Kinematic And Dynamic Issues In Sensor Based Control

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Kinematic and Dynamic Issues in Sensor Based Control

Author : Gaynor E. Taylor
Publisher : Springer Science & Business Media
ISBN 13 : 3642840124
Total Pages : 454 pages
Book Rating : 4.6/5 (428 download)

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Book Synopsis Kinematic and Dynamic Issues in Sensor Based Control by : Gaynor E. Taylor

Download or read book Kinematic and Dynamic Issues in Sensor Based Control written by Gaynor E. Taylor and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 454 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains a series of papers originally presented at a NATO Advanced Research Workshop (ARW) entitled Kinematic and Dynamic Issues in Sensor Based Control. The workshop, one of a series concerned with topics in sensory robotics, took place at II Ciocco, Castelvecchio di Pascoli, Italy in October 1987. Attendance was by invitation only and the majority of participants are recognised leaders in their field- some from the robotics community, others with a more general control background. The main topics of interest were grouped into eight sessions represented by the eight main sections of the book: 1: Modelling Techniques: General Kinematic and Dynamic Issues 2: Sensor Signal Processing 3: Force Control 4: Further Control Topics 5: Vision Based Control 6: Further Kinematic and Dynamic Issues 7: Computational Issues 8: Learning from Sensor Input Also included are brief reports of the roundtable discussions which sought to determine important future directions of research in this area. My thanks to all those who made the workshop possible: The NATO Scientific Affairs Division and the panel on Sensory Systems for Robotic Control who provided most of the financial support; the workshop committee, Dr. B. Espiau, Dr. P. Coiffet, Dr. P.

Sensor-Based Robots: Algorithms and Architectures

Author : C.S.George Lee
Publisher : Springer Science & Business Media
ISBN 13 : 3642755305
Total Pages : 295 pages
Book Rating : 4.6/5 (427 download)

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Book Synopsis Sensor-Based Robots: Algorithms and Architectures by : C.S.George Lee

Download or read book Sensor-Based Robots: Algorithms and Architectures written by C.S.George Lee and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: Most industrial robots today have little or no sensory capability. Feedback is limited to information about joint positions, combined with a few interlock and timing signals. These robots can function only in an environment where the objects to be manipulated are precisely located in the proper position for the robot to grasp (i. e. , in a structured environment). For many present industrial applications, this level of performance has been adequate. With the increasing demand for high performance sensor-based robot manipulators in assembly tasks, meeting this demand and challenge can only be achieved through the consideration of: 1) efficient acquisition and processing of intemaVextemal sensory information, 2) utilization and integration of sensory information from various sensors (tactile, force, and vision) to acquire knowledge in a changing environment, 3) exploitation of inherent robotic parallel algorithms and efficient VLSI architectures for robotic computations, and finally 4) system integration into a working and functioning robotic system. This is the intent of the Workshop on Sensor-Based Robots: Algorithms and Architectures - to study the fundamental research issues and problems associated with sensor-based robot manipulators and to propose approaches and solutions from various viewpoints in improving present day robot manipula tors in the areas of sensor fusion and integration, sensory information processing, and parallel algorithms and architectures for robotic computations.

Geometric Reasoning for Perception and Action

Author : Christian Laugier
Publisher : Springer Science & Business Media
ISBN 13 : 9783540571322
Total Pages : 298 pages
Book Rating : 4.5/5 (713 download)

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Book Synopsis Geometric Reasoning for Perception and Action by : Christian Laugier

Download or read book Geometric Reasoning for Perception and Action written by Christian Laugier and published by Springer Science & Business Media. This book was released on 1993-08-30 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: Geometry is a powerful tool to solve a great number of problems in robotics and computer vision. Impressive results have been obtained in these fields in the last decade. It is a new challenge to solve problems of the actual world which require the ability to reason about uncertainty and complex motion constraints by combining geometric, kinematic, and dynamic characteristics. A necessary step is to develop appropriate geometric reasoning techniques with reasonable computational complexity. This volume is based on a workshop held in Grenoble, France,in September 1991. It contains selected contributions on several important areas in the field of robotics and computer vision. The four chapters cover the following areas: - motion planning with kinematic and dynamic constraints, - motion planning and control in the presence of uncertainty, - geometric problems related to visual perception, -numerical problems linked to the implementation of practical algorithms for visual perception.

