicate with humans, more specifically, with tutors. This interaction
framework enables the robot (1) to focus its attention on a human communication partner and (2) to interpret the communicative
behaviour of its communication partner as communicative acts within a pragmatic framework of grounding. Based on this
interaction framework, we can now integrate our proposed learning mechanism that aims at deriving a semantic understanding of
the presented actions. In detail, we can now make use of the above mentioned variables derived from the visual (hand tracking)
and...
Tipo: 31
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/towards_tutoring_an_interactive_robot
Tracking of Facial Regions Using Active Shape Models and Adaptive Skin Color Modeling
Provedor de dados: 192
Autores: Bogdan Kwolek.
This work has been supported by Polish Ministry of Education and Science (MNSzW) within the projects 3 T11C 057 30 and
N206 019 31/2664.
Tipo: 18
Palavras-chave: Scene Reconstruction Pose Estimation and Tracking.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/tracking_of_facial_regions_using_active_shape_models_and_adaptive_skin_color
_modeling
Tracking Skin-Colored Objects in Real-Time
Provedor de dados: 192
Autores: Antonis A. Argyros; Manolis I.A. Lourakis.
In this paper, a method for tracking multiple skin-colored objects has been presented. The proposed method can cope successfully
with multiple objects moving in complex patterns as they dynamically enter and exit the field of view of a camera. Since the
tracker is not based on explicit background modeling and subtraction, it may operate even on image sequences acquired by a
moving camera. Moreover, the color modeling and detection modules facilitate robust performance in the case of varying
illumination conditions. Owing to the fact that the proposed approach treats the problem of tracking under very loose assumptions
and in a computationally efficient manner, it can serve as a building block of larger vision systems employed in diverse
application areas....
Tipo: 5
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/tracking_skin-colored_objects_in_real-time
Trajectory Planning and Control of Industrial Robot Manipulators
Provedor de dados: 192
Autores: S. R. Munasinghe; Masatoshi Nakamura.
Tipo: 11
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/trajectory_planning_and_control_of_industrial_robot_manipulators
Trajectory Planning of a Constrained Flexible Manipulator
Provedor de dados: 192
Autores: Atef A. Ata; Habib Johar.
Constrained motion of a planar rigid-flexible manipulator is considered in this study. a dynamic model with zero tip deformation
constraint of constrained rigid-flexible 608
Tipo: 35
Palavras-chave: Cutting Edge Robotics.
Ano: 2005
URL: http://www.intechopen.com/articles/show/title/trajectory_planning_of_a_constrained_flexible_manipulator
Transputer Neuro-Fuzzy Controlled Behaviour-Based Mobile Robotics System
Provedor de dados: 192
Autores: E. Al Gallaf.
In this chapter a neuro-fuzzy -based embedded controller has been successfully used to drive a mobile robot run on a Transputer
system. The Transputer ability, as an embedded controller, to perform a demanding parallel fuzzy controller, has been
demonstrated in the real-time. Experimental testing of the mobile robot for obstacle avoidance behavior has been reported. Sensor
fusion (of ultrasonic data) in the mobile robot navigation have been accomplished successfully. The neuro-fuzzy controller and
how it was accomplished have been discussed in details. Two results of behaviors have been demonstrated. Obstacle avoidance,
and posture seeking. Results have shown that; a Transputer computation system was a very suited environment to achieve an
implementation...
Tipo: 15
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/transputer_neuro-fuzzy_controlled_behaviour-based_mobile_robotics_system
Transshipment Problems in Supply ChainSystems: Review and Extensions
Provedor de dados: 192
Autores: Chuang-Chun Chiou.
The list of research papers dealing with transshipments to date is quite long and no attempt is made here to exhaust it. In this
chapter we mainly focus on presenting a comprehensive description, classification, methodologies and solution procedures, and
research directions for further study of transshipment in supply chain system. In view of the transshipment problems in a supply
chain system, they can be characterized by four considerations: basic assumptions, transshipment policies, inventory control
policies, and performance measurement. We further discuss the transshipment problem based on the features such as: the number
of item(s) in inventory system, the number of locations in the pooling group; the storage space or waiting time constraint, and
the...
Tipo: 21
Palavras-chave: Supply Chain.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/transshipment_problems_in_supply_chainsystems__review_and_extensions
Type Design of Decoupled Parallel Manipulators with Lower Mobility
Provedor de dados: 192
Autores: Weimin Li.
