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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A radically new approach will be described for the fully distributed and dynamic management of advanced crisis relief operations and missions. It is based on the installation of a universal "social" module i...
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ISBN:
(纸本)9728865597
A radically new approach will be described for the fully distributed and dynamic management of advanced crisis relief operations and missions. It is based on the installation of a universal "social" module in many existing and massively used data processing and control devices, including (but not limited to) internet hosts, laptops, mobile robots and mobile phones. These modules can collectively interpret a special scenario language while exchanging higher-level program code with accompanying data and control in parallel. This can dynamically integrate any scattered post-disaster human and technical resources into an operable distributed system which, from one side, is effectively supervised externally, and from the other side, is capable of solving complex self-analysis, coordination, survivability, relief, and reconstruction problems autonomously.
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.
Studies on human visual perception measurement for perceptual robotics are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual data from an environm...
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ISBN:
(纸本)9728865600
Studies on human visual perception measurement for perceptual robotics are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual data from an environment. The measurement involves visual openness perception in virtual reality, which has direct implications for navigation issues of actual autonomous robotics. The perception is quantified by means of a mapping function which converts a distance to an elemental perception estimate. The measurement is carried out with the averaging of the elemental perceptions in real time. This is accomplished by means of exponential averaging. The mapping function parameters are optimized uniquely by means of genetic algorithm approach where the data set for model development consists of a number of perception data samples. These are obtained from individuals who are confronted with a number of scenes and asked for their perceptual openness statements. Based on this data, a perception model is developed for a virtual robot where the simulated vision interaction of the robot with the environment is converted to visual openness estimation through the model output. The model outcome is essential visual information for the navigation of an autonomous perceptual robot.
Interpreting laser data to allow autonomous robot navigation on paved as well as dirt roads using a fixed angle 2D laser scanner is a daunting task. This paper introduces an algorithm for terrain classification that f...
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Interpreting laser data to allow autonomous robot navigation on paved as well as dirt roads using a fixed angle 2D laser scanner is a daunting task. This paper introduces an algorithm for terrain classification that fuses seven distinctly different classifiers: raw height, roughness, step size, curvature, slope, width and invalid data. These are then used to extract road borders, traversable terrain and identify obstacles. Experimental results are shown and discussed. The results were obtained using a DTU developed mobile robot, and the autonomous tests were conducted in a national park environment.
The paper deals with the problem of autonomous motion for a mobile robot in a totally unknown environment with obstacles and with rough ground. The solution proposed for the safe motion is based on a continuous combin...
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The paper deals with the problem of autonomous motion for a mobile robot in a totally unknown environment with obstacles and with rough ground. The solution proposed for the safe motion is based on a continuous combination between environment analysis and motion, achieved using an incremental path planner working on local maps obtained by an iterative construction of a 3D elevation map, built making use of a stereovision system only, reporting the presence and the highness of obstacles together with the shape of the ground and its discontinuities. The combination of the local map construction with the motion along the portion of the path planned reduces the area to be investigated and, consequently, the time, the computational effort and complexity and so on. Experimental results are reported to validate the proposed technique.
This presentation reviews the topic of space robotics. In the space jargon, often any unmanned space probe is called a robotic probe. This acknowledges the challenges of largely autonomous operation in a complex missi...
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ISBN:
(纸本)3540264132
This presentation reviews the topic of space robotics. In the space jargon, often any unmanned space probe is called a robotic probe. This acknowledges the challenges of largely autonomous operation in a complex mission. In the following, however, the focus will be on space robots: systems involving arms for manipulation or some kind of locomotion device for mobility, having the flexibility to perform varying tasks. As an introduction, some definitions and the rationale for space robotics are given. The main differences between space and terrestrial robots are highlighted, and it is shown that they are driven by the peculiar environmental, system and programmatic constraints of space missions. A second part describes the typical architecture, sub-systems, and some key technologies of robot systems. This distinguishes between manipulator arm and rover type robots. The interdisciplinary system character of space robotics is emphasised. Finally the two main fields of orbital robotics and planetary robotics are introduced, together with the currently perceived application scenarios (i.e. system servicing and payload tending in Low-Earth-Orbit, satellite servicing in Geostationary Earth Orbit, the assembly of large orbiting structures, and applications in exploration missions to the Moon, Mars, Mercury, comets, asteroids, and other celestial bodies). For each application scenario, the main robotic functions are presented and some developed/in-development robotic systems, most relevant to the CLAWAR conference, are described.
This paper considers a combined supervisory and operational control system for an automated storage and retrieval system. The entire control system is developed and implemented using a matrix-based formalism. In parti...
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The Second internationalconference on informatics in control, automation, and robotics (ICINCO 2005) was held in Barcelona on September 14-17, 2005, organized by INSTICC in cooperation with the Universitat Polité...
The Second internationalconference on informatics in control, automation, and robotics (ICINCO 2005) was held in Barcelona on September 14-17, 2005, organized by INSTICC in cooperation with the Universitat Politécnica de Catalunya. This conference was built on the success achieved in its first edition, in 2004, and aims at representing a major forum to debate technical advances presented by researchers and developers, both from academia and industry, working in the conference areas. informatics applications are pervasive in many areas of control, automation, and robotics, and it seems necessary to emphasize and explore this interdisciplinary potential.
This paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of 500Kv extra-high voltage (EHV) power transmission lines, based on a novel movement mechanism. The co...
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