检索结果-内蒙古大学图书馆

A taxonomy for heavy-duty telemanipulation tasks using elemental actions

International Journal of Advanced Robotic Systems 2013年第10期10卷

作者： Owen-Hill, Alexander Breñosa, José Ferre, Manuel Artigas, Jordi Aracil, Rafael Center for Automation and Robotics UPM-CAR CSIC Spain DLR German Aerospace Center Germany

In the maintenance of large scientific facilities, telemanipulation procedures can involve various subprocedures which in turn are made up of a sequence of subtasks. This work presents a taxonomy which describes a set of elemental actions for heavy-duty telemanipulation, along with an example of these actions in a standard maintenance subprocedure. As maintenance tasks are often very different at high-level, this generalized way of deconstructing tasks allows a highly adaptable approach to describe the sequence of any procedure, which can then be used for such applications as task monitoring, automation or detection of incomplete tasks. We describe in detail the properties of each elemental action and apply the taxonomy to an example subprocedure to show how the process can be *** automatic state-machine creation stage is shown, which would be used at the task scheduling stage to simplify calculations carried out during the moment-by-moment execution of the task. © 2013 Owen-Hill et al.

关键词： Remote control

来源：评论

学校读者我要写书评

暂无评论

Generating autonomous behaviour for a crop inspection robot 1

Generating autonomous behaviour for a crop inspection robot

引用

ROBOT 2013: 1st Iberian robotics Conference

作者： Bengochea-Guevara, José M. Conesa-Muñoz, Jesús Ribeiro, Ángela Center for Automation and Robotics CSIC-UPM Arganda del Rey Madrid28500 Spain

ISBN: (纸本)9783319034126

This paper presents the main characteristics of a robot whose aim is to perform field inspection using autonomous navigation. The solution developed for crop row tracking is shown, which is a fundamental behaviour for crop inspection. For this purpose, an image processing method is implemented to determine the vehicle’s relative position to the crop row in real time. This position is supplied to two fuzzy controllers, one for angular speed and the other for linear speed. To integrate crop row tracking and other skills that the robot needs, we propose generating the different behaviours of the robot using a network of nodes with different functions: perceptive nodes, cognitive nodes and actuator nodes. The actions of the robot emerge from this set of behaviours, depending on the goals and needs that must be met at each given moment in time. © Springer International Publishing Switzerland 2014.

关键词： Crops

来源：评论

学校读者我要写书评

暂无评论

Precision humidity and temperature measuring in farming using newer ground mobile robots 1

Precision humidity and temperature measuring in farming usin...

引用

ROBOT 2013: 1st Iberian robotics Conference

作者： Cancar, L. Sanz, David Hernández, J.D. Del Cerro, Jaime Barrientos, Antonio Center for Automation and Robotics UPM-CSIC C/Jose Gutierrez Abascal 2 Madrid28006 Spain

ISBN: (纸本)9783319034126

Precision farming goal is to maximize the productivity of the crops while minimizing the use of resources. Given that the agricultural technique has evolved along the millenniums, the only real option to keep increasing the agricultural productivity requires the use of technology: currently, many different robots are being used to harvest, plow and identify weeds. This work aims to reduce the environmental invasion the use of these implies, maximizing at the same time the knowledge of the crop status. We propose a new type of environmental-friendly ground mobile robot employed to monitor temperature and humidity in agricultural fields Used as a distributed sensor web. It takes measures of these environmental variables in any specific place required. It also allows to determine zones of the crop with bad irrigation or under germination risks and take corrective actions on time, providing better growing conditions: adequate germination time, faster growing and better efficiency. We present its architecture and a new external module used to measure the temperature and humidity. Beside, we also present two experiments carried out to validate the spherical robot approach: the results obtained first at a cornfield and the second in small orchard in CAR-upm-csic facilities are exposed and analysed. © Springer International Publishing Switzerland 2014.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Efficient locomotion on non-wheeled snake-like robots

Efficient locomotion on non-wheeled snake-like robots

引用

作者： Colorado, Julián Barrientos, Antonio Rossi, Claudio Garzón, Mario Galán, María Del Cerro, Jaime Robotics and Cybernetics Group Robotics and Automation Center UPM-CSIC Universidad Politécnica de Madrid Spain

ISBN: (纸本)9789898425010

This article presents our current work on studying energy efficient locomotion on crawling snake-like robots. The aim of this work is to use existing biological inspired methods to demonstrate lateral undulation planar gaits for efficiently controlling high-speed motion as a function of the terrain surface. A multilink non-wheeled snake-like robot is being developed for experimentation and analysis of efficient serpentine locomotion based on simulation results.

关键词： Serpentine

来源：评论

学校读者我要写书评

暂无评论

Improving the performance of piezoresistive force sensors by modeling sensor capacitance

Improving the performance of piezoresistive force sensors by...

引用

2010 IEEE International Symposium on Industrial Electronics, ISIE 2010

作者： Paredes-Madrid, L. Emmi, L. De Santos, P. Gonzalez Center of Automation and Robotics UPM-CSIC Ctra. Campo Real 28500 Arganda del ReyMadrid Spain

ISBN: (纸本)9781424463916

Piezoresistive force sensors exhibit considerable lower accuracy compared with load cells and force measuring systems based in strain gauges, however a new method for measuring forces using piezoresistive sensors is described in this paper, leading to a considerable increase in the repeatability of force readings. The new method consists of reading sensor's conductance and capacitance by applying DC and sinusoidal waveforms, thereby allow us to determine a multivariable estimation of force, instead of using the traditional, purely resistive model that has been used up to now. A study of sensor nonlinearities is also described which will allow us to determine the optimal setup to perform capacitance readings under sinusoidal excitation. © 2010 IEEE.