A general idea for type design of decoupled parallel manipulators with lower mobility is introduced. A unified frame for the type
design is provided and divided into two independent aspects. Some kinds of decoupled parallel manipulators with 3-dofs pure
translational and 2-dofs pure rotational movements are obtained.
Tipo: 25
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/type_design_of_decoupled_parallel_manipulators_with_lower_mobility
Uncertainty in Signal Estimation and Stochastic Weighted Viterbi Algorithm: A Unified Framework
to Address Robustness in Speech Recognition and Speaker Verification
Provedor de dados: 192
Autores: N. Becerra Yoma; C. Molina; C. Garreton; F. Huenupan.
The Stochastic Weighted Viterbi algorithm offers a unified framework to reduce the effect of additive/convolutional noise and
low-bit rate coding-decoding distortion. SWV started a new paradigm in speech processing by considering the original speech
signal information as a stochastic variable. Consequently, the ordinary HMM observation probability needs to be replaced with its
expected value. SWV is interesting from the theoretic and applied points of view: first, it is based on stochastic models of additive
noise and low-bit rate codingdecoding distortion; and second, it assumes reasonable hypotheses such as a rough estimation of
additive noise and a low number of adaptation utterances. It is worth emphasizing that SWV allows the interaction between the...
Tipo: 12
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/uncertainty_in_signal_estimation_and_stochastic_weighted_viterbi_algorithm__a_
unified_framework_to_a
Underwater Robots Part I: Current Systems and Problem Pose
Provedor de dados: 192
Autores: Lapierre Lionel.
The previously exposed requirements constitute a sufficient set of conditions in order to award the system with global guaranteed
performances. These questions are currently subject of a great number of researches. We expose in the chapter titled Underwater
Robots Part II: existing solutions and open issues, the state of advancement of these research, and the remaining open issues.
Tipo: 16
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/underwater_robots_part_i__current_systems_and_problem_pose
Underwater Robots Part II: Existing Solutions and Open Issues
Provedor de dados: 192
Autores: Lapierre Lionel.
This paper surveyed the current state-of-the-art in the area of the underwater robotics, focusing on the Modelling, Navigation,
Guidance and Control aspects. The problems of Mission Control and Software Architecture are key questions belonging to the
Software Engineering domain and were briefly mentioned. Adding the Hardware Architecture question, these 7 points constitute
the set of sub-problems, to be solved according to specific criteria and design methods, in order to realize a reliable system with
guaranteed performances. The diversity of missions in which UUVs can be used, necessitates developing modular and
reconfigurable vehicles, equipped on demand, and the capability to take place in a flotilla where the collaborative work brings
new constraints....
Tipo: 17
Palavras-chave: Mobile Robots: towards New Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/underwater_robots_part_ii__existing_solutions_and_open_issues
Unified Dynamics-based Motion Planning Algorithm for Autonomous Underwater
Vehicle-Manipulator Systems (UVMS)
Provedor de dados: 192
Autores: Tarun K. Podder; Nilanjan Sarkar.
We have proposed a new unified dynamics-based motion planning algorithm that can generate both kinematically admissible and
dynamically feasible joint-space trajectories for systems composed of heterogeneous dynamics. We have then extended this
algorithm for an autonomous underwater vehicle-manipulator system, where the dynamic response of the vehicle is much slower
than that of the manipulator. We have also exploited the kinemetic redundancy to accommodate the thruster/actuator faults and
saturation and also to minimize hydrodynamic drag. We have incorporated thruster dynamics when modeling the UVMS.
Although, some researchers have exploited kinematic redundancy for optimizing various criteria, but those work have mainly
addressed to problems with...
Tipo: 15
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/unified_dynamics-based_motion_planning_algorithm_for_autonomous_underwate
r_vehicle-manipulator_syste
Upper Limb Rehabilitation System for Self-Supervised Therapy: Computer-Aided Daily Performance
Evaluation for the Trauma and Disorder in the Spinal Cord and Peripheral Nerves
Provedor de dados: 192
Autores: Kengo Ohnishi; Keiji Imado; Yukio Saito; Hiroomi Miyagawa.
The first CSCI subject's performance on the first day is shown at the top row of Fig. 6. As seen in the right diagram's locus, the
track is relatively square. This illustrates that the direction of the marker was only changed in a while. The error distance for this
session's result drawn in Fig. 7 are higher then the other 3 results. When interpreting these information from the graphs, you can
picture that the subject was having difficulty following the target. However, it is difficult to comment the major cause of the error
was whether he was running behind the target or off the trajectory. Also the upsurge at the end of the trial in Fig. 7 cannot be
found on the locus of top right diagram of Fig. 6. For the second subject the dislocation at the start on...
