检索结果-内蒙古大学图书馆

Proceedings of the Seventh International Conference on Information fusion, fusion 2004

作者： Makarenko, Alexei Durrant-Whyte, Hugh ARC Ctr. Excellence Autonomous Syst. University of Sydney Australia

ISBN: (纸本)917056115X

The paper presents an algorithm for Bayesian decentralized data fusion (BDDF) and its extension to information-theoretic control. The algorithm is stated for a feature represented by a general probability density function. Several specific representations are then considered - Gaussian, discrete, Certainty Grid, and hybrid. Well known algorithms for these representations are shown to fit the general BDDF pattern. Stating the algorithms in Bayesian terms has a practical advantage of allowing a generic software implementation. It is also hoped that a clear general formulation will stimulate extensions to efficient non-parametric representations of arbitrary distributions. The algorithms are described in the context of the Active sensor Network architecture - a modular framework for decentralized cooperative data fusion and control. The approach is illustrated with the results of two deployment scenarios with an indoor sensor network.

关键词： sensor data fusion

来源：评论

学校读者我要写书评

暂无评论

An open multi-agent control architecture to support virtual reality based man-machine interfaces

An open multi-agent control architecture to support virtual ...

引用

sensor fusion and decentralized control in robotic systems IV Conference

作者： Freund, E Rossmann, R Brasch, M Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819442992

Projective Virtual Reality(2) is a new and promising approach to intuitively operable man machine interfaces for the commanding and supervision of complex automation systems. The user interface part of Projective Virtual Reality heavily builds on latest Virtual Reality techniques, a task deduction component and automatic action planning capabilities. In order to realize man machine interfaces for complex applications, not only the Virtual Reality part has to be considered but also the capabilities of the underlying robot and automation controller are of great importance. This paper presents a control architecture that has proved to be an ideal basis for the realization of complex robotic and automation systems that are controlled by Virtual Reality based man machine interfaces. The architecture does not just provide a well suited framework for the real-time control of a multi robot system but also supports Virtual Reality metaphors and augmentations which facilitate the user's job to command and supervise a complex system. The developed control architecture has already been used for a number of applications. Its capability to integrate sensor information from sensors of different levels of abstraction in real-time helps to make the realized automation system very responsive to real world changes. In this paper, the architecture will be described comprehensively, its main building blocks will be discussed and one realization that is built based on an open source real-time operating system will be presented. The software design and the features of the architecture which make it generally applicable to the distributed control of automation agents in real world applications will be explained. Furthermore its application to the commanding and control of experiments in the Columbus space laboratory, the European contribution to the International Space Station (ISS), is only one example which will be described.

关键词： Projective Virtual Reality robot controller real-time-capability distributed system International Space Station man-machine-interface

来源：评论

学校读者我要写书评

暂无评论

Babybot: a biologically inspired developing robotic agent

Babybot: a biologically inspired developing robotic agent

引用

Conference on sensor fusion and decentralized control in robotic systems III

作者： Metta, G Panerai, F Sandini, G Univ Genoa DIST LIRA Lab Genoa Italy

ISBN: (纸本)0819438618

The study of development either artificial or biological, can highlight the mechanisms underlying learning and adaptive behavior. We shall argue whether developmental studies might provide a different and potentially interesting perspective either on how to build an artificial adaptive agent, or on understanding how the brain solves sensory, motor, and cognitive tasks. It is our opinion that the acquisition of the proper behavior might indeed be facilitated because within an ecological context, the agent, its adaptive structure and the environment dynamically interact thus constraining the otherwise difficult "learning problem". In very general terms we shall describe the proposed approach and supporting biological related facts. In order to further analyze these aspects from the modeling point of view, we shall demonstrate how a twelve degrees of freedom "baby" humanoid robot acquires orienting and reaching behaviors, and what advantages the proposed framework might offer. In particular, the experimental setup consists of a five degrees-of-freedom (dof) robot head, and an off-the-shelf six dof robot manipulator, both mounted on a rotating base: i.e. the torso. From the sensory point of view, the robot is equipped with two space-variant cameras, an inertial sensor simulating the vestibular system, and proprioceptive information through motor encoders. The biological parallel is exploited at many implementation levels. It is worth mentioning, for example, the space-variant eyes, exploiting foveal and peripheral vision in a single arrangement, the inertial sensor providing efficient image stabilization (vestibulo-ocular reflex).

