检索结果-内蒙古大学图书馆

Autonomous Geolocation of RF Emitters Using Small, Unmanned Platforms

JOHNS HOPKINS APL TECHNICAL DIGEST 2013年第3期32卷 636-646页

作者： Bamberger, Robert J. Moore, Jay G. Goonasekeram, Ravi P. Scheidt, David H. APL Robotics and Autonomous Systems Group Research and Exploratory Development Department (REDD) Advanced RF Capabilities Group Asym metric Operations Sector APL Electrical Engineering Systems Analysis and Design Group REDD RF & Optical Systems Se

Autonomous geolocation of RF emitters using small, unmanned systems is a game-changing technology for military, government, and commercial missions. This technique employs a novel application of a common RF direction-finding technique called pseudo-Doppler. Emergent autonomous control concepts are used to control the sensor platform and optimize flight trajectories for efficient and rapid geolocation of the target. The basic components of this concept, from sensor development to unmanned system autonomous behaviors, were tested in simulation and subsequently demonstrated in flight during the Tactical Network Topology experiment.

关键词： Network topology

来源：评论

学校读者我要写书评

暂无评论

Chatter reduction using backstepping and second order sliding

Chatter reduction using backstepping and second order slidin...

引用

2013 3rd International Conference on Systems and Control, ICSC 2013

作者： Tchenderli-Braham, S.A. Hamerlain, F. Saadia, N. Hamerlain, M. Productique and Robotics Laboratory Center for Development of Advanced Technologies BP 17 Baba Hassen Algiers Algeria University of Sciences and Technology Houari Boumediene Algiers Algeria

ISBN: (纸本)9781479902750

In this paper, we deal with a chatter effect problem which is generated by sliding mode control in the case of a trajectory tracking task applied on a nonholonomic car in a double steering mode also called Bi-Steerable Car (Bis-Car). In order to attenuate the chatter, a control is designed using a backstepping and a second order sliding mode control. The applicability of the control law is shown in experimentation result. © 2013 IEEE.

关键词： Backstepping

来源：评论

学校读者我要写书评

暂无评论

A new modified hough transform method for circle detection 5th

A new modified hough transform method for circle detection

引用

5th International Joint Conference on Computational Intelligence, IJCCI 2013

作者： Djekoune, A. Oualid Messaoudi, Khadija Belhocine, Mahmoud Robotics and Industrial Automation Advanced Technologies Development Centrem Lotissement 20 Août 1956 Baba Hassen Baba Hassen Algiers Algeria Systems Architectures and Multimedia Advanced Technologies Development Centre Lotissement 20 Août 1956 Baba Hassen Baba Hassen Algiers Algeria

ISBN: (纸本)9789898565778

The Hough transform is a powerful tool in image analysis, e.g. circle detection is a fundamental issue in image processing applications of industrial parts or tools. Because of its drawbacks, various modifications of the basic circle Hough transform (CHT) method have been suggested. This paper presents a modified method based on the basic CHT algorithm and using no trigonometric calculations in order to improve the computational performance of the voting process for a good accuracy and robustness of circle detection in a binary image. This paper also provides the errors analysis of the proposed method against the basic CHT method to illustrate that it can replace the basic CHT method for small values of the resolution Ε of the angle θ. It then compete the CORDIC algorithm when it is used in a hardware implementation.

关键词： Hough transforms

来源：评论

学校读者我要写书评

暂无评论

A new sensor fusion framework to deal with false detections for low-cost service robot localization

A new sensor fusion framework to deal with false detections ...

引用

2013 IEEE International Conference on robotics and Biomimetics, ROBIO 2013

作者： Zhiwei, Song Yiyan, Wang Changjiu, Zhou Yi, Zhou Advanced Robotics and Intelligent Control Centre Singapore Polytechnic 500 Dover Road Singapore 139651 Singapore Engineering Product Development Singapore University of Technology and Design 20 Dover Drive Singapore 138682 Singapore

ISBN: (纸本)9781479927449

The popularization of service robots requires that robots are not expensive and can work very well in human daily living environment. Due to lighting condition and/or cluttered background, there are false detections occasionally for landmark-based robot localization with low-cost color camera or infrared sensors. However, traditional frequently used methods, such as Extended Kalman Filter (EKF) and Particle Filter (PF), can't cope with the problem of false detection. A novel sensor fusion framework is proposed in this paper for robot localization, which is capable of dealing with the problem of false detection. It has been tested in a real receptionist robot equipped with an infrared camera and wheel encoders. Experiments illustrate that the proposed method has a better performance than EKF and PF when false detections occur, while maintaining almost same performance during other times. © 2013 IEEE.

