发布求助
文献互助 智能选刊 最新文献

1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97最新文献

筛选
英文 中文
Sonar-based bottom estimation in UUVs adopting a multi-hypothesis extended Kalman filter 采用多假设扩展卡尔曼滤波的水下飞行器声纳底面估计
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620265
M. Caccia, G. Veruggio, G. Casalino, S. Alloisio, C. Grosso, R. Cristi
{"title":"Sonar-based bottom estimation in UUVs adopting a multi-hypothesis extended Kalman filter","authors":"M. Caccia, G. Veruggio, G. Casalino, S. Alloisio, C. Grosso, R. Cristi","doi":"10.1109/ICAR.1997.620265","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620265","url":null,"abstract":"High precision bottom estimation techniques in unmanned underwater vehicles (UUVs) are examined in this paper. Environment sensing is performed by a high-frequency pencil beam profiling sonar mounted on Roby2, a small prototype UUV developed at CNR Istituto Automazione Navale. A multi-hypothesis extended Kalman filter to estimate the bottom slope and its distance from the vehicle is presented. Results obtained by applying this algorithm to real data collected with the vehicle moving in a high-diving pool are discussed. Algorithm improvements based on active sensing and \"focusing attention\" techniques are suggested.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"343 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123351115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Automation in dairy farms: a robotic milking system 奶牛场的自动化:机器人挤奶系统
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620158
F. Cosmi, C. Fabro, P. Susmel, G. Zoppello
{"title":"Automation in dairy farms: a robotic milking system","authors":"F. Cosmi, C. Fabro, P. Susmel, G. Zoppello","doi":"10.1109/ICAR.1997.620158","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620158","url":null,"abstract":"It is only recently that automation has been introduced into agriculture. In many dairy farms, computer aided control of physiological and sanitary parameters are already used and lead to a productivity increase and the elimination of some tedious operations. In this context, the Research Consortium AUTARI has been developing a prototype of robotic milking system and has carried on researches in order to optimise the use of automatic milking within the farm and to develop the proper interface to other computer aided operations. The developed system includes: the milking box; the milking robot and gripper; an animal identification system; the feeding station and the physiological-sanitary monitoring system. The machine, at the moment in the manufacturing phase, has already been tested in the laboratory and will be installed in an experimental farm in 1997.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123034065","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Computer-aided teleoperation of an urban vehicle 城市车辆的计算机辅助远程操作
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620271
S. Bensoussan, M. Parent
{"title":"Computer-aided teleoperation of an urban vehicle","authors":"S. Bensoussan, M. Parent","doi":"10.1109/ICAR.1997.620271","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620271","url":null,"abstract":"INRIA has developed in cooperation with industry and INRETS a small computer-controlled electric vehicle for urban transport. These public vehicles which are available in self-service mode, are normally driven by the users with a simple joystick. However, to move the empty vehicles to wherever they are needed, we have developed two techniques. The first one consists of platooning the empty vehicles behind an operator-driven vehicle. The second technique is to teleoperate the vehicle from a central location. The teleoperation technique is derived from experiments conducted on teleoperated military or civil vehicles. This paper presents the computer assisted teleoperation technique and the first results in a real-life environment. Ultrasonic sensors are used to assist the operator in very cluttered environments.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116002371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 8
Cooperative control of robots as a basis for projective virtual reality 机器人协同控制是投影虚拟现实的基础
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620266
E. Freund, D. Hahn, J. Roßmann
{"title":"Cooperative control of robots as a basis for projective virtual reality","authors":"E. Freund, D. Hahn, J. Roßmann","doi":"10.1109/ICAR.1997.620266","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620266","url":null,"abstract":"Experiences with a virtual reality (VR) system show that VR techniques provide the chance for a new generation and a new quality of intuitively operable man machine interfaces. In this paper the background is given for the control of a space laboratory mockup, that is operated by two 7 DOF robots which are commanded with the help of a virtual-reality based man machine interface. It is shown how actions that are carried out by the user in the virtual environment are translated into robotic actions in a way that the robots physically perform the task, that was commanded in the virtual reality.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128624444","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Nonlinear control of a planar free link under a nonholonomic constraint 非完整约束下平面自由连杆的非线性控制
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620169
N. Shiroma, H. Arai, K. Tanie
{"title":"Nonlinear control of a planar free link under a nonholonomic constraint","authors":"N. Shiroma, H. Arai, K. Tanie","doi":"10.1109/ICAR.1997.620169","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620169","url":null,"abstract":"Control of a manipulator with a passive joint which has neither an actuator nor a holding brake is investigated. The manipulator has three degrees of freedom in a horizontal plane, with the third joint being passive. The dynamic constraint on the free link is 2nd-order nonholonomic. A trajectory for positioning is composed of simple translational and rotational trajectory segments. The trajectory segments are stabilized by nonlinear feedback, considering the motion of the center of percussion of the free link. Experimental results show the effectiveness of the planned trajectory and the feedback control law.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128134294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
A modular manipulator systems (MMS) architecture and implementation 模块化机械手系统(MMS)的体系结构与实现
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620288
W. J. Schonlau