关键词： biomimetic robotics learning development sensori-motor coordination

来源：评论

学校读者我要写书评

暂无评论

Get in touch: cooperative decision making based on robot-to-robot collisions

引用

autonomous AGENTS AND MULTI-AGENT systems 2009年第1期18卷 133-155页

作者： Schmickl, Thomas Thenius, Ronald Moeslinger, Christoph Radspieler, Gerald Kernbach, Serge Szymanski, Marc Crailsheim, Karl Karl Franzens Univ Graz Dept Zool Graz Austria Univ Appl Sci St Poelten St Polten Austria Univ Stuttgart Inst Parallel & Distributed Syst Stuttgart Germany Univ Karlsruhe TH Inst Proc Control & Robot Karlsruhe Germany

We demonstrate the ability of a swarm of autonomous micro-robots to perform collective decision making in a dynamic environment. This decision making is an emergent property of decentralized self-organization, which results from executing a very simple bio-inspired algorithm. This algorithm allows the robotic swarm to choose from several distinct light sources in the environment and to aggregate in the area with the highest illuminance. Interestingly, these decisions are formed by the collective, although no information is exchanged by the robots. The only communicative act is the detection of robot-to-robot encounters. We studied the performance of the robotic swarm under four environmental conditions and investigated the dynamics of the aggregation behaviour as well as the flexibility and the robustness of the solutions. In summary, we can report that the tested robotic swarm showed two main characteristic features of swarm systems: it behaved flexible and the achieved solutions were very robust. This was achieved with limited individual sensor abilities and with low computational effort on each single robot in the swarm.

关键词： Swarm robotics Collective decision Swarm intelligence Honey bees Heterogeneous environment

来源：评论

学校读者我要写书评

暂无评论

Navigation control of a mobile robotic system in semi-structured and dynamic environment for controlled dose delivery of pesticides

Navigation control of a mobile robotic system in semi-struct...

引用

1st IEEE International Conference on Trends in Automation, Communications and Computing Technologies (I-TACT)

作者： Patel, Manoj Kumar Kathuria, Chiranjiv Singh Singla, Aneesh Sahoo, Hemant Kumar Nayak, Manoj Kumar Ghanshyam, C. AcSIR CSIO Chandigarh 160030 India CSIR CSIO Chandigarh 160030 India Thapar Univ Patiala 147004 Punjab India

ISBN: (纸本)9781467366670

A major portion of the autonomous mobile robotics research has been in the development of reliable means for navigation and control of autonomous systems in a complex, irregular, unstructured and dynamic environment for farm duties such as seeding, pruning, pesticide spraying, reaping etc. Several practices have been established by numerous researchers in the motion planning of mobile robots. This paper presents an ultrasonic multi-sensor fusion based technique for navigation and control of the autonomous mobile robotic system for collision avoidance, target detection and canopy mapping. The autonomous system is a combination of real time monitoring and navigation, detection of the target and canopy mapping which delivers controlled dose of pesticide in a targeted manner according to the information gathered from the sensory attributes of precision farming data set through online and real time monitoring of the objects. Real time monitoring and navigation control, complex algorithm, data acquisition and storage, calculation and processing are designed with motors and sensors interfaced with microcontroller. Test results showed that the ultrasonic sensor fusion technique was capable of performing satisfactory guidance in dynamic environment and desired paths. The sensor fusion navigation was capable of compensating large error and resulting in satisfactory agricultural vehicle guidance.

