Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site contro...
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Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.
Quadtrees are compact hierarchical representations of images. In this paper, we define the efficiency of quadtrees in representing image segments and derive the relationship between the size of the enclosing rectangle...
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Quadtrees are compact hierarchical representations of images. In this paper, we define the efficiency of quadtrees in representing image segments and derive the relationship between the size of the enclosing rectangle of an image segment and its optimal quadtree. We show that if an image segment has an enclosing rectangle having sides of lengths x and y, such that 2N-1 × max (x, y) ⩽ 2N, then the optimal quadtree may be the one representing an image of size 2N × 2N or 2N+1 × 2N+1. It is shown that in some situations the quadtree corresponding to the larger image has fewer nodes. Also, some necessary conditions are derived to identify segments for which the larger image size results in a quadtree which is no more expensive than the quadtree for the smaller image size.
The dynamic performance of computer-controlled manipulators is directly linked to the formulation of the dynamic model of manipulators and its corresponding control law. Several approaches are available in formulating...
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The dynamic performance of computer-controlled manipulators is directly linked to the formulation of the dynamic model of manipulators and its corresponding control law. Several approaches are available in formulating the dynamic models of mechanical manipulators and most notably of these are the Lagrange-Euler and the Newton-Euler formulations. This paper describes an efficient position plus derivative control in joint space for a PUMA robot arm whose dynamic equations of motion are formulated by the Newton-Euler method. The controller compensates the inertia loading, the nonlinear coupling reaction forces between joints and the gravity loading effects. Using a PDP 11-/45 computer the controller equation can be computed in 3 ms which is sufficient for real-time control. computer simulation of the performance of the control law is included for discussion.
In this review, we provide an overview of emerging trends and challenges in the field of intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of perception, planning, and decision-making...
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In this review, we provide an overview of emerging trends and challenges in the field of intelligent and autonomous, or self-driving, vehicles. Recent advances in the field of perception, planning, and decision-making for autonomous vehicles have led to great improvements in functional capabilities, with several prototypes already driving on our roads and streets. Yet challenges remain regarding guaranteed performance and safety under all driving circumstances. For instance, planning methods that provide safe and system-compliant performance in complex, cluttered environments while modeling the uncertain interaction with other traffic participants are required. Furthermore, new paradigms, such as interactive planning and end-to-end learning, open up questions regarding safety and reliability that need to be addressed. In this survey, we emphasize recent approaches for integrated perception and planning and for behavior-aware planning, many of which rely on machine learning. This raises the question of verification and safety, which we also touch upon. Finally, we discuss the state of the art and remaining challenges for managing fleets of autonomous vehicles.
This book includes the thoroughly refereed post-conference proceedings of the 15th Annual RoboCup International Symposium, held in Istanbul, Turkey, in July 2011.The 12 revised papers and 32 poster presentation prese...
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ISBN:
(数字)9783642320606
ISBN:
(纸本)9783642320590
This book includes the thoroughly refereed post-conference proceedings of the 15th Annual RoboCup International Symposium, held in Istanbul, Turkey, in July 2011.
The 12 revised papers and 32 poster presentation presented were carefully reviewed and selected from 97 submissions. The papers are orginazed on topical sections on robot hardware and software, perception and action, robotic cognition and learning, multi-robot systems, human-robot interaction, education and edutainment and applications.
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.
Mural image inpainting is far less explored compared to its natural image counterpart and remains largely unsolved. Most existing image-inpainting methods tend to take the target image as the only input and directly r...
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Mural image inpainting is far less explored compared to its natural image counterpart and remains largely unsolved. Most existing image-inpainting methods tend to take the target image as the only input and directly repair the damage to generate a visually plausible result. These methods obtain high performance in restoration or completion of some pre-defined objects, e.g., human face, fabric texture, and printed texts, etc., however, are not suitable for repairing murals with varying subjects and large damaged areas. Moreover, due to discrete colors in paints, mural inpainting may suffer from apparent color bias. To this end, in this paper, we propose a line drawing guided progressive mural inpainting method. It divides the inpainting process into two steps: structure reconstruction and color correction, implemented by a structure reconstruction network (SRN) and a color correction network (CCN), respectively. In structure reconstruction, SRN utilizes the line drawing as an assistant to achieve large-scale content authenticity and structural stability. In color correction, CCN operates a local color adjustment for missing pixels which reduces the negative effects of color bias and edge jumping. The proposed approach is evaluated against the current state-of-the-art image inpainting methods. Qualitative and quantitative results demonstrate the superiority of the proposed method in mural image inpainting. The codes and data are available at https://***/qinnzou/mural-image-inpainting.
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