关键词： Capacitance

来源：评论

学校读者我要写书评

暂无评论

Modified shared circuits model for manufacturing processes control: From psychology and neuroscience to a computational solution

Modified shared circuits model for manufacturing processes c...

引用

2012 International Conference on Brain Informatics, BI 2012

作者： Guerra, Rodolfo E. Haber Boza, Alfonso Sánchez Gajate, Agustín Del Toro, Raúl M. Escuela Politécnica Superior UAM Madrid Spain Center for Automation and Robotics UPM-CSIC Arganda del Rey Spain

ISBN: (纸本)9783642351389

There are many complex processes waiting for artificial cognitive solutions able to deal with new, complex, unknown, or arbitrary tasks efficiently. In this work, the modified shared circuits model (MSCM) for artificial cognitive control is presented. The main goal is to surpass the limitations of the shared circuits models and to formalize an integrated computational solution on the basis of a neuroscientific and psychological approach. Two novelties of the proposed systems are a commutation or switching mechanism between modules in order to reproduce efficiently the imitation, deliberation and mindreading characteristics of human sociocognitive skills. Another contribution is the introduction of a self-optimization strategy based on cross entropy in order to fulfil the control goals. The closed-loop behaviour of the drilling force demonstrates that the MSCM approach is an alternative and feasible option in the field of artificial cognitive control to deal with processes complexity and uncertainty. © 2012 Springer-Verlag.

关键词： Neurophysiology

来源：评论

学校读者我要写书评

暂无评论

Improving the performance of piezoresistive force sensors by modeling sensor capacitance

Improving the performance of piezoresistive force sensors by...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： L. Paredes-Madrid L. Emmi P. Gonzalez de Santos Center of Automation and Robotics UPM-CSIC Madrid Spain

关键词： Force Robot sensing systems Capacitance Integrated circuit modeling Force measurement Force sensors

来源：评论

学校读者我要写书评

暂无评论

Goal recognition with noisy observations 31

Goal recognition with noisy observations

引用

31st AAAI Conference on Artificial Intelligence, AAAI 2017

作者： E-Martin, Yolanda Smith, David E. Centre for Automation and Robotics CSIC-UPM Madrid28500 Spain NASA Ames Research Center Intelligent Systems Division Moffett FieldCA94035-1000 United States

ISBN: (纸本)9781577357865

Goal recognition is an important technological capability for applications that involve cooperation between agents. Many goal recognition techniques allow the sequence of observa-tions to be incomplete, but few consider the possibility of noisy observations. In this paper, we describe a planning- based goal recognition approach that deals with both missing observations and probabilistic noise in the observations. To do this, we first use a Bayesian network to infer action probabilities based on the observation model and the current observation sequence. We then use this information to estimate the expected cost of reaching the different possible goals. Comparing these costs to the a priori costs for the goals allows us to infer a probability distribution over the possible goals. © 2017, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Bayesian networks

来源：评论

学校读者我要写书评

暂无评论

Efficient Distribution of a Fleet of Heterogeneous Vehicles in Agriculture: A Practical Approach to Multi-path Planning

Efficient Distribution of a Fleet of Heterogeneous Vehicles ...

引用

IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Jesus Conesa-Muñoz Jose M. Bengochea-Guevara Dionisio Andujar Angela Ribeiro CSIC-UPM Center for Automation and Robotics Arganda del Rey Spain

Determining the best path planning for an agricultural task is a very important issue in crop management because it directly affects the distances travelled by the agricultural machines and, accordingly, directly affects the soil compaction that occurs and the inputs that are consumed (time and fuel). However, determining the optimal path is a difficult problem because of the large number of variables that must be taken into account: number of vehicles, speeds, turning radii, geometry of the field, tank capacities, fuel consumption, etc. The problem becomes even more difficult when the vehicles are heterogeneous, that is, they perform at different speeds or have different rates of fuel consumption. Furthermore, the optimal multi-path plan may vary depending on the criteria selected, that is, the paths that are optimal for reducing distance may be very inefficient for saving time. In this paper, a practical approach to multi-path planning for fleets of heterogeneous and autonomous vehicles is proposed, considering the optimisation of several criteria such as distance, time, input cost or some combination thereof.

关键词： Vehicles Fuels Turning Agriculture Spraying Optimization Path planning

来源：评论

学校读者我要写书评

暂无评论

Design of an RFID-based positioning system for safety of personnel in nuclear facilities

Design of an RFID-based positioning system for safety of per...

引用

International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Victoria Tormo Fernando Seco Antonio R. Jiménez Center for Automation and Robotics CSIC-UPM Arganda del Rey Spain

Modern nuclear energy facilities are built with safety as a top priority. One of the main requirements of these installations is the control of the radiation doses received by workers or visitors. In the work presented here we propose a Local Positioning System based upon Radiofrequency Identification technology (termed RFID-LPS), which permits to determine and trace the physical location of all the staff in the facilities by means of radiofrequency (RF) signals exchanged between an emitter tag carried by the user and a set of receivers placed in known locations of the facility. The system is designed considering two distinctive features of the future facility IFMIFDONES (International Fusion Materials Irradiation Facility-DEMO Oriented Neutron Source): the high attenuation of the RF signals due to the building construction, and the expected ionizing radiation received by the electronic components, which could decrease their operating lifetime. The proposed system is based on RFID technology, as it is easy to deploy and robust, and may include component shielding to allow devices to resist the radiation levels expected in key areas of IFMIF-DONES (between 10 µGy/h and 100 mGy/h). We expect that the RFID-LPS system, complemented with other conventional access control systems such as access cards, will increase the safety of the personnel in IFMIF-DONES, monitoring and quantifying their exposition to radiation in an efficient way.

关键词： Radio frequency Resistance Ionizing radiation RF signals Buildings Resists Attenuation

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：