In this paper we present the novel concepts incorporated in a planetary surface exploration rover design that is currently under development. the Multitasking Rover (MTR) aims to demonstrate functionality that will co...
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ISBN:
(纸本)9728865600
In this paper we present the novel concepts incorporated in a planetary surface exploration rover design that is currently under development. the Multitasking Rover (MTR) aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability. the rover system has enhanced mobility characteristics. It operates in conjunction with Science Packs (SPs) and Tool Packs (TPs)-modules attached to the main frame of the rover, which are either special tools or science instruments and alter the operation capabilities of the system.
this paper concerns two fundamental issues in video shots retrieval: key frame identification and similarity measurement between the key frames. We propose a simple key frame extraction algorithm based on optical flow...
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To be competitive, manufacturing should adapt to changing conditions existing in the market. Manufacturing firms also need to adapt to newly developed technologies and to rapidly changing environmental protection regu...
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ISBN:
(纸本)9728865600
To be competitive, manufacturing should adapt to changing conditions existing in the market. Manufacturing firms also need to adapt to newly developed technologies and to rapidly changing environmental protection regulations. Modem automated manufacturing systems need robotized material-conditioning systems capable of moving materials efficiently throughout the entire production area. this involves not only moving and storing materials, but also identifying, locating, qualifying, controlling and measuring them during processing and transportation. the objective of the proposed project is the design, implementing, testing and validation of a holonic, fault-tolerant manufacturing control platform integrating multiple robots with visual guidance for on demand material conditioning and automated visual inspection.
Robot path planning and obstacle avoidance problems play an important role in mobile robotics. the standard algorithms assume that a working environment is static or changing slowly. Moreover, computation time and tim...
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ISBN:
(纸本)9728865600
Robot path planning and obstacle avoidance problems play an important role in mobile robotics. the standard algorithms assume that a working environment is static or changing slowly. Moreover, computation time and time needed for realization of the planned path is usually not crucial. the paper describes a novel algorithm that is focused especially to deal withthese two issues: the presented algorithm - Elliptic Net is fast and robust and therefore usable in highly dynamic environments. the main idea of the algorithm is to cover an interesting part of the working environment by a set of nodes and to construct a graph where the nodes are connected by edges. Weights of the edges are then determined according to their lengths and distance to obstacles. this allows to choose whether a generated path will be safe (far from obstacles), short, or weigh these two criterions. the Elliptic Net approach was implemented, experimentally verified, and compared with standard path planning algorithms.
Automatic segmentation of the liver has the potential to assist in the diagnosis of disease, preparation for organ transplantation, and possibly assist in treatment planning. this paper presents initial results from w...
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ISBN:
(纸本)9781424403417
Automatic segmentation of the liver has the potential to assist in the diagnosis of disease, preparation for organ transplantation, and possibly assist in treatment planning. this paper presents initial results from work that extends on previous two-dimensional (2D) segmentation methods by implementing full three-dimensional (3D) liver segmentation, using a self-reparameterising discrete deformable model. this method overcomes many of the weaknesses inherent in 2D segmentation techniques, such as the inability to automatically segment separate lobes of the liver in each image slice, and sensitivity to individual-slice noise. Results are presented showing volumetric and overlap comparison of twelve automatically segmented livers withtheir corresponding manually segmented livers, which were treated as the gold standard for this study.
this article presents the authors ongoing work towards a six degrees of freedom simultaneous localization and mapping (SLAM) solution for the Project AURORA autonomous robotic airship. While the vehicle's mission ...
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ISBN:
(纸本)9728865600
this article presents the authors ongoing work towards a six degrees of freedom simultaneous localization and mapping (SLAM) solution for the Project AURORA autonomous robotic airship. While the vehicle's mission is being executed in an unknown environment, where neither predefined maps nor satellite help are available, the airship has to use nothing but its own onboard sensors to capture information from its surroundings and from itself, locating itself and building a map of the environment it navigates. To achieve this goal, the airship sensorial input is provided by an inertial measurement unit (IMU), whereas a single onboard camera detects features of interest in the environment, such as landmark information. the data from both sensors are then fused using an architecture based on an extended Kalman filter, which acts as an estimator of the robot pose and the map. the proposed methodology is validated in a simulation environment, composed of virtual sensors and the aerial platform simulator of the AURORA project based on a realistic dynamic model. the results are hereby reported.
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 plannin...
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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.
this paper addresses a systematic method for the reconstruction and the prediction of a distributed phenomenon characterized by partial differential equations, which is monitored by a sensor network. In the first step...
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ISBN:
(纸本)9728865619
this paper addresses a systematic method for the reconstruction and the prediction of a distributed phenomenon characterized by partial differential equations, which is monitored by a sensor network. In the first step, the infinite-dimensional partial differential equation, i.e. distributed-parameter system, is spatially and temporally decomposed leading to a finite-dimensional state space form. In the next step, the state of the resulting lumped-parameter system, which provides an approximation of the solution of the underlying partial differential equations, is dynamically estimated under consideration of uncertainties both occurring in the system and arising from noisy measurements. By using the estimation results, several additional tasks can be achieved by the sensor network, e.g. optimal sensor placement, optimal scheduling, and model improvement. the performance of the proposed model-based reconstruction method is demonstrated by means of simulations.
As confirmed by recent neurophysiological studies, the use of dynamic information is extremely important for humans in visual perception of biological forms and motion. Apart from the mere computation of the visual mo...
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ISBN:
(纸本)9781424403417
As confirmed by recent neurophysiological studies, the use of dynamic information is extremely important for humans in visual perception of biological forms and motion. Apart from the mere computation of the visual motion of the viewed objects, the motion itself conveys far more information, which helps understanding the scene. this paper provides an overview and some new insights on the use of dynamic visual information for face recognition. In this context, not only physical features emerge in the face representation, but also behavioral features should be accounted. While physical features are obtained from the subject's face appearance, behavioral features are obtained from the individual motion and articulation of the face. In order to capture boththe face appearance and the face dynamics, a dynamical face model based on a combination of Hidden Markov Models is presented. the number of states (or facial expressions) are automatically determined from the data by unsupervised clustering of expressions of faces in the video. the underlying architecture closely recalls the neural patterns activated in the perception of moving faces. Preliminary results on real video image data show the feasibility of the proposed approach.
the existing designs for providing Anycast services are either to confine each Anycast group to a preconfigured topological region or to globally distribute routes to individual Anycast groups which causes the routing...
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