Advances in Service Robotics Part 1 pps

... Intelligent Unmanned Store Service Robot Part Timer” 11 Where )1( +tV r represents the next linear velocity in Eq. (5). We can define next angular velocity same as linear velocity. ... period )1( +tV r and )1( + t r ω by means of current pose in Eq. (2). They can be described as following: ||| )1( |, )1( )(Pr[ )1( vMAXvvtrr twherettVtV ∇ ≤ + ∇ + ∇ + = + δ...

Ngày tải lên: 10/08/2014, 22:24

... Destination 2 .11 , 3 .11 : Check Destination 2 .12 : No , 3 .12 : Yes 1. 13, 2 .18 : Planned Path 1. 10, 2 .15 : Read a Path 1. 14: Start 2 .19 : Move 3 .13 : Stop 1. 17: Started 3 .16 : Stopped 1. 4, 2.7, 3.7: ... interface>> CommandLine <<external user>> 1 1 1 1 11 11 SensorInterface <<input device interface>> Sensor <<external input device>...

Ngày tải lên: 10/08/2014, 22:24

... scale-invariant features. In Proceedings of the 19 99 International Conference on Computer Vision (ICCV 19 99), pp. 11 50 -11 57. D.G.Lowe(2004). Distinctive image features from scale invariant keypoints. ... environment. This vanishing point will always be finite and lie within the image plane. In this approach, the vanishing points of the vertical line segments (infinite vanishing...

Ngày tải lên: 10/08/2014, 22:24

... B. (19 95). Mobile Robots aid the disabled. Service Robot, 1( 1): 14 -18 . Dario P., Guglielmelli E. & Allotta B. (19 96). Robotics in medicine. IEEE Robotics and Automation Society Magazine. ... “Visual human-robot interaction”, 3rd conference on Field and Service Robotics (FSR20 01) , June 11 -13 , 20 01, Helsinki, Finland Kauppi I., “Intermediate language for mobile r...

Ngày tải lên: 10/08/2014, 22:24

... Fusion using magnetic confinement consists in trapping and maintaining the plasma in a magnetic container with torus shape (Tokamak), under Ultra High Vacuum (10 -6 Pa) and high temperature (10 0 ... Payload: 10 kg. • 6 modules 16 0 mm, up to 11 degrees of freedom (d.o.f.), (10 rotary joints, 1 prismatic joint at the base). • Rotary joint (vertical axis): +/- 90°. • Rotary joint...

Ngày tải lên: 10/08/2014, 22:24

... Service Robots 18 8 -15 00 -10 00-500050 010 0 015 002000 -2000 -15 00 -10 00 -500 0 500 10 00 15 00 2000 2500 X [mm] Y [mm] DIND2 DIND1 DIND3 α β A B C Fig. 9. Tracking Result with Handing ... utilizes machines including computers and robots. Fig. 2. DIND Configuration The role of each DIND is separated into two parts as shown in Fig. 2. Each DIND should find...

Ngày tải lên: 10/08/2014, 22:24

... measurement points on the floor surface can be excluded by eliminating these measurement points. The histogram of the values ij ρ ′ is shown in Fig. 11 (b). We employed the discriminant analysis ... for cleaning up streets, welcoming customers, guiding them to a certain place, providing information about the shopping area, and so on. Under such circumstances, we have started developin...

Ngày tải lên: 10/08/2014, 22:24

... registered in map Updated feature pose in map by high reliability 2 (0.5) 1 (0.5) 1 (0.9) 1 (0.9) 1 (0.9) 2 (0.5) 2 (?) 2 (?) 2 (0 .1) 2 (0 .1) 1 (0.9) 1 (0.9) 2 (0.5) Fig. 7 Procedure of intelligent ... Service Robots 234 Fig. 5. Urbano face with 11 degrees of freedom, showing happiness, sadness, being neutral, angry, and moving the mouth. 2.3 Wired roboti...

Ngày tải lên: 10/08/2014, 22:24

... the EKF, is given by ( ) () ()()() ()()() 10 00 01 00 0 01 0 1 11 kkk 1, 2, k1 k1 k1 k1 k1 k1 m x,y, ,d,Δα Δα Δβ dsin +Δα cos + Δα dsin +Δα dcos +Δα sin + Δα dcos +Δα ϕ ϕϕ ϕ ϕϕ ϕ ∂… = ∂ −−⎡⎤ ⎢⎥ ⎢⎥ ⎢⎥ ⎣⎦ ... )x(xG+)x,g(u)x,g(u )x(x x )x,g(u +)x,g(u)x,g(u ttttt1tt tt t tt tt1tt 11 1 11 1 1 1 ˆˆ ˆ ˆ ˆ −−−− −− − − −− −≈ − ∂ ∂ ≈ (10 ) (11 ) The measurement model is linea...

Ngày tải lên: 10/08/2014, 22:24

... engineering for Human-Machine Interaction (HMI) and Human-Computer Interaction (HCI) in automated system (Sheridan, 19 97; Hancock, 19 92); such as flying an airplane (Inagaki, 2003; Billings, 19 97), ... sensing steps 2, 5, 10 , 18 , 25, 26, 62 and 91 of a 95 step run with closing two loops using the geometrical reasoning approach with SIFT features. Figure 12 shows the sensing...

Ngày tải lên: 10/08/2014, 22:24