检索结果-内蒙古大学图书馆

2005 IEEE international conference on robotics and automation

作者： Zhang, Wei Halang, Wolfgang A. Diedrich, Christian Faculty of Electrical and Computer Engineering FernUniversität Hagen Universitätstr. 27 58084 Hagen Germany Institut of Automation and Communication 39179 Barleben Germany

ISBN: (纸本)078038914X

The concept of FB based on newly appearing standard IEC 61499 originates in automation engineering and corresponds to the distributed control structure. A FB represents an abstraction of a software functional unit comprising an individual data structure and associated operations. To support the mature of the FB-related design paradigm in this paper, we discuss the specification of FBs and FB applications in UML. The paper suggests three types of models which have the purposes of general specification, automated code generation and test case generation. The first and second models are specified in UML while the third one is to be formalised in certain formal language. We focus on the first two model specification in this paper which transform FB-related elements in UML expressions. This shows that the rich resources provided for UML can be applicable to FB paradigm. The characteristics and the potential use of the model are discussed. © 2005 IEEE.

关键词： Distributed parameter control systems

来源：评论

学校读者我要写书评

暂无评论

Features selection for sensor fusion in a demining robot

Features selection for sensor fusion in a demining robot

引用

2005 IEEE international conference on robotics and automation

作者： Larionova, Svetlana Marques, Lino De Almeida, Anibal T. Institute of Systems and Robotics University of Coimbra Polo II 3030-290 Coimbra Portugal

ISBN: (纸本)078038914X

humanitarian demining is a dangerous and time consuming task which leads to more victims among deminers. Thus large efforts are being made worldwide in order to develop autonomous robots able to detect landmines without human participation. Any single sensor currently available for antipersonnel landmine detection can not provide the required detection/false alarm ratio, thus a combination of several sensors together with sensor fusion techniques is used. One of the main problems in the practical implementation of sensor fusion for a demining robot is the lack of experimental data for training the algorithms. Formally using a small training and evaluation set does not allow to take conclusions about the results of sensor fusion. This work presents a sensor fusion strategy which helps to overcome the problem of having few experimental data by creating an unified landmine signatures database. Using this database for sensor fusion in general and for features selection in particular is described. In addition to commonly used statistical features several new features are proposed which reflect the shape and the nature of the object. Moreover the designed ROIs extraction algorithm provides additional information allowing to improve features extraction. The results of features selection using a combination of Mutual information and Hausdorff distance are presented. Preliminary results of sensor fusion for pulsed and continuous metal detectors are also presented. © 2005 IEEE.

关键词： Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

A framework for the development of cooperative robotic applications

A framework for the development of cooperative robotic appli...

引用

12th international conference on Advanced robotics, 2005. ICAR '05

作者： Nebot, Patricio Cervera, Enric Robotics Intelligence Lab. Jaume-I University Castelló Spain

ISBN: (纸本)0780391772

The advances in mobile robotics, computing power, and wireless communications have turned feasible the development of communities of autonomous robots. In the last years, there is a greater interest in systems of multiple autonomous robots for the accomplishment of cooperative tasks. This project takes it into account and presents an architecture for the development of collaborative applications for a heterogeneous team of mobile robots based on embedded agents. The implemented architecture has the capacity to allow the team of robots to accomplish such tasks, and also it has tools and features that allow programmers to develop complex applications in a reasonable time. An agent-based development platform has been used for this purpose, due to it integrates the necessary capabilities for developing distributed applications, and manages the communications among all the components. To demonstrate the advantages of the architecture a real application, robot following, has been implemented. It consists of a set of embedded agents, which run in real robot systems, demonstrating that embedding agents in distributed intelligent systems is a powerful method for quick application development in the multirobot domain. © 2005 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Autonomous Modular Optical Underwater Robot (AMOUR) design, prototype and feasibility study

Autonomous Modular Optical Underwater Robot (AMOUR) design, ...

引用

2005 IEEE international conference on robotics and automation

作者： Vasilescu, Iuliu Varshavskaya, Paulina Kotay, Keith Rus, Daniela Comp. Sci. and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA United States Dartmouth Robotics Laboratory Dartmouth College Hanover NH United States

ISBN: (纸本)078038914X

We propose a novel modular underwater robot which can self-reconfigure by stacking and unstacking its component modules. applications for this robot include underwater monitoring, exploration, and surveillance. Our current prototype is a single module which contains several subsystems that later will be segregated into different modules. This robot functions as a testbed for the subsystems which are needed in the modular implementation. We describe the module design and discuss the propulsion, docking, and optical ranging subsystems in detail. Experimental results demonstrate depth control, linear motion, target module detection, and docking capabilities. ©2005 IEEE.

关键词： Modular robots

来源：评论

学校读者我要写书评

暂无评论

Robotic deployment for environmental sampling applications

Robotic deployment for environmental sampling applications

引用

5th international conference on Control and automation, ICCA'05

作者： Popa, Dan O. Sreenath, Koushil Lewis, Frank L. University of Texas at Arlington Arlington TX United States

ISBN: (纸本)0780391381

The use of robotics in environmental monitoring applications requires distributed sensor systems optimized for effective estimation of relevant models subject to energy and environmental constraints. The sensor carrying robots are in fact agents that facilitate the repositioning of network nodes in order to increase their coverage and accuracy. Wireless or acoustic network communication is an essential technology in transmitting the sensed as well as telemetry information between robots. Each mobile sensing node (robot) is characterized by sensing or measurement noise, localization uncertainty, and navigates in a region with a parameterized field model. This paper addresses a problem of great importance to the SN robotic deployment: adaptive sampling by selection and repositioning of mobile sensing nodes in order to optimally estimate the parameters of distributed variable field models. We present simulation results using deployment scenarios that will be experimentally validated at a future date. © 2005 IEEE.

