检索结果-内蒙古大学图书馆

作者： Hwang, Sun Min Kim, Chi Yen Beak, Jun-Young Eom, Hyeon Seob Lee, Min Cheol Interdisciplinary Program in Robotics Pusan National University Busan Korea Republic of School of Mechanical Engineering Pusan National University Busan Korea Republic of

ISBN: (纸本)9784907764364

Collision avoidance is essential element for safe navigation of mobile robot. In mobile robot system, various sensors are used to recognize or detect objects which have possibility of collision against robot during driving. As inescapable fault of each sensor, many researchers have studied sensor fusion and compensation methods to overcome the problems. Most popular sensors used for mobile robot are laser and ultrasonic sensors. However it is difficult for these sensors to find obstacle in case of a slope road. For the slope environment, this paper studies vision method. Vision sensor can detect slope by using randomized Hough transform (RHT). This paper suggests a method of detecting an obstacle in a complicated space with slant using RHT and corner information. This paper proves to compare the result of presence RHT. © 2010 SICE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Visual motion observer-based pose control with panoramic camera via passivity approach

Visual motion observer-based pose control with panoramic cam...

引用

作者： Kawai, Hiroyuki Murao, Toshiyuki Fujita, Masayuki Department of Robotics Kanazawa Institute of Technology Ishikawa 921-8501 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo 140-0011 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo 152-8550 Japan

ISBN: (纸本)9781424474264

This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. After that, stability and L 2-gain performance analysis for the closedloop system are discussed. Finally, simulation and experimental results are shown in order to confirm the proposed method. © 2010 AACC.

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

Virtual and augmented medical imaging environments: Enabling technology for minimally invasive cardiac interventional guidance

引用

IEEE Reviews in Biomedical engineering 2010年 3卷 25-47页

作者： Linte, Cristian A. White, James Eagleson, Roy Guiraudon, Grard M. Peters, Terry M. Biomedical Engineering Graduate Program University of Western Ontario Robarts Research Institute London ON N6A 5K8 Canada Imaging Research Laboratories Robarts Research Institute London Health Sciences Centre London ON N6A 5A5 Canada Department of Electrical and Computer Engineering University of Western Ontario Canadian Surgical Technologies and Advanced Robotics London ON N6A 5B9 Canada Canadian Surgical Technologies and Advanced Robotics London ON N6A 5A5 Canada

Virtual and augmented reality environments have been adopted in medicine as a means to enhance the clinician's view of the anatomy and facilitate the performance of minimally invasive procedures. Their value is truly appreciated during interventions where the surgeon cannot directly visualize the targets to be treated, such as during cardiac procedures performed on the beating heart. These environments must accurately represent the real surgical field and require seamless integration of pre- and intra-operative imaging, surgical tracking, and visualization technology in a common framework centered around the patient. This review begins with an overview of minimally invasive cardiac interventions, describes the architecture of a typical surgical guidance platform including imaging, tracking, registration and visualization, highlights both clinical and engineering accuracy limitations in cardiac image guidance, and discusses the translation of the work from the laboratory into the operating room together with typically encountered challenges. © 2008 IEEE.

关键词： Augmented reality

来源：评论

学校读者我要写书评

暂无评论

Online support vector regression based actor-critic method

Online support vector regression based actor-critic method

引用

Annual Conference of Industrial Electronics Society

作者： Dong-Hyun Lee Jeong-Jung Kim Ju-Jang Lee Robotics Program KAIST Daejeon South Korea Department of Electrical Engineering KAIST Daejeon South Korea

This paper proposes a new algorithm for actor-critic method using online support vector regression(SVR), which can do incremental learning and automatically track variation of environment with time-varying characteristics. It gives good generalization properties to value function approximation and helps the critic converge fast. In addition, sample vectors in data set of the online SVR are used as center positions of actor's basis functions. Actor updates policy parameters with those functions using policy gradient algorithm. Throughout simulations, the feasibility and usefulness of the proposed method is demonstrated by comparison with other methods.

关键词： Support vector machines Function approximation Learning Mathematical model Equations Approximation algorithms

来源：评论

学校读者我要写书评

暂无评论

Telepresence robot system for english tutoring

Telepresence robot system for english tutoring

引用

2010 IEEE Workshop on Advanced robotics and Its Social Impacts, ARSO 2010

作者： Kwon, Oh-Hun Koo, Seong-Yong Kim, Young-Geun Kwon, Dong-Soo Robotics Program Korea Advanced Institute of Science and Technology Taejon 305-701 Korea Republic of Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon 305-701 Korea Republic of Rastech Taejon 305-500 Korea Republic of

ISBN: (纸本)9781424491230

This paper introduced a telepresence robot system for English tutoring. The system consists of the user system, the server system and the robot system. The robot is controlled by the collision prevention system, direct interface, server interface with assistant teacher and remote interface with native teacher. A remote native teacher had given lessons in English using this system for a month and several issues of telepresence robot system for remote lecture are found from the lecture. ©2010 IEEE.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

