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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pages 3661-4172

作者： Salvador Dominguez Eduardo Zalama Jaime G. Garcia-Bermejo Jaime Pulido Robotics Computer Vision and Real Time Division CARTIF Foundation Boecillo Valladolid Spain DepDepartment of Systems Engineering and Automatic Control Industrial Engineering School University of Valladolid Spain University of Valladolid (Spain) Dep. of Systems Engineering and Automatic Control Industrial Engineering School Comput. Vision & Real Time Div. CARTIF Found. Valladolid

ISBN: (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.

关键词： Social robot learning interaction computer vision motivation

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Incorporating the multilevel fast multipole method into the characteristic basis function method to solve large scattering and radiation problems

Incorporating the multilevel fast multipole method into the ...

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2007 IEEE Antennas and Propagation Society International Symposium, AP-S

作者： Garcia, E. Delgado, C. De, Saez Adana, F. Catedra, F. Mittra, R. Automatic Dep. University of Alcalá Spain Computer Science Dep. University of Alcalá Spain Electromagnetic Communication Lab. 319 EEE Pennsylvania State Univ. University Park PA 16802 United States

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ISBN: (纸本)1424408776

No abstract available

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Switching rates to save resources in distributed computer control systems

Switching rates to save resources in distributed computer co...

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作者： Mauro, Max Almeida, Luis Fuertes, Josep M. LTR-DCX Centro Universitário do Leste de Minas Gerais Av. Tancredo Neves 3500Coronel Fabriciano 35170-056 Minas Gerais Brazil LSE-IEETA/DET Universidade de Aveiro Campus de Santiago 3810-193 Aveiro Portugal Automatic Control and Computer Engineering Dep. Technical University of Catalonia Pau Gargallo 5 08028 Barcelona Spain

ISBN: (纸本)9783902661043

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 achieve a different purpose, i.e., to reduce the resource utilization of a closed-loop controller, namely CPU and network bandwidth, while maintaining its control performance. The proposed approach, named dual-rate, uses two controllers tuned for two sampling rates, a higher nominal rate determined by the usual rules and a substantially lower rate that is used whenever the system is operating close to stationarity. This approach is applied to a simulated steer-by-wire automotive application based on Truetime. It is shown that the dual-rate approach allows saving substantial CPU and network bandwidth while maintaining a control performance near the one achieved with the nominal controller alone. The released resources can be used to execute other tasks, transmit other messages or simply facilitate error recovery with temporal *** © 2006 IFAC.

关键词： controllers

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Improved AFM scanning methodology with adaptation to the target shape

Improved AFM scanning methodology with adaptation to the tar...

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2005 IEEE International Conference on Robotics and Automation

作者： Muñóz, Luis Miguel Casals, Alícia Amat, Josep Puig-Vidal, Manel Samitier, Josep Dep. Automatic Control- UPC Center of Bioengineering of Catalonia Pau Gargallo n. 5 08028 Barcelona Spain Institute of Robotics UPC-CSIC Center of Bioengineering of Catalonia Pau Gargallo n. 5 08028 Barcelona Spain CBEN Lab. Center of Bioengineering of Catalonia Barcelona Science Park C/ Martí Franques 1

ISBN: (纸本)078038914X

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 a slow and precise movement is necessary, the developed system increases the accuracy in this point producing a space deformation. In automatic scanning, the adjusted selection of the target, through assisted image segmentation, enables to reduce the working time. ©2005 IEEE.

关键词： Redundant manipulators

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Scale dynamic adaptation of the local space for assisted teleoperation

Scale dynamic adaptation of the local space for assisted tel...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： L.M. Munoz A. Casals J. Amat Dep. Automatic Control and Computer Engineering Technical University of Catalonia Barcelona SPAIN Institute of Robotics CSIC/UPC Barcelona SPAIN

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.

关键词： Orbital robotics Humans automatic control Robotics and automation Medical robotics Feedback control systems Spatial resolution Signal processing Signal resolution

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Extensibility of the matter element system and its applications

Advances in Modelling and Analysis A

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Advances in Modelling and Analysis A 2003年第1-2期40卷 23-38页

作者： Gouwei, Yang Xianpu, Zhou Xuyan, Tu Dept. of Mathematics Teachers' College Qindao University Qingdao 266071 China School of Automatic Engineering Boatou Univ. of Iron/Steel Technol. 014010 China Dep. of Computer Science University of Science and Technology Beijing 100083 China

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.

关键词： Systems analysis

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Workspace deformation based teleoperation for the increase of movement precision

Workspace deformation based teleoperation for the increase o...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Casals L. Munoz J. Amat Dep. Automatic Control and Computer Engineering Robotics Institute UPC-Universitat Politicnica de Catalunya Spain Robotics Institute. (IRI) UPC / CSIC UPC-Universitat Politècnica de Catalunya Spain

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.

关键词： Robot kinematics Humans Orbital robotics automatic control Service robots Medical robotics Intelligent robots Arm Robotics and automation Force feedback

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Dexterity improvement in teleoperation through computer vision based automatic correction 15th

Dexterity improvement in teleoperation through computer visi...

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15th World Congress of the International Federation of automatic control, 2002

作者： Amat, J. Casals, A. Muñoz, L. Las Heras, M. UPC / CSIC Llorens Artigas 4-6 2a pt. Barcelona08028 Spain Dep. Automatic Control and Computer Engineering Universitat Politècnica de Catalunya Spain

ISBN: (纸本)9783902661746

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. Copyright © 2002 IFAC.

关键词： computer vision

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Augmented reality to assist teleoperation working with reduced visual conditions

Augmented reality to assist teleoperation working with reduc...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Casals J. Fernandez J. Amat Dep. Automatic Control and Computer Engineering Universitat Politecnica de Catalunya Barcelona SPAIN Robotics Institute. (lRI) UPC/CSIC Barcelona SPAIN

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.

关键词： Augmented reality Layout Robots TV Optical sensors Optical feedback automatic control control engineering computing Robotics and automation Operating systems

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DEXTERITY IMPROVEMENT IN TELEOPERATION THROUGH computer VISION BASED automatic CORRECTION

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IFAC Proceedings Volumes 2002年第1期35卷 473-478页

作者： J. Amat A. Casals L. Muñoz M. las Heras Robotics Institute. (IRI) UPC / CSIC Llorens Artigas 4-6 2a pt. 08028 Barcelona SPAIN Dep. Automatic Control and Computer Engineering Universitat Politècnica de Catalunya

关键词： Telerobotics Telemanipulation computer Vision Man-Machine Interface Stereo Vision

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