{"title":"A modular manipulator systems (MMS) architecture and implementation","authors":"W. J. Schonlau","doi":"10.1109/ICAR.1997.620288","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620288","url":null,"abstract":"MMS is a general purpose user configurable manipulator system that provides rapid design and inexpensive implementation of customized (simple or complex) manipulator geometries tailored to the needs of individual researchers or application engineers. Structures of arbitrary complexity are configured from self contained I-DOF rotary or linear JOINT modules, including on-board joint control processor, power amplifier, etc., connected together by passive rigid LINKS. The supporting software environment provides easy teaching of locations hierarchical programming of complex tasks, sophisticated tool trajectory control and integrated workspace I/O, including vision. The system architecture, many recent improvements, including model-based control software, and various economic advantages of the approach are presented.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"167 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114520698","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Planning coordination and execution in multi-robots environment 多机器人环境下的规划协调与执行
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620232
R. Alami, F. Ingrand, S. Qutub
{"title":"Planning coordination and execution in multi-robots environment","authors":"R. Alami, F. Ingrand, S. Qutub","doi":"10.1109/ICAR.1997.620232","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620232","url":null,"abstract":"We present and discuss a generic cooperative scheme for multi-robot cooperation based on an incremental and distributed plan-merging process. Each robot, autonomously and incrementally builds and executes its own plans taking into account the multi-robot context. The robots are assumed to be able to collect the other robots current plans and goals and to produce plans which satisfy a set of constraints that are discussed. We discuss the properties of this cooperative scheme (coherence, detection of dead-lock situations) as well as the class of applications for which it is well suited. We show how this paradigm can be used in a hierarchical manner, and in contexts where planning is performed in parallel with plan execution. We also discuss the possibility to negotiate goals within this framework and how this paradigm \"fills the gap\" between centralised planning and distributed execution. We finally illustrate this scheme through an implemented system which allows a fleet of autonomous mobile robots to perform load transfer tasks in a route network environment with a very limited centralised activity and important gains in system flexibility and robustness to execution contingencies.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123412647","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
Dexterity of underactuated manipulators 欠驱动机械臂的灵巧性
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620261
M. Bergerman, Yangsheng Xu
{"title":"Dexterity of underactuated manipulators","authors":"M. Bergerman, Yangsheng Xu","doi":"10.1109/ICAR.1997.620261","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620261","url":null,"abstract":"The dexterity of a manipulator with passive joints, also known as an underactuated manipulator, differs from the dexterity of a fully actuated one, even if their mechanical structures are identical. Therefore, for fault tolerance and energy saving purposes, it is important to study the dexterity of underactuated manipulators. The purpose of this work is to quantify the dexterity of underactuated robot manipulators equipped with active and passive joints. We assume that the passive joints are locked at an arbitrary known position, and we compare the dexterity of the underactuated manipulator with that of a fully actuated redundant manipulator with identical structure. Based on this comparison we propose an optimization index to find the angles at which the passive joints should be locked to maximize the dexterity of the underactuated manipulator. We discuss three important dexterity measures: workspace volume, reachability, and manipulability. Examples obtained with a 3-link planar manipulator with an arbitrarily located passive joint are presented.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130055559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
Why is automated garment manufacture so difficult? 为什么自动化服装制造如此困难?
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620159
P. Taylor, D. M. Pollet
{"title":"Why is automated garment manufacture so difficult?","authors":"P. Taylor, D. M. Pollet","doi":"10.1109/ICAR.1997.620159","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620159","url":null,"abstract":"Although numerous techniques for fabric handling have been invented over the past ten years, the automation of garment assembly has proved to be very difficult to achieve with the cost, flexibility and reliability required by the manufacturers. Some of the reasons for the insufficient reliability and the limited range of application of the handling systems are discussed in this paper. The importance of two fabric properties, friction and bending stiffness, is emphasised. It is also shown that changes in humidity can cause significant changes in the unloaded static friction coefficients and the bending stiffnesses of fabrics. It is then demonstrated how such changes can affect the operation of two representative tasks: gripping a piece of fabric, and sewing.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125516943","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
An interacting multi-robot system and smart environment for studying collective behaviours 研究集体行为的交互多机器人系统和智能环境
1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97 Pub Date : 1997-07-07 DOI: 10.1109/ICAR.1997.620234
R. Dawkins, O. Holland, A. Winfield, P. Greenway, A. Stephens
{"title":"An interacting multi-robot system and smart environment for studying collective behaviours","authors":"R. Dawkins, O. Holland, A. Winfield, P. Greenway, A. Stephens","doi":"10.1109/ICAR.1997.620234","DOIUrl":"https://doi.org/10.1109/ICAR.1997.620234","url":null,"abstract":"Complex collective behaviour, such as flock forming in birds, can be produced from the local interaction of simple agents. We have produced an environment for studying these emergent behaviours with multiple, interacting mobile robots. Each small, inexpensive, robot contains an embedded PC and a PCMCIA radio LAN. This provides high bandwidth communications and runs a wide range of PC software. Each robot estimates its position and orientation using odometry. Drift in this pose estimate is corrected by fusing with non-drifting data from video cameras and a tracking system. The pose is then broadcast to all other robots.","PeriodicalId":228876,"journal":{"name":"1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126034922","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 19
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信