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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

共 2673 条记录，以下是61-70 订阅

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Identifying Latent Beliefs in Customer Complaints to Trigger Epistemic Rules for Relevant Human-Bot Dialog 3

Identifying Latent Beliefs in Customer Complaints to Trigger...

引用

3rd IEEE international conference on control, automation and robotics (ICCAR)

作者： Anantaram, C. Sangroya, Amit Tata Consultancy Serv Ltd TCS Res ASF Insignia Gurgaon Faridabad Rd Gurgaon India

ISBN: (纸本)9781509060887

During dialog with a customer for addressing his/her complaint the chatbot may pose questions or observations based on its underlying model. Sometimes the questions or observations posed may not be relevant given the nature of complaint and the current set of beliefs that the customer holds. We propose a model that uses machine-learning mechanism to categorize the complaint in order to identify the beliefs held by the customer and trigger epistemic rules in the domain. These rules help tailor the dialog and make it consistent with the set of beliefs of the customer. Such a model helps carry out meaningful conversations.

关键词： Dialog System Epistemic Logic Machine Learning Human Computer Interaction

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A study on ASR/TTS server architecture for network robot system

A study on ASR/TTS server architecture for network robot sys...

引用

3rd international conference on informatics in control, automation and robotics

作者： Choi, In-Ho Kim, Tae-Hoon SAMSUNG Elect Co Ltd 416 Maetan 3Dong Suwon 443742 Gyeonggi South Korea

ISBN: (纸本)9728865600

"The URC (Ubiquitous Robotic Companion, Server computer-based networked robotic)" systems exploiting Internet-related technologies and Server computer require effective techniques for timely delivery of requested data to remote clients. In these systems, there is a need to process real-time data in server computer from/to robots and clients during system operation. In this paper, we describe and evaluate ASR, TTS server systems in the context of a real-time environment for the URC applications. Experimental results show that the server-based ASR, TTS support timely delivery of data to a potentially large number of robots during system operation.

关键词： URC network robot system ASR/TTS server

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Positioning the Laparoscopic Camera with Industrial Robot Arm 3

Positioning the Laparoscopic Camera with Industrial Robot Ar...

引用

3rd IEEE international conference on control, automation and robotics (ICCAR)

作者： Capolei, Marie Claire Wu, Haiyan Andersen, Nils Axel Ravn, Ole Tech Univ Denmark Automat & Control DK-2800 Lyngby Denmark

ISBN: (纸本)9781509060887

This paper introduces a solution for the movement control of the laparoscopic camera employing a teleoperated robotic assistant. The project propose an autonomous robotic solution based on an industrial manipulator, provided with a modular software which is applicable to large scale. The robot arm is envisioned to orient and move the optic device in direction of a fixed point, the incision on the wall of the abdominal cavity, accordingly to the surgeon's request. To manage the movements of the laparoscope around the fulcrum point a Cartesian control strategy is exploited. A six degrees of freedom industrial robot arm is designated to accomplish this manipulation task. The software is implemented in ROS in order to facilitate future extensions. The experimental results shows a manipulator capable of moving fast and smoothly the surgical tool around a remote center of motion.

关键词： medical robotics telerobotics robot arm cartesian robot control ROS laparoscopy

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Particle Swarm Optimization on Designing Anticipatory Iterative Learning controller for Positioning Accuracy 3

Particle Swarm Optimization on Designing Anticipatory Iterat...

引用

3rd IEEE international conference on control, automation and robotics (ICCAR)

作者： Huang, Yi-Cheng Hsu, Shih-Wen Natl Changhua Univ Educ Dept Mechatron Engn 1 Chinde Rd Changhua Taiwan

ISBN: (纸本)9781509060887

This paper applies a particle swarm optimization (PSO) technique using hybrid terms. This technique is used to adjust the learning gain of the anticipatory iterative learning control (AILC). This research proposes the hybrid PSO cognitive and social components on the updating velocity terms. The optimized AILC's gain facilitates the improvement of the learning process and positioning accuracy. Simulations were conducted, and the results were compared with the fixed gain of ILC, fixed gain of AILC and three lead time of AILC by using PSO method. The learnable error signals through a bandwidth-tuning mechanism adaptively and successfully shaped the new input trajectory. The simulation results validate the effectiveness of the new PSO-AILC for precision accuracy for a one-axis linear motor.

关键词： hybrid particle swarm optimization iterative learning control precision motion

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Toward 3D free form object tracking using skeleton

Toward 3D free form object tracking using skeleton

引用

3rd international conference on informatics in control, automation and robotics

作者： Merad, Djamel Didier, Jean-Yves LIRIS Lab 5 Ave Pierre Mendes F-69676 Bron France LSC Lab F-91020 Evry France

ISBN: (纸本)9728865600

In this paper we describe an original method for the 3D free form object tracking in monocular vision. The main contribution of this article is the use of the skeleton of an object in order to recognize, locate and track this object in real time. Indeed, the use of this kind of representation made it possible to avoid difficulties related to the absence of prominent elements in free form objects (which makes the matching process easier). The skeleton is a lower dimension representation of the object, it is homotopic and it has a graph structure. This allowed us to use powerful tools of the graph theory in order to perform matching between scene objects and models (recognition step). Thereafter, we used skeleton extremities as interest points for the tracking.

关键词： tracking 3D free form object skeletonization graph matching

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Human arm-like mechanical manipulator - The design and development of a multi-arm mobile robot for nuclear decommissioning

Human arm-like mechanical manipulator - The design and devel...

