检索结果-内蒙古大学图书馆

Tactile gestures for human/robot interaction

Tactile gestures for human/robot interaction

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： R.M. Voyles P.K. Khosla Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Gesture-based programming is a new paradigm to ease the burden of programming robots. By tapping in to the user's wealth of experience with contact transitions, compliance, uncertainty and operations sequencing, we hope to provide a more intuitive programming environment for complex, real-world tasks based on the expressiveness of nonverbal communication. A requirement for this to be accomplished is the ability to interpret gestures to infer the intentions behind them. As a first step toward this goal, this paper presents an application of distributed perception for inferring a user's intentions by observing tactile gestures. These gestures consist of sparse, inexact, physical "nudges" applied to the robot's end effector for the purpose of modifying its trajectory in free space. A set of independent agents-each with its own local, fuzzified, heuristic model of a particular trajectory parameter observes data from a wristforce/torque sensor to evaluate the gestures. The agents then independently determine the confidence of their respective findings and distributed arbitration resolves the interpretation through voting.

关键词： Human robot interaction Robot sensing systems Robot programming Educational robots Painting Spraying Education Voting Service robots Fixtures

来源：评论

学校读者我要写书评

暂无评论

Shape from motion decomposition as a learning approach for autonomous agents

Shape from motion decomposition as a learning approach for a...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： R.M. Voyles J.d. Morrow P.K. Khosla Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

This paper explores shape from motion decomposition as a learning tool for autonomous agents. Shape from motion is a process through which an agent learns the "shape" of some interaction with the world by imparting motion through some subspace of the world. The technique applies singular value decomposition to observations of the motion to extract the eigenvectors. The authors show how shape from motion applied to a fingertip force sensor "learns" a more precise calibration matrix with less effort than traditional least squares approaches. The authors also demonstrate primordial learning on a primitive "infant" mobile robot.

关键词： Shape Calibration Computer vision Force sensors Matrix decomposition Autonomous agents Ontologies Singular value decomposition Robustness Principal component analysis

来源：评论

学校读者我要写书评

暂无评论

Vision and force driven sensorimotor primitives for robotic assembly skills

Vision and force driven sensorimotor primitives for robotic ...

引用

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

作者： J.d. Morrow B.J. Nelson P.K. Khosla Robotics Ph.D. Program Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The authors are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor-driven robot programs. This paper reports on the development of both force and vision driven commands which are successfully applied to two different connector insertion experiments.

关键词： Force sensors Robotic assembly Robot sensing systems Robot programming Connectors Libraries Computer aided manufacturing Sensor systems Manufacturing systems Robot vision systems

来源：评论

学校读者我要写书评

暂无评论

phASE SYNCHRONIZATION IN A SATELLITE-MOBILE CHANNEL

引用

INTERNATIONAL JOURNAL OF SATELLITE communicationS 1995年第1期13卷 1-10页

作者： SALIS, JMR dELRIO, LM Polytechnical University of Madrid Department of Signals Systems and Radiocommunications E.T.S.I. Telecomunicacion Ciudad Universitaria 28040 Madrid Spain Jose Manuel Riera Salis was born in Aviles Spain in 1963. He received the M.S. degree in electrical engineering in 1987 and the Ph.D degree in electrical engineering in 1991 both from the Polytechnical University of Madrid. In 1987 he joined the Department of Signals Systems and Radiocommunications of the same University where he became assistant professor in 1993. His current areas of interest are radiowave propagation and communication systems development. Luis Mercader del Rio was born in Barcelona Spain in 1923. He earned the M.S. degree in electrical engineering and the Ph.D. degree in electrical engineering from the University of Moscow in 1948 and 1954. In 1982 he received the Ph.D. degree in electrical engineering from the University of Barcelona. He has subsequently been Professor in the University of Moscow (1965–1978) the University of Barcelona (1978–1982) and the Polytechnical University of Madrid (1982–1988). He has been Emeritus Professor in the Polytechnical University of Madrid since 1988 and in the Public University of Navarra since 1992. His areas of research are microwave radiocommunication systems and microwave propagation.

This paper studies several aspects relevant to the design of phase synchronization circuits for land mobile satellite systems (LMSS). First, the results of a propagation experiment are presented, with special focus on the effects of vehicle mobility on the signal phase. It is found that the changes of speed and direction cause frequency variations that can be modelled as linear. Bounds for the frequency derivative are given for different percentages of time. The use of third-order PLLs is considered, as they are optimum for tracking a frequency ramp embedded in white Gaussian noise. The model of third-order PLL employed is presented, as it is an original model, developed by the authors. Then the performances of second- and third-order PLLs are compared. Theoretical, as well as simulation, results are given. It is shown that third-order loops give better performance in the presence of frequency variations of the kind observed in this link, but they suffer from a higher sensitivity to oscillators' phase noise. Several conclusions regarding the use of third-order loops in future systems are presented.

