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... Professor Anibal T de Almeida Instituto de Sistemas e Rob6tica Departamento de Engenharia Electrot~cnica, Universidade de Coimbra, Polo II, 3030 Coimbra, Portugal Professor Oussama Khatib Department ... knowledge on it [2, 5] Hence, three motion modes are considered: • A reflex mode: on large flat and lightly cluttered zones, it is sufficient to determine robot locomotion commands on the basis ... (attributes) are determined: density (number of 3D points in a cell compared with a nominal density defined by the discretization rates), mean altitude, variance on the altitude, mean normal vector...

Ngày tải lên: 27/06/2014, 18:20

... the conception of this relation In our model, fig.7-(b), (c), and (d) represent energy flow network (EFN), population flow network (PFN), and resource flow network(RFN), as a projection of the ... to 5) } Energy Flow Fig.8 Interdependence of network structure 2.3 Nonequilibrium and Purpose generation In general, the robot works so that a purpose is achieved However, this model dose not prepare ... that there is a trade off between flexibility and optimality In general, optimization is to reduce redundancy form the system performance, but it deprive potential ability of flexibility to dynamical...

Ngày tải lên: 10/08/2014, 01:22

... has been studying for nearly two decades We then describe two of our current mining automation projects to demonstrate what is possible for both open-pit and underground mining operations I n ... Maybeck P S 1979 Stochastic models, estimation and control, Vol.1, Academic Press, New York [7] Maybeck P S 1982 Stochastic models, estimation and control, Vol.2, Academic Press, New York [8] Sch0nberg ... for detailed description Fig 9: The prototype robot, Jacob, for brushing and thinning The basic idea in this project is very good and it is quite sure that it can be commercialised provided a...

Ngày tải lên: 10/08/2014, 01:22

... programs is needed to compensate for odometry errors and to avoid obstacles 188 3.10dometry Odometry or dead reckoning (properly ded reckoning, from deduced reckoning, an old Navy term describing ... near the floor, normal and oblique views of the ceiling, optic flow of vertical features, and structured light vision systems Two concepts were deployed originally with the first models of the ... obstacle detection and avoidance [29] A camera is pointed at a 45 degree angle toward the floor from near the top front of the robot Two light projectors send out planes of light parallel to the floor,...

Ngày tải lên: 10/08/2014, 01:22

... called the elevator to its floor, entered the elevator while holding the door open, then closed the door and made a floor call to the desired floor Once at the requested floor, HelpMate navigated ... installation tools provided to the engineer 6.5 Debugging and Management Tools: Flight Recorders, Run Logs and Diagnostics It soon became apparent that we needed to concentrate on debugging aids for ... in the flight recorder that needs more careful analysis 202 Flight recorders are rarely taken by the installation engineers now, except under rare occasions Automatic methods of saving flight...

Ngày tải lên: 10/08/2014, 01:22

... advancing movements through the brain 2.1.3 Synergistic devices The concept of synergistic devices is defined in [4] The aim is to match to an adequate degree the surgeon-robot cooperation by taking profit ... animal models or the intervention of patients This aid is specially useful when dealing with deformable organs The work in [7] is based on the modeling of the liver with its anatomical details ... Some examples of the designed devices are micropumps, microturbines, micromotors or microhoses, to activate such implants or endoscopic devices The development of endoscopic devices for diagnostic...

Ngày tải lên: 10/08/2014, 01:22

... corresponding leg plane Therefore these motions are decoupled and must be considered in the controller design This leads to a planar model with 11 degrees of freedom 260 • The damping of the rubber ... Nuclear Electric plc) These include: Toad (see Billingsley et al [20]): This is a simple mechanism designed to demonstrate walking on ceilings It can be extended to include a spraying system so that ... move in straight and curved pipes independently of the position inside the tube or the inclination of the tube (from horizontal up to vertical pipes) Considering the experiences with the six...

