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检索条件"任意字段=5th International Conference on Robotics and Automation Systems, Robotics 2010"

共 1359 条记录，以下是611-620 订阅

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Research of beam domain MVDR and motion compensation 5

Research of beam domain MVDR and motion compensation

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2014 5th international conference on Information Technology for Manufacturing systems, ITMS 2014

作者： Luo, Xiu Bo Xu, De Min Hu, Jun Jun Hu, Xiao Mei Northwestern Polytechnical University Xi'an China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9783038353263

Minimum variance distortionless response (MVDR) beamformer is a better target detection method, which provided high-resolution and anti-interference abilities. But the nice features will be degraded significantly for a fast bearing-rate target. Because the eigenvalue of longtime integral correlation matrix will spread, the signal and interference are no longer clearly identified by the eigenvectors. A beam domain MVDR and motion compensation arithmetic is given in this paper. the motion effect can be compensated by tracking the signal bearing change using real time estimated beam domain covariance matrix. the detection ability of moving target can be improved. © (2014) Trans Tech Publications, Switzerland.

关键词： Beamforming

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the rules of engagement for cyber-warfare and the Tallinn Manual: A case study 4

The rules of engagement for cyber-warfare and the Tallinn Ma...

引用

4th Annual IEEE international conference on Cyber Technology in automation, Control and Intelligent systems, IEEE-CYBER 2014

作者： Caso, Jeffrey S. Department of Science Technology and International Affairs Georgetown University School of Foreign Service 3700 O St. NW WashingtonDC20057 United States

ISBN: (纸本)9781479936687

Documents such as the Geneva (1949) and Hague Conventions (1899 and 1907) that have clearly outlined the rules of engagement for warfare find themselves challenged by the presence of a new arena: cyber. Considering the potential nature of these offenses, operations taking place in the realm of cyber cannot simply be generalized as 'cyber-warfare,' as they may also be acts of cyber-espionage, cyber-terrorism, cyber-sabaotge, etc. Cyber-attacks, such as those on Estonia in 2007, have begun to test the limits of NATO's Article 5 and the UN Charter's Article 2(4) against the use of force. What defines 'force' as it relates to cyber, and what kind of response is merited in the case of uncertainty regarding attribution? In 2009, NATO's Cooperative Cyber Defence Centre of Excellence commissioned a group of experts to publish a study on the application of international law to cyber-warfare. this document, the Tallinn Manual, was published in 2013 as a non-binding exercise to stimulate discussion on the codification of international law on the subject. After analysis, this paper concludes that the Tallinn Manual classifies the 2010 Stuxnet attack on Iran's nuclear program as an illegal act of force. the purpose of this paper is the following: (1) to analyze the historical and technical background of cyber-warfare, (2) to evaluate the Tallinn Manual as it relates to the justification cyber-warfare, and (3) to examine the applicability of the Tallinn Manual in a case study of a historical example of a cyber-attacks. © 2014 IEEE.

关键词： Terrorism

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Clustering Objects with Robots that Do Not Compute 13

Clustering Objects with Robots That Do Not Compute

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international conference on Autonomous Agents and Multiagent systems (AAMAS)

作者： Gauci, Melvin Chen, Jianing Li, Wei Dodd, Tony J. Gross, Roderich Univ Sheffield Nat Robot Lab Sheffield Ctr Robot Sheffield S Yorkshire England Univ Sheffield Dept Automat Control & Syst Engn Sheffield S Yorkshire England

ISBN: (纸本)9781450327381

this paper presents a multi-robot solution to the task of object clustering, where the simplicity of the robots is pushed to the extreme that (i) each robot can only detect the presence of (but not the distance to) an object or another robot in its direct line of sight, and (ii) the robots are unable to store previous inputs and cannot perform arithmetic computations. Controllers for the robots were synthesized through an evolutionary robotics approach driven by physics-based simulations. the results show that the problem can be solved even if the robots cannot distinguish between objects and other robots;however, if they are able to make this distinction, the clustering performance is significantly improved. the controllers have been shown to scale well to large numbers of robots and objects and to be robust to noise. the sensor/controller solution was implemented on the e-puck robotic system. Across 10 systematic experiments with 5 robots and 20 objects, on average, 86.5% of the objects were in one cluster after 10 minutes. We believe that the sensor/controller simplicity paves the way for the implementation of multi-robot systems at very small scales, as required, for instance, in nanomedical applications.