Tipo: 22
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/upper_limb_rehabilitation_system_for_self-supervised_therapy__computer-aided_
daily_performance_evalu
Upper-Limb Exoskeletons for Physically Weak Persons
Provedor de dados: 192
Autores: Kazuo Kiguchi; Toshio Fukuda.
1
Tipo: 16
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/upper-limb_exoskeletons_for_physically_weak_persons
Upper-Limb Robotic Rehabilitation Exoskeleton: Tremor Suppression
Provedor de dados: 192
Autores: J.L. Pons; E. Rocon; A.F. Ruiz; J.C. Moreno.
Tremor is the most common movement disorder and is an important source of functional disability, affecting many daily tasks.
For cases where treatment is not successful, the path to take is technological aids in the form of mechanisms attached to the arm
(robotic exoskeletons). This article has evaluated the different aspects of the WOTAS robotic exoskeleton. The WOTAS was
evaluated with patients in real situations and a number of clinical tasks were defined, which were selected when the evaluation
was done with the systems. Ten patients took part in the clinical experimentation stage of the system. The patients wore the device
while it operated in three possible operation modes: monitoring, passive suppression and active suppression. Clinical...
Tipo: 25
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/upper-limb_robotic_rehabilitation_exoskeleton__tremor_suppression
Use of Petri Nets for Modeling an Agent-Based Interactive System: Basic Principles and Case Study
Provedor de dados: 192
Autores: Houcine Ezzedine; Christophe Kolski.
Through their formal aspect and their capacity to model the dynamics of systems, Petri Nets have been bringing complementary
and significant contributions in the human-computer interaction domain since the end of the Eighties. In this chapter, we have
explained their utility for the modeling of agents which make up interactive systems with an architecture containing agents. A
scenario made it possible to illustrate the approach proposed. The PN used represent a promising tool for the modeling of such
interactive systems. Their originality and their power reside in (1) their capacity to visualize the behavior of each agent (external
or internal actions), as well as (2) their capacity of abstraction which makes it possible to keep the same information...
Tipo: 7
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/use_of_petri_nets_for_modeling_an_agent-based_interactive_system__basic_princ
iples_and_case_study
Using Crowding Distance to Improve Multi-Objective PSO with Local Search
Provedor de dados: 192
Autores: Ching-Shih Tsou; Shih-Chia Chang; Po-Wu Lai.
It is well known that local search, even in its simplest form, prevents search algorithms from premature convergence and,
therefore, possibly drives the solution closer to true Paretooptimal front. A local search procedure and a flight mechanism both
based on crowding distance are incorporated into the MOPSO, so called MOPSO-CDLS, in this paper. Computational results
against ZDT1-4 problems show that it did improve the MOPSO with random line search in all aspects except the execution time.
Local search in less crowded area of the front not only reserves the exploitation capability, but also helps to achieve a
well-distributed non-dominated set. Global guides randomly selected from the less crowded area help the particles dominated by
the solutions in this...
Tipo: 5
Palavras-chave: Swarm Intelligence; Focus on Ant and Particle Swarm Optimization.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/using_crowding_distance_to_improve_multi-objective_pso_with_local_search
Using Genetic Algorithm to Improve the Performance of Speech Recognition Based on Artificial
Neural Network
Provedor de dados: 192
Autores: Shing-Tai Pan; Chih-Chin Lai.
In this chapter, we have seen that the recognition rate through the SDM in BPNN is up to 91% under the MFCC feature. This
recognition rate is not the optimum because that the SDM can always get local optimum. To solve this problem, GA was adopted
and following SDM to improve MSE. By this two stage (SDM then GA) training scheme, the recognition rate can be increasing
up to 95%. However, under the condition of adopting only MFCC parameters, speech recognition rate still has room for
improvement. For the future, other
Tipo: 6
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/using_genetic_algorithm_to_improve_the_performance_of_speech_recognition_ba
sed_on_artificial_neural_
Using Parallel Platforms as Climbing Robots
Provedor de dados: 192
Autores: Oscar Reinoso; Rafael Aracil; Roque Saltaren.
