检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： Chaomin Luo S.X. Yang D.A. Stacey Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada Department of Computing and Information Science University of Guelph Guelph ONT Canada

In this paper, a cooperative sweeping strategy with deadlock avoidance of complete coverage path planning for multiple cleaning robots in a changing and unstructured environment is proposed, using biologically inspired neural networks. Cleaning tasks require a special kind of trajectory being able to cover every unoccupied area in specified cleaning environments, which is an essential issue for cleaning robots and many other robotic applications. Multiple robots can improve the work capacity, share the cleaning tasks, and reduce the time to complete sweeping tasks. In the proposed model, the dynamics of each neuron in the topologically organized neural network is characterized by a shunting neural equation. Each cleaning robot treats the other robots as moving obstacles. The robot path is autonomously generated from the dynamic activity landscape of the neural network, the previous robot location and the other robot locations. The proposed model algorithm is computationally efficient. The feasibility is validated by simulation studies on three cases of two cooperating cleaning robots. The multiple cleaning robots sweeping will not be trapped in deadlock situations.

关键词： Path planning System recovery Cleaning Orbital robotics Robot sensing systems Intelligent robots Neural networks Computational modeling Chaos Intelligent systems

来源：评论

学校读者我要写书评

暂无评论

Synergies Between Information Technology and (Dis)-Assembly

引用

IFAC Proceedings Volumes 2003年第23期36卷 27-35页

作者： D. Noe P. Kopacek Laboratory for Handling and Assembly Systems University of Ljubljana Faculty of Mechanical Engineering Aškerčeva 6 SI-1000 Ljubljana Slovenia Institute of Handling Devices and Robotics Vienna University of Technology Faculty of Mechanical Engineering Favoritenstr. 9-11 A-1040 Vienna Austria

Product design and assembly/disassembly process planning and system development have been significantly influenced by information technology. Computer aided design allows to develop products in several variants and evaluating them, virtual prototyping, planning and simulation. Different computer aided systems are used for automated creating of lay-out and presentation of assembly process in virtual environment. We are faced with use of Ethernet in assembly system control and new organisation structures like virtual enterprises, production in networks will occur in the future. For that reason new communications structures, data management systems and protocols have been developed.

关键词： Assembly disassembly information technology process planning virtual reality robotics

来源：评论

学校读者我要写书评

暂无评论

An adaptive velocity estimation approach for improved disk drive control performance

An adaptive velocity estimation approach for improved disk d...

引用

Annual Conference of Industrial Electronics Society

作者： F. Janabi-Sharifi A. Shademan Robotics and Manufacturing Automation Laboratory Department of Mechanical AeroSpace and Industrial Engineering Ryerson University Toronto Canada Signal and Image Processing Group School of Intelligent Systems IPM Niavaran Tehran Iran

For disk servo system design, it is desired to optimize data storage and transfer subject to the constraints imposed by the servomechanism including velocity estimation and control algorithm, disk space, the actuator, and other limiting factors. Therefore, positioning the head with high accuracy, speed, and reliability is of significant importance. Since velocity estimation is essential for many disk servomechanisms, the quality of head positioning will be governed by the accuracy, speed and reliability of the velocity estimation methods employed. In this paper, adaptive windowing techniques for discrete velocity estimation in disk drives are introduced. The methods are compared with conventional techniques such as finite difference method and Kalman filtering using the introduced measures. It is shown that the proposed techniques generate relatively accurate and reliable estimates with reduced time delays and lower amplitude distortions when compared with the previous methods. Finally, it is demonstrated that the proposed techniques improve the control performance of the disk servo systems.

关键词： Programmable control Adaptive control Disk drives Velocity control Servomechanisms Control systems Constraint optimization Design optimization Memory Actuators

来源：评论

学校读者我要写书评

暂无评论

Adaptive velocity estimation for disk drive head positioning

Adaptive velocity estimation for disk drive head positioning

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： A. Shademan F. Janabi-Sharifi Signal and Image Processing Group School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Robotics and Manufacturing Automation Laboratory Department of Mechanical Aerospace and Industrial Engineering Ryerson University Toronto ONT Canada

With the rapid increase of data areal density in disk drives, the need for more accurate position sensing and velocity estimation techniques for the disk drive head actuator emerges. This paper studies the application of velocity estimation methods for disk drive head positioning servo-mechanism with a focus on adaptive windowing velocity estimation. The adaptive windowing technique requires no prior knowledge of measurement noise and shows a better performance compared to conventional finite difference method and Kalman filtering technique. We have compared the performance of adaptive velocity estimation methods under study over a noisy position trajectory in terms of measures for error statistics and undesired shifting. The undesired shifting measure has been developed to reflect the estimation delay and outliers. The simulation results show the superiority of adaptive windowing velocity estimation to conventional methods.

关键词： Disk drives Delay estimation Actuators Noise measurement Finite difference methods Kalman filters Adaptive filters Filtering Position measurement Velocity measurement

来源：评论

学校读者我要写书评

暂无评论

Automatic face region tracking for highly accurate face recognition in unconstrained environments

Automatic face region tracking for highly accurate face reco...

