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检索条件"任意字段=IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2001"

共 556 条记录，以下是41-50 订阅

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Forces analysis for micro-manipulation

Forces analysis for micro-manipulation

引用

2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Rougcot, Patrick Régnier, Stéphane Chaillet, Nicolas IEEE Laboratoire d'Automatique de Besançon LAB. UMR CNRS - ENSMM - UFC 24 rue Alain Savary 25000 Besançon Cedex France Laboratoire de Robotique de Paris Université Pierre et Marie Curie CNRS 18 Route du Panorama 92265 Fontenay Aux Roses France

The aim of this article is to give an experimental analysis of the physical phenomena at a microscopic scale. In particular, this article presents experimental measurements based on an AFM system. These experiments show the influence of the contact forces and distance forces especially for micro-manipulation applications. © 2005 ieee.

关键词： Micromanipulators

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Sensing planning to optimize work object location measurements in intelligent robotics

Sensing planning to optimize work object location measuremen...

引用

2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Sallinen, Mikko Heikkilä, Tapio VTT Electronics Kaitovayla 1 90571 Oulu Finland Systems Engineering Laboratory University of Oulu P.O. Box 4400 90014 Oulu Finland

This paper presents a method for planning the sensing features when the geometrical representation of the target object is known. The presented method is a synthesis form and can be used in several measurement applications in robotics. Sensing planning is an important issue when the measurement data is sparse, includes a lot of noise or there are tight time-requirements. The criteria for selecting the measurement locations and orientations is a posteriori error covariance matrix of the parameters to be estimated. The presented approach is verified by simulation tests in the case of work object location. © 2005 ieee.

关键词： robotics

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A vision based algorithm for active robot localization

A vision based algorithm for active robot localization

引用

2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Frontoni, Emanuele Zingaretti, Primo IEEE DIIGA Dipartimento di Ingegneria Informatica Gestionale e dell'Automazione Università Politecnica Delle Marche Via Brecce Bianche 60100 Ancona Italy

This paper describes a method to localize a mobile robot in a structured indoor environment from visual information provided by omnidirectional images. In particular, an approximate algorithm for active robot localization in partially observable environments based on a POMDP model is introduced. Results from many different tests are presented to prove the setting of algorithm parameters. They show that a localization accuracy of less than 25 cm can be achieved even with a partial knowledge of the environment Besides, the proposed approximated algorithm reduces the computational cost without degrading results. © 2005 ieee.

关键词： Mobile robots

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Teacher's load and timing of teaching based on interactive evolutionary robotics

Teacher's load and timing of teaching based on interactive e...

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Katagami, D Yamada, S Tokyo Inst Technol CISS IGSSE Tokyo 152 Japan

ISBN: (纸本)0780378660

We have proposed a fast learning method that enables a mobile robot to acquires autonomous behaviors from interaction between human and robot. In this research we develop a behavior learning method ICS (Interactive Classifier System) using interactive evolutionary computation considering an operator's teaching cost. As a result, a mobile robot is able to quickly learn rules by directly teaching from an operator. ICS is a novel evolutionary robotics approach using classifier system. In this paper, we investigate teacher's physical and mental load and proposed a teaching method based on timing of instruction using ICS.

关键词： Teaching

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Hardware objects of the circuits for robotics

Hardware objects of the circuits for robotics

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Sekine, M Kanamaru, T Kudoh, K Imanaka, H Shiga, Y Ito, H Myokan, Y Tokyo Univ Agr & Technol Fuchu Tokyo 183 Japan

ISBN: (纸本)0780378660

A hardware object is a capsule of circuits loaded into reconfigurable devices. It is dynamically constructed while an application run. Its driver is temporarily mounted on a real driver for a hardware module. The circuits axe suitable to preprocessing and postprocessing of robot systems. A commercial C++ compiler becomes an integrated design environment only attaching hardware object components and hardware object libraries.

关键词： Timing circuits

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Object tracking by introducing stochastic filtering into window-matching techniques

Object tracking by introducing stochastic filtering into win...

引用

2007 ieee international symposium on computational intelligence in robotics and automation, cira 2007

作者： Vidal, Flávio B. Casanova Alcalde, Víctor H. IEEE Electrical Engineering Department University of Brasilia 70910-900 Brasilia DF Brazil

ISBN: (纸本)1424407907

This paper describes the development and the application of an object tracking algorithm from a sequence of images. The algorithm is based on window-matching techniques using the sum of squared differences (SSD) as a distance-similarity measure, but adding stochastic filtering. The algorithm is then applied for tracking a vehicle on an urban environment and for tracking the ball on a ping-pong game. It is concluded that incorporating the Kalman filtering greatly improves the tracking performance. © 2007 ieee.

