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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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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-
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
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
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
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
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
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
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
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
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