Proceedings of the 2005 IEEE International Conference on Robotics and Automation最新文献_第8页

Reaction Force Inspection System Using Neural Network Classifier 基于神经网络分类器的反作用力检测系统

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570252

Y. Yamada, Y. Komura

引用次数: 0

On the Use of UML for Modeling Physical Systems 论UML在物理系统建模中的应用

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570731

C. Secchi, C. Fantuzzi, M. Bonfè

引用次数: 9

Sensor Fusion based 3D Target Visual Tracking for Autonomous Vehicles with IMM 基于传感器融合的IMM自动驾驶汽车三维目标视觉跟踪

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570379

Zhen Jia, Arjuna Balasuriya, S. Challa

引用次数: 12

On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX) Berkeley下肢外骨骼(BLEEX)仿生设计研究

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570789

A. Chu, H. Kazerooni, A. Zoss

引用次数: 290

Micro Manipulators for Intrauterine Fetal Surgery in an Open MRI 开放式MRI中子宫内胎儿手术的微操纵器

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570168

K. Harada, K. Tsubouchi, T. Chiba, M. Fujie

{"title":"Micro Manipulators for Intrauterine Fetal Surgery in an Open MRI","authors":"K. Harada, K. Tsubouchi, T. Chiba, M. Fujie","doi":"10.1109/ROBOT.2005.1570168","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570168","url":null,"abstract":"We propose a new surgical robotic system for intrauterine fetal surgery in an Open MRI. The target disease of the fetal surgery is spina bifida or myelomeningocele that is incomplete closure in the spinal column and one of the common fetal diseases. In the proposed surgical process, the abdominal wall and uterine wall would not widely be opened but rather surgical instruments inserted through the small holes in both walls to perform minimally invasive surgery. In this paper, a prototype of the micro manipulator of diameter is 2.4mm and bending radius 2.45 mm is presented. The diameter and bending radius of this manipulator is one of the smallest ever developed among surgical robots to the best of the knowledge of the investigating authors. The mechanism of the manipulator includes two ball joints and is driven using four wires able to bend through 90 degrees in any direction. The features of the mechanism include a small diameter, small bending radius, ease of fabrication, high rigidity and applicability for other surgical applications. Although the manipulator is not yet MRI compatible, the feature of the prototype demonstrated the feasibility of robotic intrauterine fetal surgery.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116838777","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: 70

Developing a Control Architecture for Multiple Unmanned Aerial Vehicles to Search and Localize RF Time-Varying Mobile Targets: Part I 开发多架无人机搜索和定位射频时变移动目标的控制体系结构:第一部分

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570725

D. Pack, G. York

{"title":"Developing a Control Architecture for Multiple Unmanned Aerial Vehicles to Search and Localize RF Time-Varying Mobile Targets: Part I","authors":"D. Pack, G. York","doi":"10.1109/ROBOT.2005.1570725","DOIUrl":"https://doi.org/10.1109/ROBOT.2005.1570725","url":null,"abstract":"In this paper, we present a control architecture that allows multiple Unmanned Aerial Vehicles (UAVs) to cooperatively detect mobile RF (Radio Frequency) emitting ground targets. The architecture is developed under the premise that UAVs are controlled as a distributed system. The distributed system-based technique maximizes the search and detection capabilities of multiple UAVs. We use a hybrid approach that combines a set of intentional cooperative rules with emerging properties of a swarm to accomplish the objective. The UAVs are equipped only with low-precision RF direction finding sensors and we assume the targets may emit signals randomly with variable duration. Once a target is detected, each UAV optimizes a cost function to determine whether to participate in a cooperative localization task. The cost function balances between the completion of detecting all targets (global search) in the search space and increasing the precision of cooperatively locating already detected targets. A search function for each UAV determines the collective search patterns of collaborating UAVs. Two functions used by each UAV determine (1) the optimal number of UAVs involved in locating targets, (2) the search pattern to detect all targets, and (3) the UAV flight path for an individual UAV. We show the validity of our algorithm using simulation results. Hardware implementation of the strategies is planned for this coming year.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124014418","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: 48

Vision SLAM in the Measurement Subspace 测量子空间中的视觉SLAM

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570092

John Folkesson, P. Jensfelt, H. Christensen

引用次数: 119

Task Assignment with Dynamic Perception and Constrained Tasks in a Multi-Robot System 多机器人系统中具有动态感知和约束任务的任务分配

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570330

A. Farinelli, L. Iocchi, D. Nardi, V. Ziparo

引用次数: 32

Reachability Analysis of Sampling Based Planners 基于抽样的规划者可达性分析

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570152

Roland Geraerts, M. Overmars

引用次数: 32

A Geometric Theory for Synthesis and Analysis of Sub-6 DoF Parallel Manipulators 次6自由度并联机构综合与分析的几何理论

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI: 10.1109/ROBOT.2005.1570560

J. Meng, Guanfeng Liu, Zexiang Li

引用次数: 30