引用

3rd international conference on informatics in control, automation and robotics

作者： Bakari, Mohamed J. Seward, Derek W. Univ Lancaster Dept Engn Lancaster LA1 4YR England

ISBN: (纸本)9728865600

This paper reviews the design and development of a human arm-like mechanical manipulator, which is the basis of research currently being undertaken at Lancaster University, in order to address the complex tasks found in the rapidly expanding field of nuclear decommissioning. The requirements of multi-arm robot architecture for use in decommissioning tasks are discussed. The manipulators are integrated to work cooperatively and perform similar functions to humans in both scale and dexterity. The role that automation and robotics can play in enabling quicker demolition and at the same time reducing the exposure of workers to harmful radiation is examined. The key issues surrounding radioactive materials and safe dose levels are explained. The different stages of a particular system engineering process are outlined together with the essential physical steps. The paper will conclude by identifying the compliance of the system engineering used here with the requirements of designing a multi-arm robot.

关键词： robotics system engineering nuclear decommissioning

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Force Sensing, Low-Cost Manipulator in Mobile robotics 3

Force Sensing, Low-Cost Manipulator in Mobile Robotics

引用

3rd IEEE international conference on control, automation and robotics (ICCAR)

作者： Nuelle, Kathrin Schulz, Martin-Julian Aden, Simon Dick, Andrej Munske, Benjamin Gaa, Johannes Kotlarski, Jens Ortmaier, Tobias Leibniz Univ Hannover Inst Mechatron Syst Hannover Germany

ISBN: (纸本)9781509060887

The ability to sense tactile feedback is important for many robotic grasping and manipulating tasks. However, common force sensors are expensive. Therefore, we investigate various force measuring principles and review existing sensor concepts for mobile robotic applications. The results lead to a concept of a low-cost, two-finger manipulator with force sensing ability using embedded hall sensors in flexible material. The gripper is produced by rapid prototyping. A calibration method is presented. Furthermore, we evaluate and present the idle state, local sensitivity, and material influence of the two-finger manipulator. As a result, it is possible to successfully handle sensitive objects with the sensitive areas of the fingers, although a bias was measures while handling ferromagnetic materials. With a priori knowledge of the objects, this effect can be compensated.

关键词： force sensing hall sensor low-cost manipulator two-finger gripper flexible material

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Robot behavior adaptation for formation maintenance

Robot behavior adaptation for formation maintenance

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3rd international conference on informatics in control, automation and robotics

作者： Lopez-Sanchez, Maite Univ Barcelona MAiA Dep WAI Volume Visualizat & Artificial Intelligence R Barcelona Spain

ISBN: (纸本)9728865600

The autonomous robot formation maintenance problem can be approached by considering local information only. This approach is more realistic than using global information, but presents a troop deformation drawback. This paper performs a step forward in local information usage for formation maintenance by analyzing a parameterization of different basic behaviors. Formation maintenance emerges from the combination of these simple behaviors, and its overall accuracy is empirically optimized by tuning behavior parameters. In particular, we study and characterize three different formations: queue or column (as for ants), inverted V or wedge (as for birds or planes) and rectangle (for manipulus antique roman troop formations). This paper describes simulated robots that incorporate a unique set of basic behaviors from which formation maintenance emerges. These simple behaviors provide formation robustness and are parameterized in order to minimize deformation while following a trajectory.

关键词： autonomous robotics behavior-based robots simulation

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Distributed control system of an experimental robotic cell with 3D vision

Distributed control system of an experimental robotic cell w...

引用

3rd international conference on informatics in control, automation and robotics

作者： Vazquez, Andres S. Adan, Antonio Torres, Roberto Cerrada, Carlos UCLM Escuela Super Informat Paseo Univ 4 Ciudad Real Spain UNED Escuela Tecn Super Ingn Ind Madrid Spain

ISBN: (纸本)9728865600

We present a distributed control architecture for the integration of an experimental robotic cell with 3D visual servoing. This architecture allows us to control a 6 DOF robot in hard Real-Time and the global experimental system in soft Real-Time. We have developed distributed applications, based on this architecture, for the robot control (whose characteristics permit us to teleoperate the robot), the 3D data acquisition and for an advanced simulation and visualization. These applications, together with the algorithms developed by our computer vision research group, allow a full intelligent robotic manipulation in complex scenes to be made. This can be useful in manufacturing environments where an automated piece manipulation is necessary.

关键词： distributed robot control vision 3D industrial robots manufacturing environments

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Evaluation of Underwater 3D Reconstruction Methods for Archaeological Objects: Case Study of Anchor at Mediterranean Sea 3

Evaluation of Underwater 3D Reconstruction Methods for Archa...

引用

3rd IEEE international conference on control, automation and robotics (ICCAR)

作者： Onmek, Yadpiroon Triboulet, Jean Druon, Sebastien Meline, Arnuad Jouvencel, Bruno Univ Montpellier LIRMM Lab CNRS UMR 5506 161 Rue Ada F-34090 Montpellier 5 France

ISBN: (纸本)9781509060887

The objective of this paper is to develop 3D underwater reconstruction of archeology object, which is based on a mono-camera. The underwater images are obtained from a calibrated camera system. We first solve the problem of image processing by applying the well-known filter, therefore to improve quality of underwater images. The features of interest between image pairs are selected by well-known methods: a FAST detector and FLANN descriptor. Subsequently, the RANSAC method is applied to reject outlier points. The putative inliers are matched by triangulation to produce sparse point clouds in 3D space, using a pinhole camera model and Euclidean distance estimation.

关键词： 3D reconstruction underwater archeology monocamera computer vision

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