A finger-shaped tactile sensor consisting of a charge-coupled device (CCD) and a semispherical optical waveguide covered with an elastic sheet and connected to a light source is proposed. The principle of the sensor i...
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A finger-shaped tactile sensor consisting of a charge-coupled device (CCD) and a semispherical optical waveguide covered with an elastic sheet and connected to a light source is proposed. The principle of the sensor is based on producing the scattering light at the sensor-object contact. The contact location is recognized using a CCD to detect light. By a simple calculation of the equation derived from the sensor surface geometry, the sensor can also provide the surface normal of the touched object. Through experiments using a prototype sensor, the fundamental characteristics of the sensor are evaluated and the principle of the sensor is confirmed.< >
A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis ...
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A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >
The authors are exploring and developing techniques to enable mobile robots to work in a less constrained world than that of an AGV (autonomous guided vehicle). By having the robot maintain an a priori world-map, supp...
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The authors are exploring and developing techniques to enable mobile robots to work in a less constrained world than that of an AGV (autonomous guided vehicle). By having the robot maintain an a priori world-map, supplementing it as necessary, with sensor-based world perceptions (especially ultrasound and vision), its utility and mobility are enhanced. By maintaining an explicit representation of spatial uncertainty and revision positional estimates using incoming sensor data, the robot does not rely on wire or paint-stripe tethers to reality to navigate. Research is being performed using a Denning research vehicle in a flexible manufacturing system (FMS) environment. AI techniques in knowledge representation are used to embed the knowledge necessary for a robot's achievement of successful goal-oriented behaviors. Relevant behaviors for a mobile robot in an (FMS) environment are being defined.< >
This paper considers the problem of steering a redundant manipulator from an initial to a final position in the work space (Cartesian space). An optimal control approach is employed, to avoid obstacles in the work spa...
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This paper considers the problem of steering a redundant manipulator from an initial to a final position in the work space (Cartesian space). An optimal control approach is employed, to avoid obstacles in the work space and simultaneously avoid the kinematically singular configurations throughout the trajectory.
To meet energy conservation goals of the U.S. Navy, its attention has been focused on ways to reduce individual ship total resistance and powering requirements. One possible method of improving ship powering character...
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To meet energy conservation goals of the U.S. Navy, its attention has been focused on ways to reduce individual ship total resistance and powering requirements. One possible method of improving ship powering characteristics is by modifying existing individual ship hulls with the addition of bulbous bows. This paper will identify the merits of retrofitting bow bulbs on selected U.S. Navy auxiliary and amphibious warfare ships. A procedure for performing a cost-benefit analysis will be shown for candidate ship classes. An example of this technique for an amphibious warfare ship will also be provided. A brief discussion of future methods to be used for bulbous bow design such as application of systematic model test data and numerical hydrodynamic techniques will be given.
th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is ...
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ISBN:
(数字)9783642039836
ISBN:
(纸本)9783642039829
th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social robotics (ICSR) • International Conference on Advanced Humanoid robotics Research (ICAHRR) • International Conference on Entertainment robotics (ICER) • International robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.
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