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检索条件"丛书名=Springer Tracts in Advanced Robotics"

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advanced teleoperation architecture

Advanced teleoperation architecture

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IEEE International Conference on robotics and Automation (ICRA)

作者： Castellani, Andrea Galvan, Stefano Botturi, Debora Fiorini, Paolo Univ Verona Dept Comp Sci I-37100 Verona Italy

ISBN: (纸本)9783540689492

In this Chapter we report on the efforts carried out at the robotics Laboratory ALTAIR of the University of Verona (Italy) towards the development of a high performance architecture for bilateral, i.e. force reflecting, teleoperation system. Key issues for the advancement of teleoperation technology include high performance control dealing with problems such as unpredictable delays and low bandwidth, advanced mechanisms and quantitative measures on the complete system including haptic displays. In the area of software development, new methodologies have been developed that permit a very careful and precise design, and allow to implement high performance architectures at a reasonable effort in terms of cost and development time. Our architecture, called Penelope, takes into account very important features of a haptics system: real-time behavior, distributed resources and general purpose structure. However, we are also studying features that make it particularly suited for high reliability and safety operations, such as space teleoperation and robot-assisted surgery. © springer-Verlag Berlin Heidelberg 2007.

关键词： Remote control

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Modularity and mobility of distributed control software for networked mobile robots

Modularity and mobility of distributed control software for ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Cragg, Liam Hu, Huosheng Voelker, Norbert Univ Essex Dept Comp Sci Colchester CO4 3SQ Essex England

ISBN: (纸本)9783540689492

Recently, more and more intelligent robotic systems have been embedded into the Internet for service, security, and entertainment, including distributed mobile robots. These networked robots have captured the interest of many researchers worldwide [Gol05]. Apart from operation in a hazardous environment (a traditional telerobotic area), networked robots have been applied in a wide range of real-world applications, including tele-manufacturing, teletraining, tele-surgery, traffic control, space exploration, disaster rescue, health care, and as museum guides [HTCV04]). © springer-Verlag Berlin Heidelberg 2007.

关键词： Space research

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Communication patterns as key towards component interoperability

Communication patterns as key towards component interoperabi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Schlegel, Christian Univ Appl Sci Ulm Fac Informat D-89075 Ulm Germany

ISBN: (纸本)9783540689492

A component based software engineering approach does not per se ensure that independently developed components finally fit together. The reason is that general purpose component based approaches still provide far too much freedom with respect to defining and implementing component interfaces. There is always a gap from a general purpose software component approach towards reusable and easily composable components in a specific application domain. © springer-Verlag Berlin Heidelberg 2007.

关键词： Computer software reusability

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Reusable robot software and the player/stage project

Reusable robot software and the player/stage project

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IEEE International Conference on robotics and Automation (ICRA)

作者： Vaughan, Richard T. Gerkey, Brian P. Simon Fraser Univ Sch Comp Sci Burnaby BC V5A 1S6 Canada SRI Int 333 Ravenswood Ave Menlo Pk CA 94025 USA

ISBN: (纸本)9783540689492

The authors of several well-known robot software systems met at the ICRA 2005 workshop on the Principle and Practice of Software Development in robotics. The meeting was held to examine the role of software engineering concepts and methods in experimental robotics applications. Everyone at the workshop agreed that extensive reuse of robot software should help to make robot development faster, easier and more efficient, and that this was highly desirable. There exist many robot programming tools and frameworks designed to promote this idea, some of which have been actively developed for several years using very fine software engineering techniques. However, very few supposedly reusable systems are extensively used outside their home institution or their immediate collaborators. Many well-engineered systems are never used at all. This suggests that there is more to getting code widely reused than nice code design, however principled. © springer-Verlag Berlin Heidelberg 2007.

关键词： Robot programming

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Reality-based estimation of needle and soft-tissue interaction for accurate haptic feedback in Prostate Brachytherapy simulation

Reality-based estimation of needle and soft-tissue interacti...

引用

12th International Symposium on robotics Research (ISRR)

作者： Hing, James T. Brooks, Ari D. Desai, Jaydev P. Drexel Univ PRISM Lab Philadelphia PA 19104 USA Drexel Univ Coll Med Philadelphia PA 19104 USA

ISBN: (纸本)9783540481102

Prostate Brachytherapy is the implantation of radioactive seeds into the prostate as a treatment for prostate cancer. The success rate of the procedure is directly related to the physician's level of experience. In addition, minor deviations in seed alignment caused by gland compression/retraction, gland edema (swelling) and needle deflections can create significant areas of over or under dosage to the gland and/or injury to surrounding nerves and organs, leading to increased morbidity. Therefore, reductions in brachytherapy complication rates will be dependent on improving the tools physicians use for training to improve the accuracy of needle guidance and deployment of 'seeds' within the prostate gland. Through our novel approach of using two C-ARM fluoroscopes, we propose a reality-based approach for estimating needle and soft tissue interaction for the purpose of eventually developing an accurate seed placement training simulator with haptic feedback for prostate brachytherapy. By recording implanted fiducial movement and needle-soft tissue interaction forces, we can: extract the local effective modulus during puncture events, quantify tissue deformation, obtain an approximate cutting force, and build a finite element model to provide accurate haptic feedback in the training simulator for needle insertion tasks.

