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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and Robotics"

共 2266 条记录，以下是2061-2070 订阅

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A robotics task scheduler - TAPAS

引用

8th international conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Focant, G. Fontaine, B. Steinicke, L. Joudrier, L. Space Applicat Serv Leuvensesteenweg 325 B-1932 Zaventem Belgium ESA ESTEC NL-2201 Noordwijk Netherlands

ISBN: (纸本)3540264132

Within the frame of the ESA project TAPAS (TAsk Planner for automation & robotics in Space), a generic scheduling tool has been developed. Its prime objective is to interactively assist a robot operator in planning and scheduling the activities of a robot-tended payload facility concurrently used by several (scientific) users, taking into account resources and various constraints. the system is potentially reusable in other space automation and robotics scenarios where this decentralised payload operations concept is applicable. One of the facilities analysed to establish the requirements was ERA, a robotic arm foreseen to be attached to the international Space Station. this abstract mainly gives an overview of the scheduling engine which is at the core of the software and constitutes its intelligence.

关键词： space robotics scheduling resources constraints

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Multiscale robotics framework for MEMS assembly

Multiscale robotics framework for MEMS assembly

引用

9th international conference on control, automation, robotics and Vision

作者： Murthy, Rakesh Das, Aditya Popa, Dan Univ Texas Arlington Automat & Robot Res Inst 7300 Jack Newell Blvd S Arlington TX 76019 USA

ISBN: (纸本)9781424403417

this paper presents advancement in microassembly and packaging automation accomplished using multiscale robotic platforms. We introduce M-3 and mu(3)- two unique multiscale platforms (M-3- macro-meso-micro;mu(3)- meso-micro-nano). the robots with their corresponding end-effectors are characterized in terms of accuracy, repeatability and resolution in positioning. A typical assembly application in the M-3 consists of components whose size range from 126 microns to 25 millimeters and the typical assembly tolerances range from 4 microns to 300 microns. A typical assembly application for mu(3) consists of manipulating components 1 mu m to 1mm in size, with tolerances between 500nm and 50 mu m. the M-3 has a macroscale workspace and four high precision robots performing coordinated tasks, vision systems for positioning, calibration and closed-loop control, reconfigurable end-effectors for part pick and place and fixtures such as parts tray and tool rests. the mu(3) has a centimeter scale workspace and 3 robots configured into a 3-D microassembly station with 19 DOF with coarse motion servos and fine motion piezos, microgrippers and 3D stereo vision. In addition, the mu(3) is small enough to be used inside of a scanning electron microscope (SEM). this allows multiscale micro/nano-scale assembly up to a precision of 3 nm. Both multiscale platform stations aim to deliver reconfigurable precision assembly using Labview (TM) based supervisory software modules. Integrated bonding process tools allow for packaging of a variety of different MEMS devices.

关键词： multiscale robotics MEMS microassembly

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Integrative modeling of liver organ for simulation of flexible needle insertion

Integrative modeling of liver organ for simulation of flexib...

引用

9th international conference on control, automation, robotics and Vision

作者： Chui, C. -K. Teoh, S. -H. Ong, C. -J. Anderson, J. H. Sakuma, I. Natl Univ Singapore Singapore 117548 Singapore Johns Hopkins Univ Sch Med Baltimore MD USA Univ Tokyo Grad Sch Frontier Sci Tokyo Japan

ISBN: (纸本)9781424403417

A straight line needle trajectory is typically used in medical needle insertion for percutaneous intervention. Flexible needle steering may be able to avoid obstacles, and reach regions that are currently inaccessible using straight line trajectory. the success of flexible needle insertion in clinical application, for example, biopsy to obtain a tissue sample from human liver organ is dependent on how accurate the motion path can be planned and simulated. We developed a motion planning algorithm for flexible needle insertion with an integrative model of human liver organ, and finite element models of needle and needle-tissue interaction. the aim of image based integrative modeling is to have a unified organ model of patient comprising finite element and implicit surface models of blood vessels, normal and pathological tissues. the trajectory path can be determined in an interactive manner. the generated trajectory for flexible needles avoids obstacles (vessels) to reach target (tumor) inaccessible to rigid needles. the algorithm can also be used to simulate needle bending due to dynamic contact with tumor.

关键词： steerable needle motion planning surgical simulation liver medical robotics

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Space robotics

引用

8th international conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Visentin, G. Automation and Robotics Section European Space Agency Netherlands

ISBN: (纸本)3540264132

this presentation reviews the topic of space robotics. In the space jargon, often any unmanned space probe is called a robotic probe. this acknowledges the challenges of largely autonomous operation in a complex mission. In the following, however, the focus will be on space robots: systems involving arms for manipulation or some kind of locomotion device for mobility, having the flexibility to perform varying tasks. As an introduction, some definitions and the rationale for space robotics are given. the main differences between space and terrestrial robots are highlighted, and it is shown that they are driven by the peculiar environmental, system and programmatic constraints of space missions. A second part describes the typical architecture, sub-systems, and some key technologies of robot systems. this distinguishes between manipulator arm and rover type robots. the interdisciplinary system character of space robotics is emphasised. Finally the two main fields of orbital robotics and planetary robotics are introduced, together with the currently perceived application scenarios (i.e. system servicing and payload tending in Low-Earth-Orbit, satellite servicing in Geostationary Earth Orbit, the assembly of large orbiting structures, and applications in exploration missions to the Moon, Mars, Mercury, comets, asteroids, and other celestial bodies). For each application scenario, the main robotic functions are presented and some developed/in-development robotic systems, most relevant to the CLAWAR conference, are described.