引用

IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance Real time systems Humans Cameras Intelligent systems Security Image quality Layout Low pass filters

来源：评论

学校读者我要写书评

暂无评论

Stiffness analysis for 6-DOF mouth training parallel robot WY-5

Stiffness analysis for 6-DOF mouth training parallel robot W...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： G. Carbone H. Takanobu M. Ceccarelli A. Takanishi K. Ohtsuki M. Ohnishi A. Okino Humanoid Robotics Institute Waseda University Shinjuku-ku Tokyo Japan Laboratory of Robotics and Mechatronics DiMSAT - University of Cassino Cassino (Fr) Italy Department of Mechanical Systems Engineering Kogakuin University Shinjuku-ku Tokyo Japan Yamanashi University Tamaho-cho Nakakoma-gun Yamanashi Japan Okino Industries Ltd. Komae-shi Tokyo Japan

In this paper a mouth opening and closing training robot, named WY-5 (Waseda Yamanashi version 5), is analyzed in terms of stiffness characteristics. The basic models and formulation are proposed in order to deduce the stiffness matrix as a function of the most important stiffness parameters of the WY-5 architecture. A numerical simulation is also presented to discuss main features of the system.

关键词： Mouth Parallel robots Joints Humanoid robots Service robots Industrial training Numerical simulation Pain Medical treatment Algorithm design and analysis

来源：评论

学校读者我要写书评

暂无评论

Robot motion decision-making system in unknown environments

Robot motion decision-making system in unknown environments

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S. Boonphoapichart S. Komada T. Hori W.A. Gruver Department of Electric and Electronic Eng. Mie University Tsu Mie Japan Department of Electronics & Information Eng. Aichi University of Technology Gamagori Aichi Japan Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

A fuzzy decision-making system for multi-criteria robot motion planning and control is described for a constant speed omni-directional mobile robot with active stereo cameras capable of panoramic viewing. The robot can be commanded to move to a target point through an unknown environment while satisfying multiple criteria. Advantages of the proposed method are confirmed by simulation. A multi-agent approach is also described for path planning with multiple robots.

关键词： Robot motion Decision making Fuzzy control Fuzzy systems Motion planning Motion control Control systems Mobile robots Robot vision systems Cameras

来源：评论

学校读者我要写书评

暂无评论

An overview of RoboCup-2002 Fukuoka/Busan

An overview of RoboCup-2002 Fukuoka/Busan

引用

作者： Asada, Minoru Obst, Oliver Polani, Daniel Browning, Brett Bonarini, Andrea Fujita, Masahiro Christaller, Thomas Takahashi, Tomoichi Tadokoro, Satoshi Sklar, Elizabeth Kaminka, Gal A. Dept. of Adaptive Machine Systems Osaka University Osaka Japan University of Koblenz-Landau Artificial Intelligence Group Koblenz Germany University of Hertfordshire Hertfordshire United Kingdom Robotics Institute Carnegie Mellon University Pittsburgh PA United States Department of Electronics Politecnico di Milano Milano Italy GMD-Japan Research Laboratory Kitakyushu Japan Department of Computer Engineering Kobe University Kobe Japan Computer Science Department Ber Ilan University Ramat Gan Israel Computer Science Department Carnegie Mellon University Pittsburgh PA United States

This article reports on the Sixth Robot World Cup Competition and Conference (RoboCup-2002) Fukuoka/Busan, which took place from 19 to 25 June in Fukuoka, Japan. It was the largest RoboCup since 1997 and held the first humanoid league competition in the world. Further, the first ROBOTREX (robot trade and exhibitions) was held with about 50 companies, universities, and institutes represented. A total of 117,000 spectators witnessed this marvelous event, To the best of our knowledge, this was the largest robotic event in history.

关键词： Artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

SPASUR: Interactive visualization of the coupler surfaces of the spatial 4C mechanism

SPASUR: Interactive visualization of the coupler surfaces of...

引用

ASME 2002 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC/CIE 2002

作者： Larochelle, Pierre M. Agius, Agnes Robotics and Spatial Systems Laboratory Mechanical and Aerospace Engineering Department Florida Institute of Technology MelbourneFL32901 United States

This paper presents a software tool entitled SPASUR (SPAtial SURface) for the interactive visualization of the coupler surfaces of the spatial 4C mechanism. The 4C mechanism is a two degree of freedom spatial four-bar linkage. The path traced by a point attached to the coupler or floating link defines a surface in space. An interactive graphical user interface has been created and integrated with kinematic analysis routines to generate and display these coupler surfaces. The result is a user-friendly and efficient means of generating and visualizing the coupler surfaces of the spatial 4C four-bar mechanism. © Copyright 2002 by ASME.

关键词： Degrees of freedom (mechanics)

来源：评论

学校读者我要写书评

暂无评论

Modeling and control of keyhole ARC welding process 15th

Modeling and control of keyhole ARC welding process

引用

15th World Congress of the International Federation of Automatic Control, 2002

作者： Zhang, Y.M. Liu, Y.C. Welding Research Laboratory Center for Robotics and Manufacturing Systems Department of Electrical and Computer Engineering College of Engineering University of Kentucky LexingtonKY40506 United States

ISBN: (纸本)9783902661746

This paper addresses the development of an adaptive control system for keyhole arc welding process. The system developed adjusts the amperage of the peak current to achieve the desired peak current period under varying manufacturing conditions. A nominal model is selected from models identified using experimental data and is used as the a prior model of the controlled process. A predictive control algorithm has been designed for the nominal model structure. Closed-loop control experiments have been conducted to verify the effectiveness of the developed system under varying set-point and varying travel speed. Copyright © 2002 IFAC.

关键词： Adaptive control systems

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：