this paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the ...
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ISBN:
(纸本)9789897583803
this paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the exposed interface to other ROS nodes. Following a separation of concerns, the developer only defines the interaction means in a XML file, and the tool provides the whole skeleton of the nodes, including the interface creation and management. this way, the developer can focus on his real added value, the implementation of the node logic. Compared to advanced node management frameworks proposed in literature, the tool proposed does not require the developer to understand and agree on complex high-level architecture models. the developer only has to select a template model, and to provide the desired interface to get the code generated. the package generation is made possible thanks to package templates, and we provide withthe generator tool two templates for creating nodes either in C++ or Python. the user has also the possibility to design his own template, so that he can develop the one that best fits his needs and best practices. the package generator code is accessible on public repository hosting facilities.
the present book includes a set of selected papers from the 5th "internationalconference on informatics in control automation and robotics" (ICINCO 2008), held in Funchal-Madeira, Portugal, 11-15 May 2008. ...
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ISBN:
(数字)9783642002717
ISBN:
(纸本)9783642002700
the present book includes a set of selected papers from the 5th "internationalconference on informatics in control automation and robotics" (ICINCO 2008), held in Funchal-Madeira, Portugal, 11-15 May 2008. the conference was organized in three simultaneous tracks: "Intelligent control Systems and Optimization", "robotics and automation" and "Systems Modeling, Signal Processing and control". the book is based on the same structure. the purpose of this conference is to bring together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. informatics applications are pervasive in many areas of control, automation and robotics, and this conference intends to emphasize this connection, therefore, most papers highlight applications of Information Technology (IT) in these areas and present ideas on how to solve problems using IT, both in R&D and industrial applications. A diversity of papers are included in the book, ranging from papers describing advanced prototypes, systems, tools and techniques to papers presenting surveys indicating future directions.
In this paper, a novel method with perturbation technique is proposed to obtain analytic approximate solutions to the SLIP dynamics in stance phase with considering the effect of gravity. the perturbation solution ach...
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An accurate extrinsic calibration between a robots' exteroceptive sensors and its manipulator is essential for tasks such as mobile manipulation and tactile exploration. Especially for extrinsic calibration of a m...
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ISBN:
(纸本)9789897583803
An accurate extrinsic calibration between a robots' exteroceptive sensors and its manipulator is essential for tasks such as mobile manipulation and tactile exploration. Especially for extrinsic calibration of a manipulators' end effector and 2D laser scanner, state-of-the-art approaches often require complex calibration targets or sensors which need to be mounted to the end effector. therefore, such approaches are only suitable to a limited extent for use in mobile robotics. In this paper, we present a simple but effective approach to determine the six degrees of freedom transformation between the end effector of a serial manipulator and the center of a 2D laser scanner. In contrast to other approaches, our approach requires only a 1D target for calibration. Whereas complex calibration geometries often require a tool change for calibration, our approach is also applicable using practical objects like a drill mounted to the end effector. As a consequence, a tool change is not required for recalibration for many applications anymore. To evaluate the performance of our approach, we perform the calibration based on simulated as well as real data. We compare our results against the ground truth of a physically closed transformation chain using the lidars' CAD data.
this conference proceedings volume contains 94 papers. the following topics are dealt with: hierarchical intelligent control;perception-representation-action triad;nonconventional cost functions;team decision making;s...
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ISBN:
(纸本)0818621087
this conference proceedings volume contains 94 papers. the following topics are dealt with: hierarchical intelligent control;perception-representation-action triad;nonconventional cost functions;team decision making;swarm intelligence;perceptual robotics;shape representation;shape extraction and analysis;active perception;acoustic perception;intelligent computing systems;knowledge representation for learning control;neurocontroller design;neural network applications;fault-tolerant control systems;noise identification in linear systems;evidential and fuzzy reasoning in intelligent control.
Hybrid electric vehicles are one of the most suitable alternative for conventional automobiles. this paper describes a control strategy for a hybrid electric vehicle, in order to reduce the fuel consumption, and to ma...
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ISBN:
(纸本)9789898565211
Hybrid electric vehicles are one of the most suitable alternative for conventional automobiles. this paper describes a control strategy for a hybrid electric vehicle, in order to reduce the fuel consumption, and to maintain a reasonable state of charge (SOC), at the end of the drive cycle. the main goal is to split the requested power from the driver between the internal combustion engine, and the electric motor, such way to decrease the fuel consumption, and to maintain the dynamic performances. the algorithm was tested using Matlab Simulink and ADVISOR interface. the results include statistical comparisons of the standard drive cycles using default model and the modified control strategy.
Covert robotics refers to the use of mobile robots with navigation abilities to carry out missions with stealth. Such robots would be useful in various high risk situations where safety and security are required. Yet,...
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Ensuring sustainable development and improving the quality of life of people in the face of global challenges are priority tasks of the socio-economic policy of Russia and its constituent entities. Global challenges a...
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the proceedings contain 194 papers. the topics discussed include: trends and innovations in process automation;technologies for achieving field-ubiquitous computing;global megatrends and their effects on the productio...
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ISBN:
(纸本)1424408644
the proceedings contain 194 papers. the topics discussed include: trends and innovations in process automation;technologies for achieving field-ubiquitous computing;global megatrends and their effects on the production of the future;software design aimed to the control of the automatic machines: design patterns;engineering industrial ecosystems in a networked world;how open standard based tools can support the future of flexible manufacturing;an efficient data preprocessing method for mining customer survey data;case study: utilities and asset management - time for a change;design and development of a service-oriented supply chain: an IT perspective;e-business and collaborative networks: a service-oriented ICT platform for the footwear industry;ontology based data warehouse modeling and mining of earthquake data: prediction analysis along Eurasian-Australian continental plates;and a comparative study of dynamic learning rate BPN and wavelet neural networks.
In recent years, posture matching has found extensive applications in rehabilitation training. However, the recent known study has primarily concentrated on posture scoring performance while neglecting the incorporati...
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