关键词： Algorithms

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A simple rule how to make a reward for learning with human interaction

A simple rule how to make a reward for learning with human i...

引用

international symposium on computational intelligence in robotics and automation

作者： Kurashige, Kentarou Muroran Inst Technol Dept Comp Sci & Syst Engn Hokkaido Japan

ISBN: (纸本)9781424407897

Recently, various learning methods are adapted for experimental robot. We can make movement of a robot by giving teaching signals to a robot. But it is heavy for operator to define how to give teaching signals generally because operator must guess and think of a task and environment and define a function to do that. Here I aim to create teaching signals automatically for each task and environment. In this paper, I suggest a simple rule which is independent of information about any task and environment to create teaching signals for each task and environment. This rule is that a situation which is often happened is good situation. In this paper, I adopt reinforcement learning as learning method and a small-sized humanoid robot as application. I will show creating a reward by adapting a rule and show that a robot can learn and make movement.

关键词： Education Learning systems robotics and automation Educational robots Robot control Costs Human robot interaction computational intelligence USA Councils Humanoid robots

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Map building and localization using 2D range scanner

Map building and localization using 2D range scanner

引用

ieee international symposium on computational intelligence in robotics and automation

作者： Xu, ZZ Liu, JL Xiang, ZY Zhejiang Univ Dept Informat Sci & Elect Engn Hangzhou 310027 Peoples R China

ISBN: (纸本)0780378660

This paper presents a global localization method based on map matching. A local map is built by successive splitting and merging scan points. A global map is built by merging all local maps. Local and global map are represented with line segments that are sorted counterclockwise. Complete line segments are selected to match between two maps. Matching is based on relative position relation of complete line segment. Localization algorithm based on ordinal map and based on relative position relation improves matching efficiency and lowers computational cost. All these techniques have been implemented on our mobile robot ATRVII equipped with 2D laser range scanner SICK.

关键词： laser ranging navigation path planning optical scanners feature extraction mobile robots global localization method map building map matching successive splitting method merging scan points line segment extraction relative position relation localization algorithm ordinal map computational cost 2D laser range scanner mobile robot

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Development of representations, categories and concepts - A hypothesis

Development of representations, categories and concepts - A ...

引用

2005 ieee international symposium on computational intelligence in robotics and automation cira 2005

作者： Valpola, Harri Laboratory of Computational Engineering Helsinki University of Technology FI-02150 TKK Finland

A long-standing question in cognitive sciences and machine learning is how a system can develop high-level concepts and categories which are useful for motor and cognitive control. I propose an architecture which learns a hierarchy of increasingly abstract, invariant features. Invariance is achieved by selecting information which reflects distinctions present in supervisory signals conveyd by contextual inputs. The main hypothesis is that the right contextual information can be efficiently distributed by associations and attentional process. The original sources of contextual information are specialised systems which reflect the innate, hard-wired behavioural goals of the system. Sensorimotor coordination generates structured sensory stimuli and the intrinsic contextual signals can select the behaviourally significant structures. © 2005 ieee.

关键词： Cognitive systems

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Physics-based animation for qualitative assessment of biomimetic subterranean burrowing Behaviors

Physics-based animation for qualitative assessment of biomim...

引用

international symposium on computational intelligence in robotics and automation

作者： Bergeron, Bryan Harvard Univ Sch Med HST Div Brookline MA 02446 USA

ISBN: (纸本)9781424407897

Physics-based animations executing on 3D game engines enabled with physics middleware libraries and coprocessors can be used to explore the suitability of potential robot behaviors in working environments and robot configurations that are ill-defined or difficult and time-consuming to model with traditional quantitative tools. We use an inexpensive game development engine and PC hardware to develop physics-based animations of potential biomimetic subterranean robot burrowing behaviors. Qualitative assessment of energy efficiency, burrowing time, and digging capabilities of several biomimetic robot designs are validated with data from physical prototypes operated in a range of soil types and models of soil using colored particles. Results suggest this methodology is applicable to rapid screening of potential robot designs intended to operate in a variety of domains.

关键词： biomimetics game engines subterranean robotics modeling and simulation

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