关键词： phASE SYNCHRONIZATION LMSS 3Rd-ORdER PLL

来源：评论

学校读者我要写书评

暂无评论

AUTOMATIC VEHICLE IMAGE EXTRACTION BASEd ON SPATIOTEMPORAL IMAGE-ANALYSIS

引用

SYSTEMS ANd COMPUTERS IN JAPAN 1995年第12期26卷 71-82页

作者： NAKANISHI, T SHIO, A ISHII, KI Member NTT Human Interface Laboratories Yokosuka Japan 238 Akb Shio:received his B.S. degree in Applied Physics from Hokkaido University in 1974. He joined NTT Communication Laboratories the same year. He has engaged in the development of optical character readers (OCR) environmental image processing and image recognition. He was a guest researcher of the Electrical Engineering Department Irvine campus of University of California. At present he is a Principal Researcher in Media Application Department NTT Interface Laboratory. He is a member of Institute of Information Processing Japan and of IEEE. Members Ken-ichiro Isbii:received his B.E. and M.S. degrees in 1972 and 1984 respectively from the University of Tokyo and his Ph.D. later. He joined NTT Communication Laboratories in 1984. He had been a guest researcher in the Electrical Engineering Department Purdue University (USA) in 1979 and working on character recognition image processing and optimal character readers. At present he is a Director of the Information Science Department at NTT Human Interface Laboratories. He is a member of Institute of Information Processing Japan and IEEE.

This paper proposes an automatic method of extracting the image of a vehicle moving along a straight road from a sequential video image. The method has been designed to be independent of the type of vehicle and the background, and to obtain an image with minimum defective areas. The image of the vehicle is extracted by analyzing a locus in a spatio-temporal image seen through a slit in a fixed video camera, by updating the background image and superimposing a time-series of the background difference image. The method can extract a full image of various types of vehicles in an arbitrary background with minimum defects, and can separate the images of two vehicles when one crosses in front of the other. The method has been tested successfully with actual traffic (including traffic starting from a traffic light). The results show that the method is practical for smoothly flowing traffic. The method has also been tested successfully for identifying vehicle types.

关键词： IMAGE SEQUENCE ANALYSIS SPATIOTEMPORAL IMAGE VEHICLE IN MOTION VEHICLE CLASSIFICATION BACKGROUNd

来源：评论

学校读者我要写书评

暂无评论

AN ALGORITHM FOR SIZING TRUNKS CARRYING MIXTURES OF CONSTANT ANd VARIABLE BIT-RATE TRAFFIC

引用

INTERNATIONAL JOURNAL OF communication SYSTEMS 1995年第5期8卷 313-323页

作者： REGE, KM AT&T Bell Laboratories Room 3m-324 Holmdel New Jersey 07733 U.S.A. Kiran M. Rege is with the Performance Analysis Department of AT&T Bell Laboratories Holmdel New Jersey. He received his bachelor's degree from the Indian Institute of Technology Bombay in 1977 an M.E. from the University of Florida Gainesville in 1979 and a Ph.D. from the University of Hawaii Honolulu in 1981 all in Electrical Engineering. Besides working at AT&T Bell Laboratories he has spent a year teaching at I.I.T. Bombay and has worked with the Centre for Development of Advanced Computing Pune India. His research interests include performance modelling and analysis techniques queueing theory communication systems and natural language processing.

As new broadband networks based on the asynchronous transfer mode (ATM) protocol emerge to support a variety of services, the need for analytical models and tools for sizing network components carrying mixtures of different kinds of traffic will be increasingly felt. This paper presents a simple, yet efficient algorithm for sizing trunks carrying mixtures of constant and variable bit rate traffic. It combines theoretical results for the multi-dimensional Erlang model and the concept of equivalent bandwidth with some heuristic arguments to produce an analytic method for sizing trunks subject to blocking and quality of service constraints for traffic classes.

