This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generat...
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(纸本)9781424420575
This paper describes the motivation and learning subsystems of Arisco which is a mechatronic head with interactive capacity which includes high expressivity through gesturing, voice recognition, text to speech generation, visual tracking, and internet information retrieval. The general architecture is first described in the paper. Then, the learning capacity of Arisco is addressed. It learns and performs associations between different stimulus responses through several dynamic neural networks, guided by motivational drives. A number of experiments are discussed, covering stimulus competition, habituation, classical and operant conditioning.
Recent work has shown that switching on-line between controllers using different rates might be beneficial, for example to cope with scheduling or network-induced jitter. In this paper we extend this approach to achie...
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This paper presents a manipulation and measurement aid for tasks carried out in micro-nano environments operating with scanning AFM. In teleoperated manipulation or measurement over a given point of the target, where ...
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Teleoperation solves several difficulties that current robots can not overcome. The intervention of a human operator in deciding the strategies required to perform some given tasks allows robots to carry out operation...
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Teleoperation solves several difficulties that current robots can not overcome. The intervention of a human operator in deciding the strategies required to perform some given tasks allows robots to carry out operations in dangerous environments or in areas inaccessible to humans. Despite such task becomes feasible, it is necessary to use methods that assist the operator in its manipulation. This paper describes a method for assisting teleoperation, which is based on the dynamic variation of the scale of the working space to improve the movement precision near the point of interest.
Much more extensibility of matter element systems i.e. the accumulation , combination and separability of system things, characteristics, values, relationships, structures, component elements and systems is given and ...
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Much more extensibility of matter element systems i.e. the accumulation , combination and separability of system things, characteristics, values, relationships, structures, component elements and systems is given and some reasoning based on the extensibility is offered. The extensibility and reasoning are abundant basis for us to solve system problems, especially to solve contradictory problem. Especially the reasoning based on the extensibility is an useful model of innovation design for products and artificial living agents.
Teleoperation makes possible the execution of many tasks, that otherwise are not feasible when a human operator can not access to the working area due to dangerousness or environmental conditions, and it is not possib...
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Teleoperation makes possible the execution of many tasks, that otherwise are not feasible when a human operator can not access to the working area due to dangerousness or environmental conditions, and it is not possible as well, to program the task so as to be performed autonomously, due to its complexity. Nevertheless, manipulation tasks require certain ability from the human operator due to the difficulties that produce the need to operate through control devices that does not fit with the structure of the slave arms. With the aim of increasing the precision capabilities provided by such control interfaces, a vision based procedure designed to deform the space around the working point has been developed. The vision system operates from the detection of the relevant scene elements. This space deformation produces automatically a progressive increase in precision when the robot arm approaches the relevant detected elements.
Robot manipulation through teleoperation requires some ability from a human operator. This requirement is stronger when the tridimensional scene is observed through a 2D monitor. This paper describes a telemanipulatio...
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Teleoperation in harsh environments has to tackle the problem of working with images of poor quality, as the visual feedback means for the human operator. This paper describes a procedure for image augmentation, based...
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Teleoperation in harsh environments has to tackle the problem of working with images of poor quality, as the visual feedback means for the human operator. This paper describes a procedure for image augmentation, based on the models of the scene elements, which are built from the images acquired in a previous phase, before the execution of the task, when the visual environment conditions are still good enough.
Robot manipulation through teleoperation requires some ability from a human operator. This requirement is stronger when the tridimensional scene is observed through a 2D monitor. This paper describes a telemanipulatio...
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Robot manipulation through teleoperation requires some ability from a human operator. This requirement is stronger when the tridimensional scene is observed through a 2D monitor. This paper describes a telemanipulation aiding system based on the superposition of a position correction component to the manual orders given by the human operator, through his gestures. This correction will enable the slave arm to move quicker when it is far from the target, while moving slower and more precisely when it operates close to the target, thus, the system behaves as if an external attraction force appear around the possible objects to be manipulated.
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