This paper presents some motion path tracking algorithms of mobile robot based on machine vision. The machine vison subsystem of robot capture the information of motion path in real-time, which is stored and processed...
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Limited knowledge and limited deduction abilities are among the main restraints of autonomous robots for acting truly autonomously. This especially becomes obvious in the area of object recognition and classification,...
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ISBN:
(纸本)9789898565211
Limited knowledge and limited deduction abilities are among the main restraints of autonomous robots for acting truly autonomously. This especially becomes obvious in the area of object recognition and classification, where many methods rely on knowledge teached manually in a prior setup step. Self-generating this knowledge from environment perception with a set of rules would significantly increase the robots autonomy as well as supersede manual training effort. In this paper, we propose a novel approach to rule-based classification for 3D point clouds by means of object shape, which additionally overcomes typical problems from a separate prior segmentation by integrating classification feedback into the segmentation process. Although it is still in its conceptual state, we explain in detail why we consider this approach to be very promising.
We propose a novel control approach for cooperative dual-arm object manipulation. Our scheme has three typical features: (1) the two arms with the object together form a new kinematic chain, where the base of the seco...
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ISBN:
(纸本)9789898565211
We propose a novel control approach for cooperative dual-arm object manipulation. Our scheme has three typical features: (1) the two arms with the object together form a new kinematic chain, where the base of the second arm is the end-effector of the new robot;(2) the object between the robots is defined as a virtual mechanism, therefore manipulating the object is accomplished by controlling the virtual mechanism;(3) the proposed scheme allows cooperative dual-arm systems performing a task while moving on mobile platforms. The proposed algorithm is verified with experiments on a dual-arm system with Kuka LWR robots, and simulations with 2 different robots: Kuka LWR on a fixed support and Mitsubishi PA10 robot on a mobile platform Nomad XR400.
The development of a parallel batch pattern back propagation training algorithm of a recirculation neural network is presented in this paper. The model of a recirculation neural network and usual sequential batch patt...
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Making sense out of human indoor environments is an essential feature for robots. In this paper we present a system for the classification of components inside these environments, starting from our robotic platform to...
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ISBN:
(纸本)9781467307024
Making sense out of human indoor environments is an essential feature for robots. In this paper we present a system for the classification of components inside these environments, starting from our robotic platform to a simple yet robust labeling process. Our method starts by acquiring multiple point clouds which are then registered into one single dataset. An estimation of principle axes is performed and the planar surfaces are segmented out. Further on, quadrilateral-like shapes are estimated for each detected plane, by making use of edges. And finally, since our classification approach relies on physical features, the method analyses the relationship between the previously mentioned shapes, as well as their physical sizes. To validate our approach, we tested the method on different datasets, which were recorded inside our office environment.
Ports Information and Communication Technology (PICT) systems offer critical services and host sensitive data. However the current maritime legislation, standardization and technological efforts do not sufficiently co...
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ISBN:
(纸本)9789898565235
Ports Information and Communication Technology (PICT) systems offer critical services and host sensitive data. However the current maritime legislation, standardization and technological efforts do not sufficiently cover the PICT security. Identifying these needs, we propose the collaborative environment S-Port offering security management services.
The proceedings contain 77 papers. The topics discussed include: a data mining method for the medical relationship between diagnoses and procedures - Vermont hospital 2009;physics of open systems: generation of system...
ISBN:
(纸本)9781936338573
The proceedings contain 77 papers. The topics discussed include: a data mining method for the medical relationship between diagnoses and procedures - Vermont hospital 2009;physics of open systems: generation of system knowledge;music information retrieval with polyphonic sounds and timbre;estimating complexity of algorithms as a black-box problem: a normalized time index;assessing resilience of complex socio-ecological systems through loop dominance analysis;extensions of one-dimensional gray-level nonlinear image processing filters to three-dimensional color space;RHA(T)-system for coding of discrete distributions and their alteration processes;factors of complexity for managers of projects of information systems;web services and ontologies for building data;urban environment monitoring: system and technology issues;in praise of wavelets - 3 disparate case studies;relevance of glucose level variation trend in diabetic patient's blood and onset of diabetic retinopathy problems;optimization of efficiency of power electronic converter suited for electroplating;artificial psychology: the psychology of AI;distributed control in multi-vehicle systems;operation of marine diesel engine based on differential equations;and relationship between complexity and causal invariance: the new cybernetics myth.
The DC motor speed control is commonly used in several robotic applications. Thus the controller design for the DC motor speed control is a compulsory to optimize the performance of the motor towards the system design...
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Many organizations have to align their software systems to new technologies and paradigms, for facing the challenges of interoperation and flexibility. Migration to Service-Oriented Architectures (SOA) represents one ...
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This paper presents a real time collision avoidance method for an autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights based on simultaneous control of translational and r...
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ISBN:
(纸本)9789898565211
This paper presents a real time collision avoidance method for an autonomous omnidirectional mobile robot considering shape of the robot and movable area by heights based on simultaneous control of translational and rotational motion. Service robots which have been developed in recent years have arms to work and execute tasks. In these robots, the size of width is sometimes not equal to that of length by heights. In order to avoid obstacles considering safety and mobility for the robots, it is necessary to evaluate shape of the robot and movable area by heights. To evaluate them, the robot model is defined in heights of each moving part. Evaluating of the robot model and the movable area for each height, if the robot is unable to move keeping a safe distance from the obstacles, the robot determines the suitable orientation angle considering the minimum length from the center of the robot model to that outer shape. In this paper, the novel control method based on the Fuzzy Potential Method is presented. To verify the effectiveness of the proposed method, several numerical simulations are carried out.
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