this paper presents an overview of the work being conducted by the Australian Centre for Field robotics (ACFR) and the CRC for Mining Technology and Equipment (CMTE) into sensors and systems for real-time environment ...
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ISBN:
(纸本)9810474806
this paper presents an overview of the work being conducted by the Australian Centre for Field robotics (ACFR) and the CRC for Mining Technology and Equipment (CMTE) into sensors and systems for real-time environment imaging. Radar is perhaps the only sensor capable of performing imaging tasks in environments where high levels of dust, water vapour, and rain must be contended with. Methods of visualising the radar data for various applications are presented.
the kinematic constraints on a car limits the movements that it can follow, and this difficulty also makes planning a path a challenging problem. More precisely, the parallel parking problem has been widely addressed ...
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ISBN:
(纸本)9810474806
the kinematic constraints on a car limits the movements that it can follow, and this difficulty also makes planning a path a challenging problem. More precisely, the parallel parking problem has been widely addressed in the literature, but these approaches rely on more traditional methods using control laws, motion planners or artificial intelligence. there have been recently much interest in the robotics domain on using probabilistic approaches. In this paper, we propose an original formulation and resolution of the parking problem using Bayesian Robot Programming.
this paper focuses on the design of robust motion rate. sensor based control of robots. Considering the widely used task function approach of this problem, we first derive a general condition on the control gains with...
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ISBN:
(纸本)0780372727
this paper focuses on the design of robust motion rate. sensor based control of robots. Considering the widely used task function approach of this problem, we first derive a general condition on the control gains with respect to the uncertainties, so as to guarantee bounded tracking errors. this general result is applied to an example case, consisting of a 2 dof vision based controller. Experimental results compare different control strategies.
this paper describes work done on cooperative strategies in designing a robotic soccer team. the paper focuses on the development of five mobile robots designed based on the small-size RoboCup league (i.e. F-180).
ISBN:
(纸本)9810483643
this paper describes work done on cooperative strategies in designing a robotic soccer team. the paper focuses on the development of five mobile robots designed based on the small-size RoboCup league (i.e. F-180).
this paper presents a novel algorithm of cross-coupling synchronous design for generalized predictive control. By considering the synchronous errors of position and tracking velocity we introduce a new cost function f...
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ISBN:
(纸本)9810483643
this paper presents a novel algorithm of cross-coupling synchronous design for generalized predictive control. By considering the synchronous errors of position and tracking velocity we introduce a new cost function for better synchronization. the proposed algorithm is applied to the control of a servo-system with two motion axes, and computer simulations show that the control scheme renders more satisfactory performance than conventional methods.
this paper describes a method of parallel scheduling of planning and action to realize an efficient and reactive robotic system in dynamic environments. the method uses a partial planning result, which comes from an i...
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ISBN:
(纸本)9810483643
this paper describes a method of parallel scheduling of planning and action to realize an efficient and reactive robotic system in dynamic environments. the method uses a partial planning result, which comes from an iterative refinement planning, to determine feasible actions to be executed in parallel withthe planning process. the method is applied to a multiple-camera multiple-person tracking problem. Simulation results show the effectiveness of the method.
A design procedure for a stabilizing Low-Dynamic-Order-Robust (LOR) stable and proper controller is given. Minimum Phase Multivariable Linear systems are considered in an output feedback scheme. the Robust Performance...
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ISBN:
(纸本)9810474806
A design procedure for a stabilizing Low-Dynamic-Order-Robust (LOR) stable and proper controller is given. Minimum Phase Multivariable Linear systems are considered in an output feedback scheme. the Robust Performance and Robust Stability Problems are solved simultaneously. It is doing among the set of stabilizing Regular I/O Decoupling controllers. So, a solution to the Robust Regular I/O Decoupling Problem (RDP) is given. Also, conditions for the optimal values are presented. Simulation examples are given.
this paper focuses on a control approach for legged robots with fast gaits. the method consists in a sliding mode based control extended the consideration of system energy. the control objective is then to perform sta...
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ISBN:
(纸本)9810483643
this paper focuses on a control approach for legged robots with fast gaits. the method consists in a sliding mode based control extended the consideration of system energy. the control objective is then to perform stable trajectories or controlled limit cycles (CLC), by means of energy regulation with respect to a shaped nominal representation (implicitely related to system trajectories). In this paper, we establish some theoretical results. then, some capabilities of the approach are illustrated through examples related to spring-mass systems usually considered to characterize some legged robots behaviors.
this paper presents a speech-control robotic manipulator arm via personal computer and self-built robotic arm. It describes the software we developed to collect, process and train the speech database. First, the speci...
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ISBN:
(纸本)9810474806
this paper presents a speech-control robotic manipulator arm via personal computer and self-built robotic arm. It describes the software we developed to collect, process and train the speech database. First, the specifications of the robotic arm will be explained. the algorithms involved will also be briefly discussed. Finally, the result will show the ability of this system to control robotic manipulator arm with human's voice.
the relevance of honeybee vision to the design of seeing systems was discussed. It was shown that the fixed insects respond to the passing of edges by the spatio-temporal correlation between adjacent visual axes. It w...
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ISBN:
(纸本)9810474806
the relevance of honeybee vision to the design of seeing systems was discussed. It was shown that the fixed insects respond to the passing of edges by the spatio-temporal correlation between adjacent visual axes. It was concluded that the bees have a small variety of filters to detect cues and they learn to look in exactly the right direction from each choice point to pick up the next cue. the bees discriminate the same set of cues whether they were fixed or shuffled relative to the choice point, but when cues were shuffled they learn to look for them only within the range of places where they were learned.
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