关键词： Extended Kalman filters

来源：评论

学校读者我要写书评

暂无评论

A telerobotic Human/Robot Interface for mobile manipulators: A study of human operator performance

A telerobotic Human/Robot Interface for mobile manipulators:...

引用

International Conference on Control, Decision and Information Technologies (CoDIT)

作者： A. Hentout M. R. Benbouali I. Akli B. Bouzouia L. Melkou Division of Computer-Integrated Manufacturing and Robotics (DPR) Centre for Development of Advanced Technologies (CDTA) Baba Hassen Algiers Algeria

This paper describes a Human/Robot Interface (HRI) for wireless remotely controlled autonomous mobile manipulators by human operators. Indeed, the developed interface provides all the information of the sensors equipping the robot. The human operator can control all the actuators of the mobile manipulator at the same time (mobile base and manipulator simultaneously) or separately (manipulator or mobile base), depending on the requirements of the assigned task. The execution of some manufacturing tasks accomplished by the RobuTER/ULM mobile manipulator in indoor environment, demonstrates that the proposed telerobotic interface was able (i) to reduce the workload of the operator, (ii) to increase the effectiveness of his work while (iii) improving the completion time of the tasks and (iv) the failures rate.

关键词： Mobile communication Manipulators Telerobotics Robot kinematics Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

development of an Elbow-Forearm Interlock Joint Mechanism Toward an Exoskeleton for Patients with Essential Tremor

Development of an Elbow-Forearm Interlock Joint Mechanism To...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Yuya Matsumoto Motoyuki Amemiya Daisuke Kaneishi Yasutaka Nakashima Masatoshi Seki Takeshi Ando Yo Kobayashi Hiroshi Iijima Masanori Nagaoka Masakatsu G. Fujie Graduate School of Creative Science and Engineering Waseda University Tokyo 169-8555 Japan Graduate School of Advanced Science and Engineering Waseda University Tokyo Japan Graduate School of Creative Science and Engineering Waseda University Tokyo Japan Graduate School of Advanced Science and Engineering Waseda University Japan MONOZUKURI Mechatronics Laboratory KIKUCHI SEISAKUSHO Co. Ltd. Tokyo Japan Robotics Development Center Corporate Manufacturing Innovation Division Panasonic Corporation Osaka Japan Faculty of Science and Engineering Waseda University Japan Rehabilitation Engineering Dept. Yokohama Rehabilitation Foundation Japan Department of Rehabilitation Medicine Juntendo University Graduate School Japan

ISBN: (纸本)9781479969357

An essential tremor (ET) is a disorder that causes involuntary oscillations. ET patients face serious difficulties in performing such daily living activities as eating, drinking, and writing. We have been developing an exoskeleton to suppress tremors and support the eating movements of ET patients. The objective of this study is to propose a passive mechanism that prevents the appearance of the compensatory shoulder movement without using an actuator. The basic concept of this study is developing the mechanism to coordinate two DoF movement of elbow joint. Two DoF movement of elbow joint is constrained to passive one DoF by our wearable robot. The mechanism of our robot and constrain mechanism is optimally designed to reduce the compensatory movement during eating movement. To develop such mechanism, we first analysed the eating movement to derive the required specification of the mechanism. Then, we proposed a prototype based on the requirement. Finally, we evaluate the effect of the prototype to reduce the compensatory movement. It is confirmed that the proposed prototype had great effect on the reduction. As a future work, we will optimize the structure and the material of the mechanism to reduce the weight of the mechanism.

关键词： Essential Tremor Elbow Joint Movement of shoulder PROTOTYPE Wearable Robot Tremor compensated INTERLOCKS Patients

来源：评论

学校读者我要写书评

暂无评论

PSO optimization of Integral Backstepping Controller for Quadrotor attitude stabilization

PSO optimization of Integral Backstepping Controller for Qua...