At present, parallel robots show a great progress in their development due to their behaviour in multiple applications. In this sense,
the Stewart-Gough platform with proper mechanical adaptations could be used for a climbing parallel robot. A climbing parallel
robot with 6 degrees of freedom has been proposed and analysed. Parallel robots have great advantages compared to serial robots
with legs using as climbing robots. Some advantages can be cited as the high weight payload capacity, robustness, simplicity of its
mechanical design, etc. However, some difficulties have to be resolve too as the adaptation to the structure meanwhile the robot
accomplishes the task or the singularities that can be produced in the movement on the structure. In this paper...
Tipo: 34
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/using_parallel_platforms_as_climbing_robots
Using Transition Invariants for Reachability Analysis of Petri Nets
Provedor de dados: 192
Autores: Alexander Kostin.
A new approach to reachability analysis in general Petri nets is proposed, formally described, and illustrated by examples tested
with a prototype program. For a given original Petri net, the reachability analysis is reduced to the computation and investigation
of T-invariants of the complemented Petri net consisting of the original Petri net and an additional, complementary transition with
input and output arcs depending on the given initial and target markings. It is shown that, without the loss of reachability
information, one can carry out reachability analysis using only a finite number of T-invariants. We did not address, in this chapter,
complexity aspects of the proposed approach to reachability analysis. Complexity of some problems of Petri nets,...
Tipo: 19
Palavras-chave: Petri Net; Theory and Applications.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/using_transition_invariants_for_reachability_analysis_of_petri_nets
Vehicle Mounted Dual Sensor: SAR-GPR
Provedor de dados: 192
Autores: Motoyuki Sato; Kazunori Takahashi; Takao Kobayashi Jun Fujiwara; Xuan Feng.
SAR-GPR, which is an array GPR sensor unit, which is to be used on an unmanned vehicle MHV was developed by Tohoku
University. It is equipped with 3 VNAs, and has 3 pairs of Vivaldi antenna. The operation frequency of the system can be selected
between 100MHz4GHz, dependent on the soil characteristics. Signal processing including CMP and migration is applied to the
acquired GPR signal, and they reduce the clutter and can image the buried targets. Then SAR-GPR has been tested in test sites in
Japan, the Netherlands and Croatia. In any cases, SAR-GPR could provide clear images of buried landmines, when the ground has
relatively flat surface. Since the SAR-GPR has 10cm offset above the ground surface, it can separate the reflection image of the
ground surface...
Tipo: 7
Palavras-chave: Humanitarian Demining.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/vehicle_mounted_dual_sensor__sar-gpr
Vertical Jump: Biomechanical Analysis and Simulation Study
Provedor de dados: 192
Autores: Jan Babic; Jadran Lenarcic.
By building an efficient biorobotic model which includes an elastic model of the biarticular muscle gastrocnemius and by
simulation of the vertical jump we have demonstrated that biarticular links contribute a great deal to the performance of the
vertical jump. Besides, we have shown that timing of the biarticular link activation and stiffness of the biarticular link
considerably influence the height of the jump. Methodology and results of our study offer an effective tool for the design of the
humanoid robot capable of performing vertical jumps. We propose a new human inspired structure of the lower extremity
mechanism that includes an elastic biarticular link and by which a humanoid robot would be able to efficiently perform fast
movements such as...
Tipo: 31
Palavras-chave: Humanoid Robots: New Developments.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/vertical_jump__biomechanical_analysis_and_simulation_study
Video Applications for Robot Arms
Provedor de dados: 192
Autores: Vincenzo Niola; Cesare Rossi.
1
Tipo: 14
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/video_applications_for_robot_arms
Virtual and Mixed Reality in Telerobotics: A Survey
Provedor de dados: 192
Autores: Costas S. Tzafestas.
This chapter has reviewed fundamental concepts and technologies of the general interdisciplinary field described usually by a
combination of the terms: Virtual, Augmented or Mixed Reality systems, with the emphasis being on their applications in robot
teleoperation. We have first analysed the basics of VR and AR systems, which have shown a great progress of research and
development activities during the last decade, demonstrating a constantly increasing repertoire of useful practical applications in
diverse domains of human activity. We have then described application scenarios of such VR technologies in the general field of
robotics, with the particular focus on telerobotic applications. We have started by presenting a brief historical survey of the field...
Tipo: 23
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/virtual_and_mixed_reality_in_telerobotics__a_survey
Vision Based Control of Model Helicopters
Provedor de dados: 192
Autores: Erdinc Altug; James P. Ostrowski; Camillo J. Taylor.