关键词： Needles

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Emergence, exploration and learning of embodied behavior

Emergence, exploration and learning of embodied behavior

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12th International Symposium on robotics Research (ISRR)

作者： Kuniyoshi, Yasuo Suzuki, Shinsuke Sangawa, Shinji Univ Tokyo Sch Informat Sci & Technol Dept Mechanoinformat Lab Intelligent Syst & Informat Tokyo 106 Japan

ISBN: (纸本)9783540481102

The real world is full of unexpected changes, contingencies and opportunities. Thus it is virtually impossible to perfectly specify in advance all the conditions, states and outcomes for all the possible actions. The so-called "frame problem" was originally discovered with symbolic reasoning agents [6], but essentially it affects any "intelligent" system that relies on explicit descriptions about the states and actions. For example, in control theory terms, the target system can abruptly deviate from the assumed model of the system dynamics, making the pre-defined control law invalid. © springer-Verlag Berlin Heidelberg 2007.

关键词： Control theory

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Simulation and testbeds of autonomous robots in harsh environments

Simulation and testbeds of autonomous robots in harsh enviro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Stansbury, Richard S. Akers, Eric L. Harmon, Hans P. Agah, Arvin Univ Kansas Lawrence KS 66045 USA Univ Kansas Kansas City KS USA Pingtung Technol Inc Lawrence KS 66046 USA

ISBN: (纸本)9783540689492

Software development for autonomous field robots can be quite challenging due to the difficulties associated with testing and evalution of the robot and its components. Software for the mobile robot must undergo extensive testing throughout its lifecycle. However, testing a robot for harsh environments requires access to the field, logistic support, maintenance of the robot, and adherence to safety standards. Time, budgetary, and logistics constraints often limit the amount of testing, which in turn adversely affects the quality of the software developed for the field mobile robot. © springer-Verlag Berlin Heidelberg 2007.

关键词： Mobile robots

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Mimetic communication theory for humanoid robots interacting with humans

Mimetic communication theory for humanoid robots interacting...

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12th International Symposium on robotics Research (ISRR)

作者： Nakamura, Yoshihiko Takano, Wataru Yamane, Katsu Univ Tokyo Dept Mechanoinformat Bunkyo Ku Tokyo Japan

ISBN: (纸本)9783540481102

The theory of behavioral communication for humanoid robots that interact with humans is discussed in this paper. For behavioral communication, it is fundamental for a humanoid robot to recognize the meaning of the whole body motion of a human. According to the previous works, it call be done in the symbolic level by adopting the proto-symbol space defined by the Hidden Markov Models based oil the mimesis theory. The generation of robot motions from the proto-symbols is also to be done ill the same framework. In this paper, we first introduce the meta protosymbols that stochastically represent and become signifiants of the interaction of a robot and a human. The meta proto-symbols are a little more abstract analogy of the proto-symbols and recognize/generate the relationship of the two. A hypothesis is then proposed as the principle of fundamental communication. The experimental result follows.

关键词： mimetic communication humanoid robot human robot interaction mimesis theory proto symbol space hidden Markov model

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Trends in component-based robotics

Trends in component-based robotics

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IEEE International Conference on robotics and Automation (ICRA)

作者： Brugali, Davide Brooks, Alex Cowley, Anthony Cote, Carle Dominguez-Brito, Antonio C. Letourneau, Dominic Michaud, Francis Schlegel, Christian Univ Study Bergamo Bergamo Italy Univ Sydney Camperdown NSW Australia Univ Fed Minas Gerais Belo Horizonte MG Brazil Univ Sherbrooke Dept Elect & Comp Engn Sherbrooke PQ Canada Universidad Las Palmas Gran Canaria Las Palmas Gran Canaria Spain Univ Appl Sci Ulm Prittwitzstrae 89075 Germany

ISBN: (纸本)9783540689492

Component-Based Software Engineering (CBSE) is an approach that has arisen in the software engineering community in the last decade. It aims to shift the emphasis in system-building from traditional programming to composing software systems from a mixture of off-the-shelf and custom-built components [Cas00, HC01, Szy02, DW98, CC01]. Component-Based Software Engineering is said to be primarily concerned with three functions [HC01]: 1. Developing software from pre-produced parts *** ability to reuse those parts in other applications 3. Easily maintaining and customizing those parts to produce new functions and features. © springer-Verlag Berlin Heidelberg 2007.

关键词： Computer software reusability

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Field D*: An interpolation-based path planner and replanner

Field D*: An interpolation-based path planner and replanner

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12th International Symposium on robotics Research (ISRR)

作者： Ferguson, Dave Stentz, Anthony Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9783540481102

We present an interpolation-based planning and replanning algorithm for generating direct, low-cost paths through nonuniform cost, grids. Most grid-based path planners use discrete state transitions that artificially constrain an agent's motion to a small set of possible headings (e.g. 0, pi/4, pi/2, etc). As a result, even 'optimal' grid-based planners produce unnatural, suboptimal paths. Our approach uses linear interpolation during planning to calculate accurate path cost estimates for arbitrary positions within each grid cell and to produce paths with a range of continuous headings. Consequently, it is particularly well suited to planning low-cost trajectories for mobile robots. In this paper, we introduce the algorithm and present a number of example applications and results.

关键词： Interpolation

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