关键词： Swarm robotics Evolutionary robotics Object Clustering Minimal Information Processing e-puck

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Integration of virtual pheromones for mapping/exploration of environments by using multiple robots

Integration of virtual pheromones for mapping/exploration of...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Janderson R. Oliveira Rodrigo Calvo Roseli A. F. Romero Department of Computer Sciences University of Sao Paulo Sao Carlos Brazil

the multiple robot coordination strategies have several advantages when compared to strategies based on a single robot, in terms of flexibility, gain of information and reduction of map building time. In this paper, a local pheromone map integration method is proposed based on the inter-robot observations, considering a method for the environment exploration named the Inverse Ant System-Based Surveillance System strategy (IAS-SS). Simulation results show that the map integration method is efficient, the trials are performed considering a variable number of robots in an indoor environment. Results obtained from several experiments confirm that the integration process is effective and suitable to execute the control of the access to pheromones in a virtual way.

关键词： Robot kinematics Robot sensing systems Surveillance Navigation automation Biological systems

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A programmable remote center-of-motion controller for minimally invasive surgery using the dual quaternion framework

A programmable remote center-of-motion controller for minima...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Murilo M. Marinho Mariana C. Bernardes Antônio P. L. Bó LARA - Automation and Robotics Laboratory Universidade de Brasília Brasília DF Brazil

Within robotic-aided laparoscopy, one important research topic concerns the teleoperation of open chain serial link manipulators. As opposed to specialized surgical robots, a serial robot might be used for different procedures with small changes on the setup, lowering the involved costs and possibly increasing the acceptance of robotic systems in clinical settings. However, such robots do not present kinematic constraints that guarantee that the tool movements are projected on the pivoting point defined by the incision (RCM). In such scenario, the RCM must be assured by software. this paper presents a novel control strategy for laparoscopic tools attached to robotic manipulators that makes use of a programmable RCM. the tool movement references are generated intuitively by the surgeon, while the RCM is maintained by software using a dual quaternion-based kinematic controller. the method is evaluated in a simulated surgical environment and presented satisfactory results, both in terms of RCM control, tool positioning, and good performance under human operation.

关键词： Quaternions Kinematics Surgery Endoscopes End effectors

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Using Kinect for upper-limb functional evaluation in home rehabilitation: A comparison with a 3D stereoscopic passive marker system

Using Kinect for upper-limb functional evaluation in home re...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Alessandro Scano Marco Caimmi Matteo Malosio Lorenzo Molinari Tosatti CNR - National Research Council Institute of Industrial Technologies and Automation Milan Italy Universitá di Brescia Brescia Italy

the functional evaluation of the upper-limb can be clinically assessed through the analysis of the kinematics, the dynamics, and measures of motor control. Such measures are usually obtained in a clinical environment with commercial stereoscopic 3D devices that allow to sample kinematics at high frequency and with high accuracy and precision, but that are, on the other hand, expensive, time consuming, and, most of all, are not portable. Consequently, such assessments are available only in clinics. With the aim of developing applications for neurological patients movement analysis in home environment, an experimental study has been conducted to compare the performances of a passive-marker motion capture system with the Kinect. Data were acquired simultaneously with the two systems during reaching against gravity movements. Results suggest that Kinect may be a valid tool for studying reaching against gravity and assessing upper-limb functionality at home in neurological patients.

