检索结果-内蒙古大学图书馆

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： P. Bohner Institute for Real-Time Computer Systems and Robotics Faculty for InfonnaticS University of Karlsruhe Karlsruhe Germany

The use of two or more robots in a common workspace is essential to expand the field of potential applications. This paper presents a distributed approach for executing task-level programs for cooperating manipulators or one arm systems with many degrees of freedom. At task level, only the movement of the objects to be manipulated is specified. The corresponding manipulator motions are then calculated by assigning the local intelligence to each joint. The local intelligence enables the joint agents to calculate in parallel their appropriate movements to make the end effector reach the desired position. During execution, each joint evaluates the sensor data to compensate for execution errors, to react on unexpected obstacles and to provide the manipulator coordination. Therefore, a distributed fuzzy rule base has been developed. As this local evaluation may lead to non-optimal overall behavior of the manipulator, the joint agents communications provide global suboptimality.< >

关键词： Distributed control Manipulators Mobile robots Robot kinematics Intelligent sensors Intelligent agent Control systems Error correction real time systems Distributed computing

来源：评论

学校读者我要写书评

暂无评论

Requirements for a real-time image processing language

引用

Annual Review in Automatic Programming 1994年第C期18卷 175-180页

作者： Laplante, P Marlowe, T Stoyenko, A Department of Mathematics and Computer Science Fairleigh Dickinson University Madison NJ 07940 United States also research faculty of the Real-Time Computing Laboratory (CIS NJIT) United States Department of Mathematics and Computer Science Seton Hall University South Orange NJ 07079 United States also research faculty of the Real-Time Computing Laboratory (CIS NJIT) United States Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark NJ 07102 United States

In this paper we discuss issues in real-time image processing, including applications, approaches and hardware. In particular, we discuss the failure of existing programming languages to support these considerations a... 详细信息

关键词： image processing multimedia programming languages real-time virtual reality

来源：评论

学校读者我要写书评

暂无评论

Compressive and energy absorption properties of titanium hybrid lattice structures for bioimplant applications fabricated via LPBF

引用

Materials and Design 2025年 254卷

作者： Karmiris-Obratański, Panagiotis Georgakopoulos-Soares, Ilias Cichocki, Kamil Lisiecka-Graca, Paulina Papazoglou, Emmanouil L. Advanced Manufacturing Laboratory Department of Manufacturing Systems Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland School of Chemical Engineering Department of Materials Science and Engineering National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece Institute for Personalized Medicine Department of Biochemistry and Molecular Biology The Pennsylvania State University College of Medicine HersheyPA United States Faculty of Metals Engineering and Computer Science AGH University of Krakow Adama Mickiewicza Ave. 30 Kraków30-059 Poland School of Mechanical Engineering Section of Manufacturing Technology National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece

The compressive properties of lattice structures are strongly influenced by lattice design, density, material, and manufacturing method. Recent advancements in manufacturing, particularly Additive Manufacturing, have enabled the fabrication of complex lattice structures from advanced materials. Building on this progress, the present study investigates the compressive properties and energy absorption capabilities of four distinct lattice structures at three relative densities (20 %, 30 %, and 40 %), specifically tailored for implant applications. The lattices, fabricated from Ti6Al4V ELI alloy using the Laser Powder Bed Fusion (LPBF) method, include a hybrid Fluorite-BCC lattice, a SplitP TPMS skeletal lattice, a stochastic Voronoi lattice, and a hybrid Voronoi-TPMS Gyroid lattice. Compressive properties, including the Elastic Modulus of Compression (EMC), Compressive Yield Strength, and Ultimate Compressive Strength, were systematically analyzed alongside energy absorption capabilities. The Gibson-Ashby model was employed to quantify the relationship between compressive properties and relative density. Additionally, Digital Image Correlation and high-resolution imaging during compression tests provided detailed insights into deformation mechanisms and collapse behavior. The findings offer valuable insights into the compressive performance of these novel hybrid lattices, highlighting their potential applicability in bioimplant applications, with the Fluorite-BCC lattice exhibits the highest EMC and the Fluorite-BCC and SplitP lattices exhibit higher energy absorption capabilities. © 2025 The Author(s)

