Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic struc...
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ISBN:
(纸本)9789896740009
Estimating a robot's reachable workspace is a fundamental problem in robotics. For simple kinematic chains within an empty environment this computation can be relatively straightforward. For mobile kinematic structures and cluttered environments, the problem becomes more challenging. An efficient probabilistic method for workspace estimation is developed by applying a hierarchical strategy and developing extensions to a probabilistic motion planner. Rather than treating each of the degrees of freedom (DOFs) 'equally', a hierarchical representation is used to maximize the volume of the robot's workspace that is identified as reachable for each probe of the environment. Experiments with a simulated mobile manipulator demonstrate that the hierarchical approach is an effective alternative to the use of an estimation process based on the use of a traditional probabilistic planner.
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...
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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.
"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...
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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.
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...
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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.
Tracking multiple targets is a great challenge for most tracking algorithms, since these algorithms tend to loose some of the targets when they get close to each other. Hence, several algorithms like the MHT, the JPDA...
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ISBN:
(纸本)9728865600
Tracking multiple targets is a great challenge for most tracking algorithms, since these algorithms tend to loose some of the targets when they get close to each other. Hence, several algorithms like the MHT, the JPDAF and the PMHT have been developed for this task. However, these algorithms are specialized on punctiform targets, whereas in mobile robotics one has to deal with extended targets. Therefore, in this paper an algorithm is proposed that can solve this problem. It uses the Viterbi algorithm and some geometrical characteristics of the problem. The proposed algorithm was tested with real world data.
This article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple me...
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ISBN:
(纸本)9789896740009
This article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple method to allocate individuals of a robotic swarm to a partitioned task, and show that task partitioning can increase system performance by reducing sources of interference. The method is experimentally studied, both in an environment with a narrow area and an environment without this constraint. The results are analyzed and compared to the case in which task partitioning is not employed.
This paper describes our efforts and plans to develop a Virtual Laboratory for the education in robotics and automation. These efforts are characterized by the need of blending R&A subjects into a traditional Comp...
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ISBN:
(纸本)0780377362
This paper describes our efforts and plans to develop a Virtual Laboratory for the education in robotics and automation. These efforts are characterized by the need of blending R&A subjects into a traditional Computer Science curriculum, thus forcing a specific selection of development topics. In this context, the robotics Laboratory must provide basic as well as advanced experiments, to address the needs of students at different education levels. In this paper, we present the development of three main applications, to support control Systems and robotics classes, as well as thesis and dissertation research. Of particular interest is the effort in the area of teleoperation, preliminary to the opening, next year, of a new curriculum on Medical informatics, in which Computer Assisted Surgery will play an important role.
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...
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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.
Session 1 includes 109 papers selected from 2011 3rd international asia conference on informatics in control, automation and robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China. This session will act as...
ISBN:
(纸本)9783662521236
Session 1 includes 109 papers selected from 2011 3rd international asia conference on informatics in control, automation and robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China. This session will act as an international forum for researchers and practitioners interested in the advances in and applications of Intelligent control Systems. It is an opportunity to present and observe the latest research, results, and ideas in these areas. Intelligent control is a rapidly developing, complex, and challenging field of increasing practical importance and still greater potential. Its applications have a solid core in robotics and mechatronics but branch out into areas as diverse as process control, automotive industry, medical equipment, renewable energy and air conditioning. So, this session will aim to strengthen relationships between industry, research laboratories and universities. All papers published in session 1 will be peer evaluated by at least two conference reviewers. Acceptance will be based primarily on originality and contribution.
In the near future, service robots will support people with different handicaps to improve the quality of their life. One of the required key technologies is to setup the grasping ability of the robot. This includes a...
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ISBN:
(纸本)9789898111319
In the near future, service robots will support people with different handicaps to improve the quality of their life. One of the required key technologies is to setup the grasping ability of the robot. This includes an autonomous object detection and grasp motion planning to fulfil the task of providing objects from any position on a table to the user. This paper presents a complete system, which consists of a fixed working station equipped with a laser-range scanner, a seven degrees of freedom arm manipulator and an arm prothesis as gripper. The contribution of this work is to use only one sensor system based on a laser-range scanning head to solve this challenge. The goal is that the user can select any defined object on the table and the robot arm delivers it to a target position or to the disabled person.
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