关键词： Navigation control Multi-sensor fusion Canopy Mapping Precision Farming Data Set (PFDS) Precision Agriculture Data Set (PADS)

来源：评论

学校读者我要写书评

暂无评论

Development of a biomimetic underwater ambulatory robot: advantages of matching biomimetic control architecture with biomimetic actuators

Development of a biomimetic underwater ambulatory robot: adv...

引用

Conference on sensor fusion and decentralized control in robotic systems III

作者： Witting, JH Ayers, J Safak, K Northeastern Univ Ctr Marine Sci Nahant MA 01908 USA

ISBN: (纸本)0819438618

The American Lobster Homarus americanus is a highly mobile marine decapod, ubiquitous to the benthic environment of the eastern North Atlantic. Lobsters occupy a range of subtidal habitats on the continental shelf, and are capable of navigating through spatially complex boulder fields, as well as coping with variable water currents. Given these competencies, we have adopted the lobster as a design model for a biomimetic autonomous underwater vehicle intended for operation in similar environments. A central motor pattern generator model was developed from electromyographic data from lobsters, and is being implemented on an eight-legged ambulatory vehicle. The vehicle uses Nitinol shape-memory alloy wires as linear actuators, physically modeling the antagonistic muscle pairs of a lobster leg. The contraction of the wires is produced by heating them with an electrical current. This produces a change in the crystalline structure of the material from a martensite to an austenite state, resulting in a 5% contraction of the wire. Three pairs of wires are used around three joints to produce a three-degrees-of-freedom walking leg. Current drivers power the actuators, and pulse-width modulation is used to obtain graded contractions from the muscles. The combination of a biologically based control system coupled with a linear actuator sharing many characteristics of invertebrate muscle tissue has enabled us to construct a biomimetic ambulatory robot sharing some of the competencies of the model.

关键词： artificial muscle Shape Memory Alloy biomimetic robot

来源：评论

学校读者我要写书评

暂无评论

Intuitive intelligent sensor fusion with highly autonomous sensors

Intuitive intelligent sensor fusion with highly autonomous s...

引用

2001 ASME International Mechanical Engineering Congress and Exposition

作者： Yuan, Jane Xiaojing Figueroa, Fernando Tulane University Mechanical Engineering Department New Orleans LA United States

The objective of sensor fusion is to synergistically combine different sources of sensory information into one representational format to provide more complete and precise interpretation of the system. A generic sensor fusion framework based on a highly autonomous sensor (HAS) model is presented. The framework provides freedom to choose different data fusion methods and combine them together to achieve better performance. In the context of HAS's, this paper describes a hierarchical decentralized sensor-fusion approach based on a qualitative theory to interpret measurements, and on qualitative procedures to reason and make decisions based on the measurement interpretations. In this manner, heuristic fusion methods are applied at a high-qualitative level as well as at a numerical level when necessary. This approach implements intuitive (effective) methods to monitor, diagnose, and compensate processes/systems and their sensors.

关键词： sensors

来源：评论

学校读者我要写书评

暂无评论

Learning manipulation skills by combining PCA technique and adaptive interpolation

Learning manipulation skills by combining PCA technique and ...