In this work, we have presented pose estimation algorithms and non-linear control techniques to build and control autonomous
helicopters. We introduce a novel twocamera method for helicopter pose estimation. The method has been compared to other pose
estimation algorithms and shown to be more effective, especially when there are errors on the image plane. A three dimensional
quadrotor rotorcraft model has been developed. Nonlinear backstepping and PD controllers have been used to stabilize and
Tipo: 18
Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/vision_based_control_of_model_helicopters
Vision Based Tactile Sensor Using Transparent Elastic Fingertip for Dexterous Handling
Provedor de dados: 192
Autores: Goro Obinata; Ashish Dutta; Norinao Watanabe; Nobuhiko Moriyama.
We have explained on a new tactile sensor for measuring multi-dimensional force and moment of contact. The structure of sensor
is simple because the method is vision-based. The method to obtain the values of force and moment has been confirmed by several
experiments. It is shown that the accurate estimation of contact force and moment is possible with the proposed sensor although
there is a trade-off between the resolution and the computational time. There exist small interpositions between the tangential
force, the moment and the normal force while measuring. Clear understanding the interposition between applied forces and
moments will be required in further research. We defined the stick ratio as an index for indicating the degree of slippage. We
have...
Tipo: 7
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/vision_based_tactile_sensor_using_transparent_elastic_fingertip_for_dexterous_ha
ndling
Vision-based Motion Control of a Biped Robot Using 2 DOF Gaze Control Structure
Provedor de dados: 192
Autores: Shun Ushida; Koichiro Deguchi.
In this paper, we discussed both a necessity and importance of gaze control mechanism on vision-based motion control of biped
robots. Human eye structure and the eye movements, and brain motor control through a central nervous system were considered as
an analogy with robotics. In fact, human has powerful control mechanism with vision in order to realize a various type of motions
against uncertain environments. As a result, we showed that gaze control mechanism and integrated hierarchical structure like
human motor control are indispensable for a vision system of biped robots. We can conclude that in order to overcome many
difficulties of aspects of both a limitation of available hardware resources for a vision and a real-time image processing for
motor...
Tipo: 13
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/vision-based_motion_control_of_a_biped_robot_using_2_dof_gaze_control_struct
ure
Visual Attention and Distributed Processing of Visual Information for the Control of Humanoid
Robots
Provedor de dados: 192
Autores: Ales Ude; Jan Moren; Gordon Cheng.
The goals of our work were twofold. On the one hand, we studied how to introduce topdown effects into a bottom-up visual
attention system. We have extended the classic system proposed by (Itti et al., 1998) with top-down inhibitory signals to drive
attention towards the areas with the expected features while still considering other salient areas in the scene in a bottom-up
manner. Our experimental results show that the system can select areas of interest using various features and that the selected
areas are quite plausible and most of the time contain potential objects of interest. On the other hand, we studied distributed
computer architectures, which are necessary to achieve real-time operation of complex processes such as visual attention.
Although...
Tipo: 22
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/visual_attention_and_distributed_processing_of_visual_information_for_the_contr
ol_of_humanoid_robots
Visual Control System for Robotic Welding
Provedor de dados: 192
Autores: De Xu; Min Tan; Yuan Li.
Tipo: 26
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/visual_control_system_for_robotic_welding
Visual Conveyor Tracking in High-Speed Robotics Tasks
Provedor de dados: 192
Autores: Theodor Borangiu.
?
Tipo: 27
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL: http://www.intechopen.com/articles/show/title/visual_conveyor_tracking_in_high-speed_robotics_tasks
Visual Feedback Control of a Robot in an Unknown Environment (Learning Control Using Neural
Networks)
Provedor de dados: 192
Autores: Xiao Nan-Feng; Saeid Nahavandi.
In this chapter, a visual feedback control approach based on neural network is presented for a robot with a camera installed on its
end-effecter to trace an object in an unknown environment. Firstly, the necessary conditions for mapping the image features of the
object to be traced to the joint angles of the robot are derived. Secondly, a method is proposed to generate a goal trajectory of the
robot by measuring the image feature parameters of the object to be traced. Thirdly, a multilayer neural network is used to learn
off-line the mapping in order to produce on line the reference inputs for controlling the robot. Fourthly, a multilayer neural
network-based learning controller is designed for the compensation the nonlinear robotic dynamics. Lastly, the...
