Studies on human visual perception are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual information from an environment. By means of this model s...
详细信息
Studies on human visual perception are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual information from an environment. By means of this model some other vision related concepts, such as visual attention and visual openness, are also mathematically defined. The theoretical considerations are implemented in three applications, namely scene description by perception, visual openness measurement for design, and perceptual robotics.
"Growing Functional Modules" constitutes a prospective paradigm founded on the epigenetic approach whose proposal consists in designing a distributed architecture, based on interconnected modules, that allow...
详细信息
ISBN:
(纸本)9789728865825
"Growing Functional Modules" constitutes a prospective paradigm founded on the epigenetic approach whose proposal consists in designing a distributed architecture, based on interconnected modules, that allows the automatic generation of an autonomous and adaptive controller (artificial brain). The present paper introduces a new module designed to trigger causal inference;its functionality is discussed and its behavior is illustrated applying the module to solve the problem of a dynamic maze.
The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localizatio...
详细信息
ISBN:
(纸本)9789728865832
The ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. The paper focuses on the localization subsystem of the patrolling robot, composed of a non-differential GPS unit and a laser rangefinder for map-based localization (inertial sensors are absent). Moreover, it shows that an augmented state vector approach and an Extended Kalman filter can be successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.
Recently, robotics has found a new field of research in surgery in which it is used as an assistant of the surgeon in order to promote less traumatic surgery and minimal incision of soft tissue. In accordance with the...
详细信息
ISBN:
(纸本)9789728865832
Recently, robotics has found a new field of research in surgery in which it is used as an assistant of the surgeon in order to promote less traumatic surgery and minimal incision of soft tissue. In accordance with the requirements of dental surgeons, we offer a robotic system dedicated to dental implants. A dental implant is a mechanical device fixed into the patient's jaw. It is used to replace a single tooth or a set of missing teeth. Fitting the implant is a difficult operation that requires great accuracy. This work concerns the prototype of a medical robot. Forward and inverse kinematics as dynamics are considered in order to drive a control algorithm which is as accurate and safe as possible.
Some failures cause the robots to loss parts of their capabilities, so that they cannot perform their assigned tasks. Considering requirements of typical robotic teams during different missions, a distributed behavior...
详细信息
ISBN:
(纸本)9789728865832
Some failures cause the robots to loss parts of their capabilities, so that they cannot perform their assigned tasks. Considering requirements of typical robotic teams during different missions, a distributed behavior based control architecture is introduced in this paper. This architecture is based on an enhanced version of ALLIANCE, and provides the robots the ability of performing shared tasks based on help requests. The architecture contains a mechanism for adaptive action selection and a communication protocol for information and task sharing which are required for coordination of team members. The proposed architecture is used in a box pushing mission where heterogeneous robots push several boxes with different masses.
Further studies on computer-based perception by vision modelling are described. The visual perception is mathematically modelled, where the model receives and interprets visual data from the environment. The perceptio...
详细信息
ISBN:
(纸本)9789728865832
Further studies on computer-based perception by vision modelling are described. The visual perception is mathematically modelled, where the model receives and interprets visual data from the environment. The perception is defined in probabilistic terms so that it is in the same way quantified. At the same time, the measurement of visual perception is made possible in real-time. Quantifying visual perception is essential for information gain calculation. Providing virtual environment with appropriate perception distribution is important for enhanced distance estimation in virtual reality. Computer experiments are carried out by means of a virtual agent in a virtual environment demonstrating the verification of the theoretical considerations being presented, and the far reaching implications of the studies are pointed out.
This paper proposes a set approach for the simultaneous localization and mapping (SLAM) in a submarine context. It shows that this problem can be cast into a constraint satisfaction problem which can be solve efficien...
详细信息
ISBN:
(纸本)9789728865832
This paper proposes a set approach for the simultaneous localization and mapping (SLAM) in a submarine context. It shows that this problem can be cast into a constraint satisfaction problem which can be solve efficiently using interval analysis and propagation algorithms. The efficiency of the resulting propagation method is illustrated on the localization of submarine robot, named Redermor. The experiments have been collected by the GESMA (Groupe d'Etude Sous-Marine de l'Atlantique) in the Douarnenez Bay, in Brittany.
The visual alignment robot system for display and semiconductor fabrication process largely consists of multiaxes precision stage and vision peripherals. One of the central issues in a display or semiconductor mass pr...
详细信息
ISBN:
(纸本)9789728865832
The visual alignment robot system for display and semiconductor fabrication process largely consists of multiaxes precision stage and vision peripherals. One of the central issues in a display or semiconductor mass production line is how to reduce the overall tact time by making a progress in the alignment technology between the mask and panel. In this paper, we suggest the kinematics of the 4PPR parallel alignment mechanism with four limbs unlike usual three limb cases and an effective pattern recognition algorithm for alignment mark recognition. The inverse kinematic solution determines the moving distances of joint actuators for an identified mask-panel misalignment. Also, the proposed alignment mark detection method enables considerable reduction in computation time compared with well-known pattern matching algorithms.
In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential...
详细信息
ISBN:
(纸本)9789728865832
In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G(1) continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.
This paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving...
详细信息
ISBN:
(纸本)9789728865832
This paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving their angular positions and a rough estimate of the distance. The device can be easily built with inexpensive components. Second, we comment on a color-based face detection technique that can alleviate skin-color false positives. Third, a person tracking and recognition system is described. Finally, a simple head nod and shake detector is described, suitable for detecting affirmative/negative, approval/disapproval, understanding/disbelief head gestures.
暂无评论