关键词： Kinematics Elbow Joints Robot sensing systems Shoulder Motor drives Indexes

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Visual SLAM based on single omnidirectional views 9

Visual SLAM based on single omnidirectional views

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9th international conference on Informatics in Control automation and robotics, ICINCO 2012

作者： Valiente, David Gil, Arturo Fernández, Lorenzo Reinoso, O. Department of Systems Engineering and Automation Miguel Hernández University Av de la Universidad s/n Elche Alicante03202 Spain

ISBN: (纸本)9783319034997

this chapter focuses on the problem of Simultaneous Localization and Mapping (SLAM) using visual information from the environment. We exploit the versatility of a single omnidirectional camera to carry out this task. Traditionally, visual SLAM approaches concentrate on the estimation of a set of visual 3D points of the environment, denoted as visual landmarks. As the number of visual landmarks increases the computation of the map becomes more complex. In thisworkwe suggest a different representation of the environment which simplifies the computation of the map and provides a more compact representation. Particularly, the map is composed by a reduced set of omnidirectional images, denoted as views, acquired at certain poses of the environment. Each view consists of a position and orientation in the map and a set of 2D interest points extracted from the image reference frame. the information gathered by these views is stored to find corresponding points between the current view captured at the current robot pose and the views stored in the map. Once a set of corresponding points is found, amotion transformation can be computed to retrieve the position of both views. this fact allows us to estimate the current pose of the robot and build the map. Moreover, with the intention of performing a more reliable approach, we propose a new method to find correspondences since it is a troublesome issue in this framework. Its basis relies on the generation of a gaussian distribution to propagate the current error on the map to the the matching process We present a series of experiments with real data to validate the ideas and the SLAM solution proposed in this work. © Springer international Publishing Switzerland 2014.

关键词： robotics

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Control scheme with tissue interaction detection for a single port access surgery robotic platform

Control scheme with tissue interaction detection for a singl...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： C. J. Pérez-del-Pulgar V. F. Muñoz System Engineering and Automation Department Universidad de Málaga Spain

this paper proposes a control scheme for handling surgical instruments by a single port access surgery robotic platform. this scheme is based on a Hidden Markov Model for detecting interaction with tissue inside the abdomen and a Kalman filter measurement fusion method for estimating the fulcrum point using forces and torques exerted on several instruments. In order to perform movements taking into account the estimated fulcrum point, a parallel force-position control algorithm is proposed in order to minimize exerted forces in the patient's abdomen. At last, proposed control scheme has been implemented in a surgical robotics platform composed by two manipulators and experimental results are shown in order to demonstrate how it works.

关键词： Instruments Hidden Markov models Force Surgery End effectors

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Indoor Navigation Framework for Mapping and Localization of Multiple Robotic Wheelchairs

Indoor Navigation Framework for Mapping and Localization of ...

引用

international conference on Intelligent systems, Modelling and Simulation

作者： Yasith Lokuge Prashan Madumal tharindu Kumara Naveen Ranasinghe School of Computing University of Colombo

ISBN: (纸本)9781479938599

the Indoor Navigation Framework we have proposed allows any wheelchair user to be guided to a desired location on his own, as long as the building itself is adopted to the novel system. Unlike the state of the art, where no automation exists for guiding a wheelchair in modern buildings, this allows the owner of the least sophisticated wheelchair to explore public buildings with more ease than a normal person. In this project we intend to implement a working prototype, which fulfills the fundamental functions of the system. It can be further customized to the needs of system owners.

关键词： Framework Indoor Localization Mapping Navigation robotics Wheelchair

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A neural network approach for flexible needle tracking in ultrasound images using Kalman filter

A neural network approach for flexible needle tracking in ul...

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IEEE/RAS-EMBS international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： André A. Geraldes thiago S. Rocha Laboratory of Robotics and Automation (LARA) University of Brasilia Brasilia Brasil

Percutaneous surgical procedures depend on the precise positioning of the needle tip for effectiveness. Although, robustly locating the tip of the needle still represents a challenge, specially when flexible needles are used. An imaging technique widely used for this task is 2D ultrasound, however the low signal/noise ratio makes it difficult to apply conventional image processing techniques. In this work, we propose an alternative method for detecting the needle in an ultrasound image and tracking it during a complete insertion. the proposed method combines a Multilayer Perceptron network with a Kalman filter estimator for improving robustness. In preliminary experimental characterization, we acquired ultrasound images for creating the data set and evaluated the performance of the tracker with a complete insertion video. However the tracking performance is still far from optimal, the obtained results suggests the neural network approach to be a feasible alternative to this problem.

关键词： Needles Ultrasonic imaging Kalman filters Training Nickel Neural networks Vectors

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