关键词： Machinability

来源：评论

学校读者我要写书评

暂无评论

The Karlsruhe dextrous hand: grasp planning, programming and real-time control

The Karlsruhe dextrous hand: grasp planning, programming and...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

In this paper the framework of an intelligent control system of a multi-finger robot hand is described, that is especially tailored for sensor-based object handling and assembly. The research has concerned with the Karlsruhe dextrous hand, a modular three-finger hand with 9 degrees of freedom, independent finger modules and integrated sensors. The total system structure consists of three embedded subsystems, with a planning and supervisory system on the top, which has a blackboard-like architecture to exchange information with a distributed real-time control system that provides force/position control strategies for dextrous grasping and manipulating of arbitrary objects. A programming and simulation system supports the object/task-based description of all robot and gripper actions required to perform a specific operation.< >

关键词： Robot programming Robotic assembly Force control Intelligent control Robot sensing systems Intelligent robots Assembly systems Fingers Intelligent sensors Strategic planning

来源：评论

学校读者我要写书评

暂无评论

Fuzzy-based grasp-force-adaptation for multifingered robot hands

Fuzzy-based grasp-force-adaptation for multifingered robot h...

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： T. Dorsam S. Fatikow I. Streit Institute for Real-Time Computer Systems awl Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

A fuzzy logic approach for the online grasp-force-adaptation, which can be used for the control of fine manipulating with a multifingered robot hand, will be presented in this paper. The kernel of this approach consists of decision making logic which expresses the a-priory knowledge about the force behaviour inside the friction cones and the necessary reactions, regarding the criterion for grip stability. For the software realisation of the fuzzy control approach a Fuzzy-C Development System supporting the entire development process was used. Two corresponding fuzzy controllers have been designed: A finger controller and a grasp controller. During fine manipulations of an object the fuzzy controller interacts with an underlying conventional controller that receives, after defuzzyfication, the adapted force values which were applied. A computer based simulation system was developed to analyse the capabilities of the designed fuzzy controllers.< >

关键词： Robots Fuzzy control Force control Fuzzy logic Kernel Decision making Friction Stability criteria Fingers Computational modeling

来源：评论

学校读者我要写书评

暂无评论

Object manipulation with dextrous multi-finger hands: improved computation method

Object manipulation with dextrous multi-finger hands: improv...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： G. Wohlke Institute for Real-Time Computer Control Systems and Robotics Faculty for Informatics University of Karlsruhe Karlsruhe Germany

This paper deals with the two fundamental problems that occur when objects are manipulated with multi-finger robot hands: the determination of the joint motions to perform a manipulation according to a given object trajectory, and the optimization of the joint torques needed to ensure a stable and secure grip. The consideration of the effect of rolling and slipping of the fingertips at the contact points on the object surface leads to a set of linear differential equations for the joint angles and to a partly nonlinear optimization problem for the joint torques solved by the Hooke-Jeeves algorithm. The removal of redundant information reduces the computational effort to about 40% of the operations required for the standard procedure. Especially, the resulting object motions are demonstrated at an example: the rotation of an ellipsoid object with the fingers of the Karlsruhe dextrous hand.< >

关键词： Robots real time systems Equations Motion control Control systems Fingers Grippers Automatic control Flowcharts Torque control

来源：评论

学校读者我要写书评

暂无评论

Requirements analysis for real-time automation projects

Requirements analysis for real-time automation projects

引用

International Conference on Software Engineering (ICSE)

作者： M. Hagemann Faculty for Informatics Institute of Real-Time Computer Control Systems and Robotics University of Karlsruhe Karlsruhe Germany

ISBN: (纸本)0897912586

A formal language for specifying and analyzing requirements is introduced. An integrated set of tools support the transition from ideas to a requirements specification. The system is implemented on an IBM PC. The special characteristics of the language and the tools are their suitability for the description of embedded real-time systems. The most useful feature of the system is the possibility of graphical input and output as an alternative of the mere textual specification. Transformation between textual and graphical representation is done by the PROREC system.< >