关键词： ATM ERLANG BLOCKING EQUIVALENT BANdWIdTH BROAd-BANd NETWORKS

来源：评论

学校读者我要写书评

暂无评论

A dISTRIBUTEd MEdIA ACCESS PROTOCOL FOR PACKET RAdIO NETWORKS ANd PERFORMANCE ANALYSIS .2. NETWORK SET-UP TIME ANd dATA RATE

引用

INTERNATIONAL JOURNAL OF communication SYSTEMS 1995年第1期8卷 49-63页

作者： PONd, LC LI, VOK Communication Sciences Electrical Engineering Systems University of Southern California Los Angeles CA 90089-2565 U.S.A. Lawrence C. Pond received the M.Sc. and Ph.D. degrees in electrical engineering from the University of Southern California in 1983 and 1990 respectively. Dr. Pond is currently a scientist at Hughes Space and Communications Company having joined in 1980. He has worked in the fields of communication system design mobile communication network and spacecraft payload design. He is currently working on the development of satellite-based ATM transport and switching architectures for BISDN and Defense Information System Network amlications. Dr. Pond is a member of IEEE. Victor O. K. Li was born in Hong Kong in 1954. He received his SB SM and Sc.D. degrees in Electrical Engineering and Computer Science from the Massachusetts Institute of Technology Cambridge Massachusetts in 1977 1979 and 1981 respectively. Since February 1981 he has been with the University of Southern California (USC) LOS Angeles California where he is Professor of Electrical Engineering and Director of the USC Communication Sciences Institute. He has published 150 technical papers and has lectured and consulted extensively around the world. His research interests include high-speed communication networks personal communication networks intelligent networks distributed databases queueing theory graph theory and applied probability. Dr. Li is very active in the Institute of Electrical and Electronic Engineers (IEEE) having been a member of the Computer Communications Technical Committee since 1983 and having served as Chairman from 1987–1989. He served as Chairman of the Los Angeles Chapter of the IEEE Information Theory Group from 1983–1985. He is the Steering Committee Chair of the International Conference on Computer Communications and Networks (IC3 N) General Chair of the 1st Annual IC3N held in San Diego California in June 1992 General Chair and Technical Program Chair of the 4th IEEE Workshop on Comp

In this, the second part of a two-part paper, the required time for establishing a mobile packet radio network using the virtual circuit and time division multiple access protocol developed in Part 1 is analysed. Tools are developed to determine the virtual circuit and network set-up times in terms of the channel bandwidth allocated to establish and maintain the network. The tools are then extended to include the effects of user mobility. Then these results are combined with the network capacity results of Part 1 to analyse the trade-off between the data rate and set-up time of the network. Next a hierarchical architecture is proposed and the network data rate versus set-up time trade-off of this architecture is analysed using these tools. This architecture is shown to both provide a higher data rate and establish faster than flat networks of the same number of nodes.

关键词： PACKET RAdIO NETWORK EPLRS dISTRIBUTEd NETWORK TdMA VIRTUAL CIRCUITS MULTIHOP NETWORK BOUNdEd dELAY MOBILITY NETWORK SET-UP TIME HIERARCHICAL NETWORK NETWORK dATA RATE

来源：评论

学校读者我要写书评

暂无评论

INITIAL-VALUE SEARCH METHOd FOR MULTIPLE VIEWPOINT STEREO MEASUREMENT USING GENETIC ALGORITHMS

引用

SYSTEMS ANd COMPUTERS IN JAPAN 1995年第8期26卷 55-65页

作者： NOBIKI, A NARUSE, H YABUTA, T TATEdA, M Member NTT Telecommunications Field Systems R&D Center Ibaraki Japan 319 Members Mitsuhoro Tateda:received his B.S. M.S. and Ph.D. degrees in Physical Engineering from the University of Tokyo Japan in 1972 1974 and 1982 respectively. After joining the Electrical Communications Laboratories in 1974 he worked on the transmission characteristics of optical fibers for the practical design of trunkline optical cables. He is now a Group Leader at NTT Access Network Systems Laboratories. He received Young Engineer Awards in 1981 and Paper Awards in 1983 and 1991 from the Institute of Electronics Information and Communication Engineers of Japan respectively.

There has already been a report on the method to improve stereo measurement accuracy by integrating stereo data from multiple viewpoints, which employs a local optimization technique, the nonlinear optimization method using iterative calculation. The problem is that estimated results depend on the initial values of the iterative calculation. If the calculation begins with unsuitable values, a correct estimation cannot be made. This paper presents a new method utilizing a genetic algorithm to search for initial values for the nonlinear optimization process in multiple viewpoint stereo measurement. In this method, a one-dimensional matrix is created. Called an ''individual,'' it consists of parameters to be determined. Next, a population is formed which consists of several individuals. Then three kinds of genetic operations are performed on this population, crossover, mutation and selection, which evolve the population to fit the environment. This evolution process is repeated and the evolved result is used as the initial values for the iteration calculation. The efficiency of this method is confirmed by simulation and an outdoor experiment.