Tipo: 28
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/visual_feedback_control_of_a_robot_in_an_unknown_environment__learning_con
trol_using_neural_networks
Visual Guided Approach-to-Grasp for Humanoid Robots
Provedor de dados: 192
Autores: Yang Shen; De Xu; Min Tan; Ze-Min Jiang.
Issues concerning with the approach-to-grasp movement of the humanoid robot are investigated in this chapter, including the
calibration of the vision system, the visual measurement of rectangle objects and the visual control strategy for grasping.
Tipo: 23
Palavras-chave: Humanoid Robots; Human-like Machines.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/visual_guided_approach-to-grasp_for_humanoid_robots
Visually Guided Robotics Using Conformal Geometric Computing
Provedor de dados: 192
Autores: Eduardo Bayro-Corrochano; Luis Eduardo Falcon-Morales; Julio Zamora-Esquivel.
In this chapter the authors have used a single non?standard mathematical framework, the Conformal Geometric Algebra, in order
to simplify the set of data structures that we usually use with the traditional methods. The key idea is to define and use a set of
products in CGA that will be enough to generate conformal transformations, manifolds as ruled surfaces and develop incidence
algebra operations, as well as solve equations and obtain directed distances between different kinds of geometric primitives. Thus,
within this approach, all those different mathematical entities and tasks can be done simultaneously, without the necessity of
abandoning the system. Using conformal geometric algebra we even show that it is possible to find three grasping points for...
Tipo: 2
Palavras-chave: Mobile Robots: Perception & Navigation.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/visually_guided_robotics_using_conformal_geometric_computing
ViSyR: a Vision System for Real-Time Infrastructure Inspection
Provedor de dados: 192
Autores: Francescomaria Marino; Ettore Stella.
1
Tipo: 8
Palavras-chave: Vision Systems: Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/visyr__a_vision_system_for_real-time_infrastructure_inspection
Voice Activity Detection. Fundamentals and Speech Recognition System Robustness
Provedor de dados: 192
Autores: J. Ramirez; J. M. Gorriz; J. C. Segura.
This chapter has shown an overview of the main challenges in robust speech detection and a review of the state of the art and
applications. VADs are frequently used in a number of applications including speech coding, speech enhancement and speech
recognition. A precise VAD extracts a set of discriminative speech features from the noisy speech and formulates the decision in
terms of well defined rule. The chapter has summarized three robust VAD methods that yield high speech/non-speech
discrimination accuracy and improve the performance of speech recognition systems working in noisy environments. The
evaluation of these methods showed the experiments most commonly conducted to compare VADs: i) speech/non-speech
discrimination analysis, ii) the receiver...
Tipo: 1
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/voice_activity_detection__fundamentals_and_speech_recognition_system_robustn
ess
Voice and Noise Detection with AdaBoost
Provedor de dados: 192
Autores: T. Takiguchi; N. Miyake; H. Matsuda; Y. Ariki.
We proposed the sudden-noise detection and classification with Boosting. Experimental results show that the performance using
AdaBoost is better than that of the conventional GMM-based method, especially at a high SNR (meaning, under low-power noise
conditions). The reason is that Boosting could make a complex non-linear boundary fitting training data, while the GMM
approach could not express the complex boundary because the GMM-based method calculates the mean and covariance of the
training data only. Future research will include combining the noise detection and classification with noise reduction.
Tipo: 4
Palavras-chave: Robust Speech Recognition and Understanding.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/voice_and_noise_detection_with_adaboost
VolksBot - A Construction Kit for Multi-Purpose Robot Prototyping
Provedor de dados: 192
Autores: Thomas Wisspeintner; Walter Nowak.
In this chapter we have presented the a concept for application oriented prototyping of mobile robots. After defining design goals
and deriving design criteria, we presented the mechanical, hardware and software components which followed these criteria and
form the VolksBot construction kit. Then, variants of robot platforms for diverse applications were presented, including general
platforms for indoor (VolksBot Indoor) and outdoor (VolksBot RT) use, a platform for high mobility applications (VolksBot XT),
robots for participation in the Robocup Middle Size, Rescue and @Home league, a demonstrator for autonomous transportation
(PeopleMover), an underwater variant (MarBot) and finally a fuel cell powered VolksBot (FuelBot). Having successfully
designed and...