引用

Conference on sensor fusion amd decentralized control in robotic systems

作者： Zhang, JW Knoll, A Univ Bielefeld Fac Technol D-33501 Bielefeld Germany

ISBN: (纸本)0819429848

We propose an approach for learning manipulation skills of robot arms based on complex sensor data. The first component of the used model serves as a projection of high-dimensional input data into an eigenspace by using Principal Component Analysis (PCA). Complex sensor data can be efficiently compressed if robot movements achieving optimal manipulation tasks are constrained to a local scenario. The second component is an adaptive B-spline model whose input space is the eigenspace and whose outputs are robot motion parameters. In the offline learning phase, an appropriate eigenspace can be built by extracting eigenvectors from a sequence of sampling sensor patterns. The B-spline model is then trained for smooth and correct interpolation. In the online application phase, through the cascaded two components, a sensor pattern can be mapped into robot action for performing the specified task. This approach makes tasks such as visually guided positioning much easier to implement. Instead of undergoing cumbersome hand-eye calibration processes, our system is trained in a supervised learning procedure using systematical perturbation motion around the optimal manipulation pose. If more sensors or some robust geometric features from the image processing are available, they can also be added to the input vector. Therefore, the proposed model can integrate multiple sensors and multiple modalities. Our experimental setup is a two-arm robotic system with "self-viewing" hand-eyes and force/torque sensors mounted on each parallel jaw gripper. Implementations with one-hand grasping and two-hand assembly based on visual and force sensors show that the method works even when no robust geometric features can be extracted from the sensor pattern.

关键词： sensor-based skills hand-eye task based mapping learning

来源：评论

学校读者我要写书评

暂无评论

Towards autonomous control of Surgical Instruments using Adaptive-fusion Tracking and Robot Self-Calibration

Towards Autonomous Control of Surgical Instruments using Ada...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Wang, Chiyu Cartucho, Joao Elson, Daniel Darzi, Ara Giannarou, Stamatia Imperial Coll London Hamlyn Ctr Robot Surg London SW7 2AZ England

ISBN: (数字)9781665479271

ISBN: (纸本)9781665479271

The ability to track surgical instruments in real-time is crucial for autonomous robotic Assisted Surgery (RAS). Recently, the fusion of visual and kinematic data has been proposed to track surgical instruments. However, these methods assume that both sensors are equally reliable, and cannot successfully handle cases where there are significant perturbations in one of the sensors' data. In this paper, we address this problem by proposing an enhanced fusion-based method. The main advantage of our method is that it can adjust fusion weights to adapt to sensor perturbations and failures. Another problem is that before performing an autonomous task, these robots have to be repetitively recalibrated by a human for each new patient to estimate the transformations between the different robotic arms. To address this problem, we propose a self-calibration algorithm that empowers the robot to autonomously calibrate the transformations by itself in the beginning of the surgery. We applied our fusion and self-calibration algorithms for autonomous ultrasound tissue scanning and we showed that the robot achieved stable ultrasound imaging when using our method. Our performance evaluation shows that our proposed method outperforms the state-of-art both in normal and challenging situations.

关键词： Visualization Ultrasonic imaging Instruments Perturbation methods Surgery sensor fusion Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

Resource-based action planning for multi-agent systems

Resource-based action planning for multi-agent systems

引用

Conference on sensor fusion amd decentralized control in robotic systems

作者： Freund, E Hoffmann, K Rossmann, J Univ Dortmund Inst Robot Res D-44227 Dortmund Germany

ISBN: (纸本)0819429848

With the use of multi-robot-systems new chances and perspectives are revealed for industrial, space- and underwater-applications. At the IRF, a versatile multi-robot-control, which fully exploits the inherent flexibility of a multi-robot-system, has been developed. In order to guarantee optimized system-throughput and increased autonomy, the system builds on a new resource-based action planning approach to coordinate the different robot manipulators and other automation components in the workcell. An important issue of the realized action planning component to be applicable to real world problems is that it is realized as an integral part of the hierarchical multi-robot control structure IRCS (Intelligent Robot control System). The IRCS is the multi-robot control that was chosen by the German Space Agency (DLR) for major space automation projects. In this structure the resource-based action planning component is tightly integrated with components for coordinated task execution and collision avoidance to guarantee save operation of all agents in the multi-robot system. As the action planning component "understands" task descriptions on a high level of abstraction it is also the perfect counterpart for a Projective Virtual Reality (VR) system. The paper will describe the mechanism of resource based action planning, the practical experiences gained from the implementation for the IRCS as well as its services to support VR-based man machine interfaces.

关键词： resource-based action planning action pattern net multistage action planning online model expansion intelligent multi-robot-control exploitation of flexibility virtual reality user friendliness increased autonomy and safety

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：