引用

International Conference on Systems and Control (ICSC)

作者： F. Yacef O. Bouhali M. Hamerlain A. Rezoug Productique and Robotics Laboratory Center for Development of Advanced Technologies (CDTA) Algiers Algeria Mechatronic Laboratory Jijel University Jijel Algeria

This paper deals with the attitude stabilization problem for an under-actuated Quadrotor UAV system. We propose the use of Particle Swarm Optimization (PSO) algorithm for tuning Integral Backstepping Controller (IBC) which is applied for the stabilization of a Quadrotor UAV model. The method is used to minimize a Square Error (SE) fitness function which quantifies the performance of the whole control system. Controller parameters are tuned respecting some nonlinear constraints for step response of the system. Numerical simulation results are given to show the validity and the good performances of the proposed method.

关键词： Adaptation models TV Numerical models Rotors Propellers Adaptive control Robustness

来源：评论

学校读者我要写书评

暂无评论

Solving the Linearized Poisson-Boltzmann Equation on GPUs Using CUDA

Solving the Linearized Poisson-Boltzmann Equation on GPUs Us...

引用

Euromicro Conference on Parallel, Distributed and Network-Based Processing

作者： José Colmenares Jesús Ortiz Sergio Decherchi Amir Fijany Walter Rocchia Drug Discovery and Development Department Italian Institute of Technology Genova Italy Department of Advanced Robotics Italian Institute of Technology Genova Italy SAAE SysTech Inc. USA

In this work an implementation of a linearized Poisson-Boltzmann equation solver based on a Finite Differences scheme on the GPU architecture is presented. The algorithm exploits the checkerboard structure of the discretized Laplace operator and follows the footprints of a popular solver called DelPhi, which is widely used in the Computational Biology community. The algorithm has been implemented using CUDA. This implementation has then been integrated with the DelPhi solver and tested over a few representative cases of biological interest. Details of the implementation as well as performance test results are illustrated.

关键词： Graphics processing units Dielectrics Instruction sets Equations Mathematical model Electrostatics Convergence

来源：评论

学校读者我要写书评

暂无评论

Estimating object grasp sliding via pressure array sensing

Estimating object grasp sliding via pressure array sensing

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Javier A. Alcazar Leandro G. Barajas Advanced Robotics Group Manufacturing Systems Research Laboratory General Motors Global Research and Development Center Warren MI USA

Advances in design and fabrication technologies are enabling the production and commercialization of sensor-rich robotic hands with skin-like sensor arrays. Robotic skin is poised to become a crucial interface between the robot embodied intelligence and the external world. The need to fuse and make sense out of data extracted from skin-like sensors is readily apparent. This paper presents a real-time sensor fusion algorithm that can be used to accurately estimate object position, translation and rotation during grasping. When an object being grasped moves across the sensor array, it creates a sliding sensation; the spatial-temporal sensations are estimated by computing localized slid vectors using an optical flow approach. These results were benchmarked against an L ∞ Norm approach using a nominal known object trajectory generated by sliding and rotating an object over the sensor array using a second, high accuracy, industrial robot. Rotation and slid estimation can later be used to improve grasping quality and dexterity.

关键词： Robot sensing systems Arrays Vectors Estimation Skin

来源：评论

学校读者我要写书评

暂无评论

Real-time pedestrian detection with deformable part models

Real-time pedestrian detection with deformable part models

引用

IEEE Symposium on Intelligent Vehicle

作者： Hyunggi Cho Paul E. Rybski Aharon Bar-Hillel Wende Zhang Robotics Institute Carnegie Mellon University Pittsburgh PA USA Advanced Technical Center General Motors Herzliya Israel Electrical and Controls Integration Laboratory Research and Development General Motors Warren MI USA

We describe a real-time pedestrian detection system intended for use in automotive applications. Our system demonstrates superior detection performance when compared to many state-of-the-art detectors and is able to run at a speed of 14 fps on an Intel Core i7 computer when applied to 640×480 images. Our approach uses an analysis of geometric constraints to efficiently search feature pyramids and increases detection accuracy by using a multiresolution representation of a pedestrian model to detect small pixel-sized pedestrians normally missed by a single representation approach. We have evaluated our system on the Caltech Pedestrian benchmark which is currently the largest publicly available pedestrian dataset at the time of this publication. Our system shows a detection rate of 61% with 1 false positive per image (FPPI) whereas recent other state-of-the-art detectors show a detection rate of 50% ~ 61% under the `reasonable' test scenario (explained later). Furthermore, we also demonstrate the practicality of our system by conducting a series of use case experiments on selected videos of Caltech dataset.

关键词： Detectors Computational modeling Real time systems Deformable models Feature extraction Training Vehicles

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：