Tipo: 27
Palavras-chave: Robotic Soccer.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/volksbot_-_a_construction_kit_for_multi-purpose_robot_prototyping
Water Allocation Improvement in River Basin Using Adaptive Neural Fuzzy Reinforcement Learning
Approach
Provedor de dados: 192
Autores: Abolpour B.; Javan M.; Karamouz M.
The research leading to this paper was conducted at the Shiraz University, Iran. The measured data were collected by Fars
Regional Water Authority ? Iran, and Fars Agricultural Research Center ? Iran. The authors are grateful to Dr. B. Zahraie from
University of Tehran, Sh. Araghi ? Nejhad and Reza Karachian Ph. D. Candidates of Amir Kabir University. Water and
Environment Research and Development (WE-R&D) office is also greatly appreciated.
Tipo: 14
Palavras-chave: Reinforcement Learning.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/water_allocation_improvement_in_river_basin_using_adaptive_neural_fuzzy_reinf
orcement_learning_appro
Wavelet Evolution and Flexible Algorithm for Wavelet Segmentation, Edge Detection and
Compression with Example in Medical Imaging
Provedor de dados: 192
Autores: Igor Vujovic; Ivica Kuzmanic; Mirjana Vujovic; Dubravka Pavlovic; Josko Soda.
Wavelets have evolved over years. FGW and SGW are still used and they are applied in more and more areas of research.
Proposed algorithm is flexible, because of many options which can be used. It can be simple, but also complex. Disadvantage of
many image
Tipo: 13
Palavras-chave: Vision Systems: Segmentation and Pattern Recognition.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/wavelet_evolution_and_flexible_algorithm_for_wavelet_segmentation__edge_dete
ction_and_compression_wi
Wavelets and Face Recognition
Provedor de dados: 192
Autores: Dao-Qing Dai; Hong Yan.
Wavelets have been successfully used in image processing. Their ability to capture localized spatial-frequency information of
image motivates their use for feature extraction. We give an overview of using wavelets in the face recognition technology. Due to
limit of space the use of Gabor wavelets is not covered in this survey. Interested readers are referred to section 8.3 for references.
Tipo: 4
Palavras-chave: Face Recognition.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/wavelets_and_face_recognition
Web-Based Remote Manipulation of Parallel Robot in Advanced Manufacturing Systems
Provedor de dados: 192
Autores: Dan Zhang; Lihui Wang; Ebrahim Esmailzadeh.
Tipo: 23
Palavras-chave: Industrial Robotics: Theory; Modelling and Control.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/web-based_remote_manipulation_of_parallel_robot_in_advanced_manufacturing_
systems
Welding Robot Applications in Shipbuilding Industry: Off-Line Programming, Virtual Reality
Simulation, and Open Architecture
Provedor de dados: 192
Autores: Chang-Sei Kim; Keum-Shik Hong; Yong-Sub Han.
This chapter described the welding robot system in a shipbuilding industry and the PCbased off-line programming system. The
welding robot system is very helpful not only to increase productivity but also to solve worker's health problem. The developed
off-line programming system provides a robot simulation, a block arrangement simulation, optimal robot traveling path
generation, and automatic robot program generation. Because graphic environments are made in the VRML, developed off-line
programming is highly compatible with other software, which fact allows the use of off-line programming on the Internet.
Tipo: 27
Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/welding_robot_applications_in_shipbuilding_industry__off-line_programming__vi
rtual_reality_simulatio
What People Assume about Robots: Cross-Cultural Analysis between Japan, Korea, and the USA
Provedor de dados: 192
Autores: Tatsuya Nomura; Tomohiro Suzuki; Takayuki Kanda; Jeonghye Han; Namin Shin; Jennifer Burke; Kensuke Kato.
4.1 Findings The results of the cross-cultural research imply several differences on robot assumptions between Japan, Korea, and
the USA. First, the results of section 3.1 show that the students in the three countries commonly did not assume autonomy and
emotional capacity of the robots except for small humanoids, human-size humanoids, and pet-type robots. Moreover, they show
that the Japanese students assumed higher autonomy of human-size humanoids than the Korean and USA students, and the
Japanese and USA students assumed higher emotional capacity of humansize humanoids than the Korean students, although the
USA students did not assume emotional capacity of small-size humanoids as well as the Japanese and Korean students. These
facts imply that the...