关键词： robotics

来源：评论

学校读者我要写书评

暂无评论

A robotic mechanism for grasping sacks

引用

IEEE TRANSACTIONS ON automation SCIENCE AND ENGINEERING 2005年第2期2卷 111-120页

作者： Kazerooni, H Foley, C Univ Calif Berkeley Dept Engn Mech Berkeley CA 94720 USA Univ Calif Berkeley Dept Engn Mech Berkeley CA 94720 USA

This paper describes a novel robotic end-effector and a method for grasping deformable objects with undefined shapes and geometry, such as sacks and bags. The first prototype end-effector, designed for applications in the U.S. Postal Service, is comprised of two parallel rollers with gripping surfaces in which the rollers are pushed toward each other. When the end-effector comes into contact with any portion of the deformable object, the rollers turn inwardly so that a graspable portion of the object is dragged between the rollers. The rollers stop rotating when a graspable portion of the material/object is caught in between, allowing the object to be maneuvered by the robot. The object is released when the rollers turn outwardly. The end-effector described in this article can grab and hold filled sacks from any point on the sack, regardless of the sack's orientation. Experimental evaluation of the end-effector has proven the design and implementation remarkably effective. This article describes the hardware, control method, and design issues associated with the end-effector.

关键词： compliant end-effector grasp robotics rollers sacks

来源：评论

学校读者我要写书评

暂无评论

Preliminary design and testing of a novel robot design for metal finishing applications

Preliminary design and testing of a novel robot design for m...

引用

2005 IEEE international conference on robotics and automation

作者： Somes, Steven D. Dohring, Mark E. Newman, Wyatt S. Western Robotics Co. Kirtland OH Lewis Stokes Cleveland V.A. Medical Center Cleveland OH 44106 Case Western Reserve University Cleveland OH 44106

ISBN: (纸本)078038914X

We present a novel robot design concept intended for material removal in finishing operations. A key component of the design is a cable-driven transmission that exhibits low friction, negligible backlash and high linearity. Use of this transmission in a 2-DOF test rig demonstrated the capacity for stable, smooth performance in grinding and polishing operations. The prototype could be programmed quickly to remove surface flaws using compliant leadthrough for teaching. During grinding, the robot was capable of measuring surface profiles to monitor grinding progress. A full-mobility design concept is proposed for an advanced surface-finishing robot. © 2005 IEEE.

关键词： Programmable robots

来源：评论

学校读者我要写书评

暂无评论

Optimizing leg distribution around the body in walking robots

Optimizing leg distribution around the body in walking robot...

引用

2005 IEEE international conference on robotics and automation

作者： Gonzalez De Santos, Pablo Estremera, J. Garcia, E. Industrial Automation Institute-CSIC Ctra. Campo Real Km 02 28500 Arganda del Rey Madrid Spain

ISBN: (纸本)078038914X

Walking-robot technology has reached an advanced stage of development, as has already been demonstrated by a number of real applications. However, further improvement is still needed if walking robots are to compete with traditional vehicles. Some potential improvements could be gained through optimization. Thus, this paper presents a method for distributing the legs around the robot's body such as to reduce the forces the legs must exert to support and propel the robot. The method finds through non-linear optimization techniques the middle leg displacement that nulls the difference between foot forces in a middle leg and a corner leg. A walking robot has been built to assess the theoretical results. © 2005 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

A ground-penetrating robot for underground chemical source location

A ground-penetrating robot for underground chemical source l...

引用

IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Russell, RA Monash Univ Ctr Percept & Intelligent Machines Complex Enviro Clayton Vic 3800 Australia

ISBN: (纸本)0780389123

The Robot Mole project at Monash University aims to develop robotic systems for locating the source of volatile chemicals released underground. As part of this project a mobile robot, MOLE I has been designed that takes readings of underground chemical concentrations by inserting a probe into the ground at a sequence of locations. The robot is guided towards regions of higher chemical concentration using the hex-path algorithm. This algorithm was developed especially for the task of locating underground chemical sources and this is the first time that it has been tested using a mobile robot. There are important economic, environmental and humanitarian applications for-systems that can find the source of an odor or volatile chemical located beneath the ground. These applications range from harvesting truffles, to finding the location of leaking chemical storage tanks and unexploded ordinance. In this paper the robot construction and hex-path algorithm are described together with experimental results that demonstrate the capabilities of the robot system.

关键词： underground chemical sources chemical sensing chemical source location mobile robotics

来源：评论

学校读者我要写书评

暂无评论

Parametric excitation mechanisms for dynamic bipedal walking

Parametric excitation mechanisms for dynamic bipedal walking

引用

2005 IEEE international conference on robotics and automation

作者： Asano, Fumihiko Luo, Zhi-Wei Hyon, Sang-Ho Environment Adaptive Robotic Systems Lab. Bio-Mimetic Control Research Center RIKEN Moriyama-ku Nagoya 463-003 Japan Dept. of Bioengineering and Robotics Tohoku University Aramaki-Aza-Aoba 01 Sendai 980-8579 Japan

ISBN: (纸本)078038914X

It is already clarified throughout studies of passive dynamic walking mechanisms that the common necessary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we consider a novel dynamic gait generation method based on mechanical energy restoration by parametric excitation using telescopic leg actuation. We first introduce a simple walking model and a control law for the telescopic leg motion, and show the typical walking pattern by numerical simulations. We then analyze the gait performance by adjusting some control and physical parameters. In addition, some extensions of the mechanism and control applications are investigated. ©2005 IEEE.

关键词： Biped locomotion

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：