The hybrid dimming control system for solar charging robot

引用

World Academy of Science, engineering and Technology 2010年 72卷 185-188页

作者： Won-Yong Chae, A. Kim, B. Hyung-Nam Lee, C. Kyoung-Jun Kim, D. Hee-Je Interdisciplinary Program in Robotics Pusan National University Pusan Korea Republic of Electronic and Electrical Engineering Department Pusan National University Pusan Korea Republic of

The renewable energy has been attracting attention as a new alternative energy due to the problem of environmental pollution and resource depletion. In particular, daylighting and PV system are regarded as the solutions. In this paper, the hybrid dimming control system supplied by solar cell and daylighting system was designed. Daylighting system is main source and PV system is spare source. PV system operates the LED lamp which supports daylighting system because daylighting system is unstable due to the variation of irradiance. In addition, PV system has a role charging batteries. Battery charging has a benefit that PV system operate LED lamp in the bad weather. However, LED lamp always can't turn on that's why dimming control system was designed. In particular, the solar charging robot was designed to check the interior irradiance intensity. These systems and the application of the solar charging robot are expected to contribute developing alternative energy in the near future.

关键词： Charging (batteries)

来源：评论

学校读者我要写书评

暂无评论

The study on the wireless power transfer system for mobile robots

引用

World Academy of Science, engineering and Technology 2010年 72卷 182-184页

作者： Kim, Hyung-Nam Chae, Won-Yong Shin, Dong-Sul Kim, Ho-Sung Kim, Hee-Je Interdisciplinary program in Robotics Pusan National University Pusan Korea Republic of Electronic and Electrical Engineering Department Pusan National University Pusan Korea Republic of

A wireless power transfer system can attribute to the fields in robot, aviation and space in which lightening the weight of device and improving the movement play an important role. A wireless power transfer system was investigated to overcome the inconvenience of using power cable. Especially a wireless power transfer technology is important element for mobile robots. We proposed the wireless power transfer system of the half-bridge resonant converter with the frequency tracking and optimized power transfer control unit. And the possibility of the application and development system was verified through the experiment with LED loads.

关键词： Light emitting diodes

来源：评论

学校读者我要写书评

暂无评论

Application of neuro-fuzzy PID controller for post chlorine process

Application of neuro-fuzzy PID controller for post chlorine ...

引用

15th International Symposium on Artificial Life and robotics, AROB '10

作者： Lee, Ho-Hyun Oh, Chang-Mok Lee, Ju-Jang Lee, An-Kyu Lee, Dong-Hoon Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Cheoung-choung Regional Head Office Korea Water Resources Corporation Daejeon Korea Republic of

ISBN: (纸本)9784990288044

Drinking water can be contaminated by microorganisms which can be re-grown in case of not controlling chlorine concentration well in water treatment plant (hereafter WTP). It can be harmful to public health. Most WTPs have used chlorine as disinfectant. It can be used in pre-chlorination, post-chlorination and re-chlorination. In postchlorination, it is injected after filtration to keep residual chlorine from being contaminated by microorganisms. Postchlorine process without re-chlorination is directly serviced to citizens. If the concentration is low, drinking water can be contaminated by bacterial re-growth. On the other hand, the high chlorine can lead to customer complaints about taste and odor. Therefore, it is necessary to predict chlorine decay in clear well to maintain desired chlorine levels. In this paper, it is shown that artificial neuro-fuzzy inference system could be used to model chlorine decay in the process and control residual chlorine better than present controller, in which cascade control is considered to compensate the error in the output. © 2010 ISAROB.

关键词： Chlorination

来源：评论

学校读者我要写书评

暂无评论

Visual motion observer-based stabilizing receding horizon control via image space navigation function

Visual motion observer-based stabilizing receding horizon co...

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： Toshiyuki Murao Hiroyuki Kawai Masayuki Fujita Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Tokyo Japan Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

This paper investigates stabilizing receding horizon control via an image space navigation function for a three-dimensional (3-D) visual feedback system. Firstly, a brief summary of a visual motion observer is given. Next, a visual motion error system is reconstructed in order to apply to time-varying desired motion. Then, visual motion observer-based stabilizing receding horizon control for the 3-D visual feedback system, highly nonlinear and relatively fast system, is proposed. Moreover, a path planner to be appropriate for the visual motion error system is designed through the image space navigation function to keep all features into a camera field of view. Finally, simulation results are shown in order to confirm the proposed method.

关键词： Visualization Navigation Cameras Aerospace electronics Lyapunov method Estimation error Feedback control

来源：评论

学校读者我要写书评

暂无评论

Telepresence robot system for English tutoring

Telepresence robot system for English tutoring

引用

IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Oh-Hun Kwon Seong-Yong Koo Young-Geun Kim Dong-Soo Kwon Robotics Program Korea Advanced Institute of Science and Technology Taejon South Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea Rastech Taejon South Korea

关键词： Education Collision avoidance Servers Robot sensing systems Materials Electronic mail

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：