关键词： MULTIPLE VIEWPOINTS STEREO IMAGE MEASUREMENT OPTIMIZATION METHOd INITIAL VALUE SEARCH GENETIC ALGORITHM

来源：评论

学校读者我要写书评

暂无评论

A method of measuring moving characteristics of precision mechanical-translation stages using ultrasonic plane waves and applying it to a line-focus-beam acoustic microscopy system

引用

ELECTRONICS ANd communicationS IN JAPAN PART III-FUNdAMENTAL ELECTRONIC SCIENCE 1995年第10期78卷 10-19页

作者： Ono, Y Kushibiki, JI Chubachi, N Department of Electrical Engineering Faculty of Engineering Tohoku University Sendai Japan 980-77 Jun-ichi Kushibiki received his B.S. M.S. and Ph.D. degrees in Electrical Engineering from Tohoku University Sendai Japan in 1971 1973 and 1976 respectively. In 1976 he became a Research Associate at the Research Institute of Electrical Communication Tohoh University. In 1979 he joined the Department of Electrical Engineering Faculty of Engineering Tohoku University where he was an Associate Professor from 1988 to 1993 and became a Professor in 1994. He has been studying ultrasonic metrology especially acoustic microscopy and its applications and established a method of material characterization by line-focus-beam acoustic microscopy. He also has been interested in biological tissue characterization in the higher frequency range applying both bulk and acoustic microscopy techniques. Dr. Kushibiki is a member of the IEEE the Institute of Electronics Information and Communication Engineers of Japan the Society of Japanese Applied Physics the Institute of Electrical Engineers of Japan the Acoustical Society of Japan and the Japan Society of Ultrasonics in Medicine. Members

A method of measuring moving characteristics of precision mechanical-translation stages using ultrasonic plane waves is presented. The moving characteristics are obtained by analyzing the phase variation of ultrasonic waves reflected from a reflector set on the translation stage. The resolution is 4 nm at an ultrasonic frequency of 225 MHz;higher resolution is expected at higher frequencies. The method is demonstrated for a line-focus-beam (LFB) acoustic microscopy system. Measurement errors of the phase velocity of leaky surface acoustic waves, caused by the positioning errors of the z-stage, are investigated both theoretically and experimentally. The linear positioning and straightness errors of the z-stage are estimated at 225 MHz and these effects on velocity measurements are successfully removed using the measured moving characteristics.

关键词： mechanical-translation stages moving characteristics ultrasonic plane waves line-focus-beam (LFB) acoustic microscope leaky surface acoustic waves

来源：评论

学校读者我要写书评

暂无评论

A standard cell global routing algorithm with net selection for over-the-cell routing

引用

ELECTRONICS ANd communicationS IN JAPAN PART III-FUNdAMENTAL ELECTRONIC SCIENCE 1995年第12期78卷 102-115页

作者： Koide, T Suzuki, T Wakabayashi, S Yoshida, N Member Faculty of Engineering Hiroshima University Higashi-Hiroshima Japan 724 Associate Member Shin'ichi:Wakabayashi received his B.E. degree in Electrical Engineering and his M.E. and Ph.D. degrees in Systems Engineering from Hiroshima University in 1979 1981 and 1984 respectively. He was a Researcher at Tokyo Research Laboratory IBM Japan Ltd. in 1984-1988. Since 1988 he has been an Associate Professor on the Faculty of Engineering Hiroshima University. His research interests include VLSI CAD combinatorial optimization parallel and distributed algorithms and theory of computing. Dr. Wakabayashi is a member of the Institute of Electrical and Electronics Engineers the Association for Computing Machinery the Institute of Electronics Information and Communication Engineers and the Information Processing Society of Japan. Members

In the detailed routing for VLSI standard cell layout design, the over-the-cell channel routing, which utilizes the over-the-cell legion as the routing region, has been proposed. In this design method, after determining the net assignment to each channel in the global routing step, the track assignment both in channel and on over-the-cell regions is performed by an over-the-cell channel router. However, conventional global routing algorithms do not assume over-the-cell channel routing but conventional channel routing, Therefore, the minimization of channel density does not always successfully lead to the minimization of the final channel height. This paper presents a new global Touting method for standard cell layouts to determine global routes for each net in both channel and over-the-cell regions simultaneously. The standard cell layout design system GLORIA based on the proposed algorithm is developed, and the experimental results compared with the conventional global routing method that performs the over-the-cell channel routing after global-routing with TimberWolf-SC4.2c are reported. Experimental results showed that the proposed routing algorithm can route about 18.4 percent fewer number of tracks than the conventional routing method, and the effectiveness of the proposed method is shown. The experimental results of applying the proposed method to the three-layer routing layout model also are presented.

关键词： standard cell layout design CAd global routing over-the-cell routing

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：