关键词： Control systems Automatic control robotics and automation Process control Informatics real time systems Robot control Specification languages Formal specifications Software engineering

来源：评论

学校读者我要写书评

暂无评论

The Control Architecture of the Mobile System Priamos

引用

IFAC Proceedings Volumes 1993年第1期26卷 391-396页

作者： R. Dillmann J. Kreuziger F. Wallner University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Control Systems & Robotics P.O. Box 6980. 7500 Karlsruhhe 1 Germany

In this paper the control architecture of the mobile robot system PRIAMOS is presented. It consists of four layers which integrate reactive and reflexive components in such a way that the robot can combine fast reaction to unexpected obstacles with predictive behaviour to known components in the environnement. A solution for the problem bow to combine control layers which process information on different levels of abstraction and of increasing complexity is discussed. The reflexive part of the control architecture and the modification concerning the motion controller of the mobile robot which was necessary to apply the idea of reflexive navigation is described in more details. The architecture presented allows to execute motion tasks in partially unknown or changing environment in an efficient manner. Especially the time critical reflexive level is computationally less expensive than previous approaches

关键词： Intelligent machines navigation hierarchically intelligent control architecture obstacle avoidance robots sensors

来源：评论

学校读者我要写书评

暂无评论

Dynamic simulation of the jaw and chewing muscles for maxillofacial surgery

Dynamic simulation of the jaw and chewing muscles for maxill...

引用

IEEE Nonrigid and Articulated Motion Workshop

作者： T. Weingartner S. Hassfeld R. Dillmann Institute for Real-Time Computer Systems & Robotics Department for Computer Science University of Karlsruhe Karlsruhe Germany Medical Department Clinic for Oral and Maxillofacial Surgery University of Heidelberg Heidelberg Germany Department of Computer Science Institute for Real-Time Computer Systems& Robotics University of Karlsruhe Karlsruhe Germany

The need for simulation in medical environments increases with the complexity and risks of operations. Exact geometric planning is one of the main problems a surgeon has to deal with. The goal of the authors' research is the development of a graphical simulation of the human mastication system. Therefore, they are developing an integrated model of the jaw by parameterizing the bones (maxilla and mandible) and modeling the motion capabilities as well as the mastication muscles. The main focus of the paper is the introduction of a kinematic model of the temporomandibular joint and modeling of the mastication muscles. The kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. By modifying the axes or the geometrical model of the mandible, a surgeon can get a first impression of the post-operative result of, for example, a repositioning. Through integration of the muscles and muscle forces, one can even obtain a dynamic simulation of the whole mastication system.

关键词： Muscles Surgery Surges Computational modeling Medical simulation Kinematics Joints Tomography Pain real time systems

来源：评论

学校读者我要写书评

暂无评论

Autonomously Flying VTOL-Robots: Modeling and Control

Autonomously Flying VTOL-Robots: Modeling and Control

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Konstantin Kondak Markus Bernard Nicolas Meyer Gunter Hommel Real-Time Systems and Robotics Group Faculty of Electrical Engineering and Computer Science Technische Universitat Berlin Berlin Germany

In this paper an approach for control of autonomously flying robots with vertical take off and landing capabilities (VTOL) is presented. After reviewing that the motion description for different VTOL-robots is very similar, the general control scheme for VTOL-robots is presented. This scheme is based on linearisation and decoupling using inversion of the system model blocks. To compensate the model uncertainties and disturbances two additional parts are included into the controller: a reduced state observer based on a robot motion model as well as a disturbances observer and compensator for orientation control. The presented approach was applied to two different VTOL-robots: a helicopter and a quad-rotor. In real flight experiments it was verified that the presented general but simple controller provides sufficient performance for a wide range of practical applications.

关键词： Helicopters Robot sensing systems Gyroscopes robotics and automation Automatic control Motion control Uncertainty Unmanned aerial vehicles Observers Delay estimation

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：