An error analysis of PPP (Precise Point Positioning) using IF (Ionosphere Free) combination is given in this paper. It is shown that the performance of the ordinary model with positions, clock bias, integer ambiguitie...
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The ability to perceive possible interactions with the environment is a key capability of task-guided robotic agents. An important subset of possible interactions depends solely on the objects of interest and their po...
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The ability to perceive possible interactions with the environment is a key capability of task-guided robotic agents. An important subset of possible interactions depends solely on the objects of interest and their position and orientation in the scene. We call these object-based interactions 0-order affordances and divide them among non-hidden and hidden whether the current configuration of an object in the scene renders its affordance directly usable or not. Conversely to other works, we propose that detecting affordances that are not directly perceivable increase the usefulness of robotic agents with manipulation capabilities, so that by appropriate manipulation they can modify the object configuration until the seeked affordance becomes available. In this paper we show how 0-order affordances depending on the geometry of the objects and their pose can be learned using a supervised learning strategy on 3D mesh representations of the objects allowing the use of the whole object geometry. Moreover, we show how the learned affordances can be detected in real scenes obtained with a low-cost depth sensor like the Microsoft Kinect through object recognition and 6D0F pose estimation and present results for both learning on meshes and detection on real scenes to demonstrate the practical application of the presented approach.
In this paper a novel approach for 3D environment mapping using registered robot poses is presented. The proposed algorithm focuses on improving the quality of robot generated 3D maps by incorporating the uncertainty ...
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In this paper a novel approach for 3D environment mapping using registered robot poses is presented. The proposed algorithm focuses on improving the quality of robot generated 3D maps by incorporating the uncertainty of 3D points and propagating it into the normal vectors of surfaces. The uncertainty of normal vectors is an indicator of the quality of the detected surface. A controlled random search algorithm is applied to optimize a non-convex function of uncertain normal vectors and number of clusters in order to find the optimal threshold parameter for the segmentation process. This approach leads to an improved cluster coherence and thus better maps.
A Norm-Optimal Iterative Learning control (NOILC) solution is developed for the problem when tracking is only required at a subset of isolated time points along the trial duration. Well-defined convergence properties ...
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We present the hardware design, software architecture, and core algorithms of Herb 2.0, a bimanual mobile manipulator developed at the Personal robotics Lab at Carnegie Mellon University, Pittsburgh, PA. We have devel...
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Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems f...
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ISBN:
(纸本)9781457711992
Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.
In the paper we propose a new framework for the distributed tabu search algorithm designed to be executed with the use of a multi-GPU cluster, in which cluster of nodes are equipped with multicore GPU computing units....
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In the paper we propose a new framework for the distributed tabu search algorithm designed to be executed with the use of a multi-GPU cluster, in which cluster of nodes are equipped with multicore GPU computing units. The proposed methodology is designed specially to solve difficult discrete optimization problems, such as a flexible job shop scheduling problem, which we introduce as a case study used to analyze the efficiency of the designed synchronous algorithm.
In this paper we consider a multi-machine scheduling problem with setup times, which is determined in the literature as the flexible job shop problem. It belongs to the strongly NPcomplete complexity *** propose an al...
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In this paper we consider a multi-machine scheduling problem with setup times, which is determined in the literature as the flexible job shop problem. It belongs to the strongly NPcomplete complexity *** propose an algorithm based on the tabu search method. The new elimination criteria were used in the construction process of blocks of the critical path.
This paper concerns the domain of the multimodal transportation systems composed of buses, trains, trams and subways lines and focuses on the scheduling problems encountered in these systems. Transportation Network In...
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This paper concerns the domain of the multimodal transportation systems composed of buses, trains, trams and subways lines and focuses on the scheduling problems encountered in these systems. Transportation Network Infrastructure (TNI) can be modeled as a network of lines providing cyclic routes for particular kinds of stream-like moving transportation means. Lines are connected by common shared change stations. Depending on TNI timetabling the time of the trip of passengers following different itineraries may dramatically differ, e.g. the same distances along the north-south, and east-west directions may require different travel time. So, the mine question regards of TNI schedulability, e.g. the guarantee the same distances in arbitrarily assumed directions will require approximate traveled time. Considered timetabling problem belongs to NP-hard ones. The declarative model of TNI enabling to formulate cyclic scheduling problem in terms of the constraint satisfaction one is our main contribution. At last, the simulated results manifest the promising properties of the proposed model.
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