Ngày tải lên: 10/08/2014, 01:22

... 230 pp 1995 [3-540-19994-2] Vol 210: De Wilde, P Neural Network Models: An Analysis 164 pp 1996 [3-540-19995-0] Vol 211: Gawronski, W Balanced Control of Flexible Structures 280 pp 1996 [3-540-76017-2] ... Emeryanov, S.V.; Burovoi, I.A.; Levada, F.Yu Control of Indefinite Nonlinear Dynamic Systems 196 pp 1998 [3-540-76245-0] Vol 232: Casals, A.; de Almeida, A.T Experimental Robotics V: The Fifth International ... J.; Yvon, J.P (Eds) System Modelling and Optimization 975 pp approx 1994 [3-540-19893-8] Vol 198: Winter, H.; NGi%er,H.-G (Eds) Advanced Technologies for Air Traffic Flow Management 225 pp approx...

Ngày tải lên: 10/08/2014, 01:22

... Professor Anibal T de Almeida Instituto de Sistemas e Rob6tica Departamento de Engenharia Electrot~cnica, Universidade de Coimbra, Polo II, 3030 Coimbra, Portugal Professor Oussama Khatib Department ... knowledge on it [2, 5] Hence, three motion modes are considered: • A reflex mode: on large flat and lightly cluttered zones, it is sufficient to determine robot locomotion commands on the basis ... (attributes) are determined: density (number of 3D points in a cell compared with a nominal density defined by the discretization rates), mean altitude, variance on the altitude, mean normal vector...

Ngày tải lên: 10/08/2014, 01:22

... Units analyze, independently, the images captured by the frame grabbers connected to the cameras Therefore, the motion and feature detection algorithms described here are intended to work with ... 3 Image Processing for Saccade The saccade is preceded by searching for a large movement in the images As described above, the searching phase is concerned with the detection of any type of movements, ... The navigation planner explores a dead-end: it first tries to go through the bottom of the dead-end, which is modelled as an obstacle region, but with a low confidence level (top); after having...

Ngày tải lên: 10/08/2014, 01:22

... variations will provide a measurement of the external DC magnetic field See [2] for a more detailed description One example of such a device is the C100 model from KVH Industries, Inc This fluxgate sensor ... ionospheric propagation delay at the receiver since the delay is frequency dependent Satellites use unique Pseudo Random Noise (PRN) codes to modulate the signals, enabling satellite identification at ... devices are not intended to be used as full range measuring devices, but as simple non-contact presence detectors Several manufacturers (e.g SunX, Banner, Honeywell) provide photoelec- tric detectors...

Ngày tải lên: 10/08/2014, 01:22

... Paredes C, Fonseca I, de Almeida A T 1995 Simulating Pursuit wit]h Machines In: Proceedings of the 1995 IEEE Conference on Robotics and Automation, Japan, pp 472-477 [25] Paredes C, Dias J, de Almeida ... de Sensores Optoelectr6nicos para AplicaqSes de Rob6tica Master's thesis, DEE, FCT - Universidade de Coimbra [54] Marques L, Moita F, Nunes U, de Almeida A 1994 3D Laser-Based Sensor for Robotics ... Lino Marques and Anibal T de Almeida Institute of Systems and Robotics Department of Electrical Engineering - University of Coimbra 3030 Coimbra, Portugal {lino, adealmeida} @isr.uc.pt Abstract:...

Ngày tải lên: 10/08/2014, 01:22

... Predictive (i.e delay-compensating) graphics computation and feedback of forces into the human arm seems feasible when a perfect world model and a highfidelity force reflection device is available, ... Fig is Cartesian based now, i.e the kinematics of master and slave are independent, provided that the master arm shows up degrees of freedom and has a similarly shaped workspace (possibly down-scaled) ... [ ]) Although force-reflecting hand controllers may provide a considerable performance improvement [ ], systems realized up to now not always show up the requested high fidelity; this has partly'...

Ngày tải lên: 10/08/2014, 01:22

... essential conditions to above rule are: (1) bodies of evidence to be integrated must be independent; (2) these independent bodies of evidence must refer to the same f2 In this research, condition ... in evidential reasoning theory of Dempster-Shafertl0l[ll] So, evidential reasoning is considered for processing of distributed sensing in this research There are two important points in evidential ... competition is regarded as a negative-feedback or fluctuation In particular, fluctuation is a cause of disorder, but it also give diversity to the system, that is, the chance of evolution In designing:...

Ngày tải lên: 10/08/2014, 01:22

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