关键词： space robotics planetary exploration rover orbital robotics servicer

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Research on obstacle-navigation control of a mobile robot for inspection of the power transmission lines based on expert system

引用

8th international conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2005

作者： Ludan, Wang Hongguang, Wang Lijin, Fang Mingyang, Zhao Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School Chinese Academy of Sciences China

ISBN: (纸本)3540264132

this paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of 500Kv extra-high voltage (EHV) power transmission lines, based on a novel movement mechanism. the control system of the mobile robot is based on a hybrid architecture expert system, which is mainly composed of a knowledge base and inference engine and can be applied to obstacle-navigation autonomously. In the control system, environment state data and fuzzified obstacle-data are input to the expert system so that the process of obstacle-navigation can be generated. Hence, joints variables can be calculated by solving the robot kinematics equations. According to the obstacle-navigation process and the calculated joints variables, the controller drives the motor rotations and the robot can overcome the obstacles. © 2006 Springer-Verlag Berlin Heidelberg.

关键词： Mobile robots

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On the big-R notation for describing iterative and recursive behaviors

On the big-R notation for describing iterative and recursive...

引用

5th IEEE international conference on Cognitive informatics (ICCI 2006)

作者： Wang, Yingxu Univ Calgary Dept Elect & Comp Engn Theoret & Empirical Software Engn Res Ctr Calgary AB T2N 1N4 Canada

ISBN: (纸本)9781424404759

the iterative and recursive control structures are the most fundamental mechanisms of computing, because they make programming more effective and expressive. However, these constructs are perhaps the most diverse and confusable instructions in programming languages at both syntactic and semantic levels. Although a wide variety of ways have been proposed for describing iterations, there is still a lack of a unified mathematical notation that may be used to express the notion of repetitive, recursive, and predicative behaviors and architectures in computing.

关键词： computing cognitive informatics basic control structures mathematical notations the big-R notation iteration recursion loop syntax semantics RTPA formal methods

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Fuzzy steering for autonomous MCU-based mobile robotics 5th

Fuzzy steering for autonomous MCU-based mobile robotics

引用

Proceedings of the 5th WSEAS international conference on Computational Intelligence, Man-Machine Systems and Cybernetics, CIMMACS '06

作者： Casey, Robert T. Hensler, Mike Department of Mathematics and Physics DigiPen Institute of Technology 5001 150th Ave. NE RedmondWA98052 United States

Small-scale autonomous vehicle navigation may involve the use of classical or "crisp" sets for control. In this paper, we discuss the successful application of fuzzy sets to such a vehicle's steering mod... 详细信息

ISBN: (纸本)9608457564

关键词： Robots

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Embodied social interaction for service robots in hallway environments 5th

Embodied social interaction for service robots in hallway en...

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5th international conference on Field and Service robotics

作者： Pacchierotti, Elena Christensen, Henrik I. Jensfelt, Patric Swedish Royal Inst Technol Ctr Autonomous Syst SE-10044 Stockholm Sweden

ISBN: (纸本)3540334521

A key aspect of service robotics for everyday use is the motion in close proximity to humans. It is essential that the robot exhibits a behavior that signals safety of motion and awareness of the persons in the environment. To achieve this, there is a need to define control strategies that are perceived as socially acceptable by users that are not familiar with robots. In this paper a system for navigation in a hallway is presented, in which the rules of proxemics are used to define the interaction strategies. the experimental results show the contribution to the establishment of effective spatial interaction patterns between the robot and a person.

关键词： service robotics hallway navigation robot-human interaction embodied social interaction

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Integrated system of assisted mechatronic design for oriented computer to automatic optimising of structure of service robots (SIDEMAR)

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8th international conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Castejon, C. Gimenez, A. Jardon, A. Rubio, H. Garcia-Prada, J. C. Balaguer, C. Univ Carlos III Madrid Dept Mech Madrid Spain Univ Carlos III Madrid Robot Lab Madrid Spain

ISBN: (纸本)3540264132

Service robotics is one of the main priority areas of research in the robotics and automation field. the application of these robots for service tasks (personal assistance, education, social tasks, etc.) has a lot of influence in their design [1], [2]. Several parameters will be crucial like the weight, the kinematics configuration, the layout of masses, etc. these service robots have innovative designs and structures that allow them to move in non structured environments, walking, climbing, etc. One of the main tasks of these robots is to interact and operate with humans. For this reason, their design and development methodology must be different to traditional robots. In this paper we present a new methodology to help the optimization of the process design. this design will allow selecting properly the optimal actuators, materials and the degrees of freedom. this methodology is being developed in a national project between two different areas of this university.

关键词： simulation and design of CLAWAR design modularity and system service robotics

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Feasibility analysis of human motion identification using motion capture

Feasibility analysis of human motion identification using mo...

引用

25th IASTED international conference on Modelling, Identification, and control, MIC 2006

作者： Jablonski, Bartosz Klempous, Ryszard Majchrzak, Damian Wroclaw University of Technology Institute of Informatics Automation and Robotics Janiszewskiego Str. 11/17 50-370 Wroclaw Poland Wroclaw University of Technology Student Scientific Society TRAF at I-6

ISBN: (纸本)0889865515

the paper describes possibilities of application of amplitude spectrum analysis and the Dynamic Time Warping (DTW) method in identification of a person via analysis of leg rotation signals. Human motion is a complex process and its various characteristics may be used in biometric analysis. Several papers demonstrate that information carried by motion of legs and hips may serve as valuable basis for identifying unique motion patterns of a given person. Using this information allows discovery and identification of captured human motion. Developing methods of such analysis will enable in the future efficient identification of persons from a distance. the paper presents possibilities created by applying various methods of motion analysis and suggests directions of advancing biometric identification.

关键词： Motion analysis

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