Tipo: 15
Palavras-chave: Human Robot Interaction.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/what_people_assume_about_robots__cross-cultural_analysis_between_japan__kor
ea__and_the_usa
Wire Robots Part I: Kinematics, Analysis & Design
Provedor de dados: 192
Autores: Tobias Bruckmann; Lars Mikelsons; Thorsten Brandt; Manfred Hiller; Dieter Schramm.
In this chapter, the analysis and design of wire robots was discussed. The required basics like kinematics and the force equilibrium
- which is the one of the main workspace criteria were introduced as well as serveral classification approaches. The analysis of
wire robots was described as a CSP task which can be solved by interval analysis. Besides reliable results, the same CSP can be
used for robot design by a variable exchange, which is generally a challenging problem. In addition to this continuous approach,
also the more straightforward discrete methods are shortly introduced. The next chapter is dedicated to the application and control
of wire robots. Therefore, the dynamical description as well as different methods to calculate a force distribution...
Tipo: 6
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/wire_robots_part_i__kinematics__analysis___design
Wire Robots Part II: Dynamics, Control & Application
Provedor de dados: 192
Autores: Tobias Bruckmann; Lars Mikelsons; Thorsten Brandt; Manfred Hiller; Dieter Schramm.
This work is supported by the German Research Council (Deutsche Forschungsgemeinschaft) under HI370/24-1, HI370/19-3 and
SCHR1176/1-2. The authors would like to thank Martin Langhammer for contributing the figure design.
Tipo: 7
Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008
URL: http://www.intechopen.com/articles/show/title/wire_robots_part_ii__dynamics__control___application
Work Assistive Mobile Robot for the Disabled in a Real Work Environment
Provedor de dados: 192
Autores: Hyun Seok Hong; Jung Won Kang; Myung Jin Chung.
Considering the real employment situation of the disabled, it was concluded that there is demand for a robot system that can be
used in a real manufacturing environment. To derive our mission statement, we conducted a survey with three criteria: `A. to
assist the disabled as much as possible'; `B. to consider the real situation of employment for the disabled'; and `C. to provide
assistance for the most necessary tasks for the disabled in the work space'. Based on the survey results, our goal can be stated as
follows: To develop work assistive mobile robots to help persons with limb disabilities obtain jobs in manufacturing environments
where they can perform simple manual labor. Here, simple labor includes such tasks as circuit inspection and moving boxes....
Tipo: 5
Palavras-chave: Rehabilitation Robotics.
Ano: 2007
URL:
http://www.intechopen.com/articles/show/title/work_assistive_mobile_robot_for_the_disabled_in_a_real_work_environment
Worm-like Locomotion Systems (WLLS) - Theory, Control and Prototypes
Provedor de dados: 192
Autores: Klaus Zimmermann; Igor Zeidis; Joachim Steigenberger; Carsten Behn; Valter Boehm; Jana Popp; Emil Kolev; Vera A.
Naletova.
Tipo: 21
Palavras-chave: Climbing and Walking Robots: towards New Applications.
Ano: 2007
URL: http://www.intechopen.com/articles/show/title/worm-like_locomotion_systems__wlls__-_theory__control_and_prototypes
Wrench Capabilities of Planar Parallel Manipulators and their Effects Under Redundancy
Provedor de dados: 192
Autores: Flavio Firmani; Scott B. Nokleby; Ronald P. Podhorodeski; Alp Zibil.
This work presents a method to understand and quantify wrench capabilities of PPMs. Wrench capabilities are determined by
projecting the actuator torque capabilities into the wrench space. This projection is a linear transformation that leads to a convex
set, i.e., a wrench polytope. To numerically evaluate wrench polytopes, six wrench performance indices are derived. Each index is
associated to a particular operational condition of the manipulator. These indices are plotted throughout the workspace of the
manipulator. As a design tool, the wrench workspaces allow for easy visualization of the differences in wrench capabilities
between different PPM architectures. For an existing manipulator, this visual representation can be employed to improve path...
Tipo: 6
Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008
URL:
http://www.intechopen.com/articles/show/title/wrench_capabilities_of_planar_parallel_manipulators_and_their_effects_under_re
dundancy
Zadehian Paradigms for Knowledge Extraction in Intelligent Manufacturing
Provedor de dados: 192
Autores: A.M.M. Sharif Ullah; Khalifa H. Harib.
Tipo: 10
Palavras-chave: Manufacturing the Future.
Ano: 2006
URL:
http://www.intechopen.com/articles/show/title/zadehian_paradigms_for_knowledge_extraction_in_intelligent_manufacturing