Visual Servoing: Real-time Control Of Robot Manipulators Based On Visual Sensory Feedback

Author : Koichi Hashimoto
Publisher : World Scientific
ISBN 13 : 9814590959
Total Pages : 373 pages
Book Rating : 4.8/5 (145 download)

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Book Synopsis Visual Servoing: Real-time Control Of Robot Manipulators Based On Visual Sensory Feedback by : Koichi Hashimoto

Download or read book Visual Servoing: Real-time Control Of Robot Manipulators Based On Visual Sensory Feedback written by Koichi Hashimoto and published by World Scientific. This book was released on 1993-10-02 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book treats visual feedback control of mechanical systems, mostly robot manipulators. It not only deals with image processing techniques and robot control schemes but also covers the latest investigation of the design of the visual servo mechanism based on modern linear and nonlinear control theory, the adaptive control scheme, fuzzy logic, and neural networks. New concepts for utilizing visual sensory information for real-time manipulator control are derived and the performances are evaluated through simulations and/or experiments.The contributors to this book are robotics specialists from all over the world. The book gives a practical perspective on visual servoing to researchers, engineers, and students working in this area.

Traditional and Non-Traditional Robotic Sensors

Author : Thomas C. Henderson
Publisher : Springer Science & Business Media
ISBN 13 : 364275984X
Total Pages : 463 pages
Book Rating : 4.6/5 (427 download)

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Book Synopsis Traditional and Non-Traditional Robotic Sensors by : Thomas C. Henderson

Download or read book Traditional and Non-Traditional Robotic Sensors written by Thomas C. Henderson and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 463 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains the written record of the NATO Advanced Research Workshop on Traditional and Non-Traditional Robotic Sensors held in the Hotel Villa del Mare, Maratea, Italy, August 28 - September 1, 1989. This workshop was organized under the auspicies of the NATO Special Program on Sensory Systems for Robotic Control. Professor Frans Groen from the University of Amsterdam and Dr. Gert Hirzinger from the German Aerospace Research Establishment (DLR) served as members of the organizing committee for this workshop. Research in the area of robotic sensors is necessary in order to support a wide range of applications, including: industrial automation, space robotics, image analysis, microelectronics, and intelligent sensors. This workshop focused on the role of traditional and non-traditional sensors in robotics. In particular, the following three topics were explored: - Sensor development and technology, - Multisensor integration techniques, - Application area requirements which motivate sensor development directions. This workshop'brought together experts from NATO countries to discuss recent developments in these three areas. Many new directions (or new directions on old problems) were proposed. Existing sensors should be pushed into new application domains such as medical robotics and space robotics.

Multisensor Fusion for Computer Vision

Author : J. K. Aggarwal
Publisher : Springer Science & Business Media
ISBN 13 : 366202957X
Total Pages : 449 pages
Book Rating : 4.6/5 (62 download)

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Book Synopsis Multisensor Fusion for Computer Vision by : J. K. Aggarwal

Download or read book Multisensor Fusion for Computer Vision written by J. K. Aggarwal and published by Springer Science & Business Media. This book was released on 2013-06-29 with total page 449 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains revised papers based on contributions to the NATO Advanced Research Workshop on Multisensor Fusion for Computer Vision, held in Grenoble, France, in June 1989. The 24 papers presented here cover a broad range of topics, including the principles and issues in multisensor fusion, information fusion for navigation, multisensor fusion for object recognition, network approaches to multisensor fusion, computer architectures for multi sensor fusion, and applications of multisensor fusion. The participants met in the beautiful surroundings of Mont Belledonne in Grenoble to discuss their current work in a setting conducive to interaction and the exchange of ideas. Each participant is a recognized leader in his or her area in the academic, governmental, or industrial research community. The workshop focused on techniques for the fusion or integration of sensor information to achieve the optimum interpretation of a scene. Several participants presented novel points of view on the integration of information. The 24 papers presented in this volume are based on those collected by the editor after the workshop, and reflect various aspects of our discussions. The papers are organized into five parts, as follows.

Highly Redundant Sensing in Robotic Systems

Author : Julius T. Tou
Publisher : Springer Science & Business Media
ISBN 13 : 3642840515
Total Pages : 324 pages
Book Rating : 4.6/5 (428 download)

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Book Synopsis Highly Redundant Sensing in Robotic Systems by : Julius T. Tou

Download or read book Highly Redundant Sensing in Robotic Systems written by Julius T. Tou and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design of intelligent robots is one of the most important endeavors in robotics research today. The key to intelligent robot design lies in sensory systems for robotic control and manipulation. In an unstructural environment, robotic sensing translates measurements and characteristics of the environment and working objects into useful information. A robotic system is usually equipped with a variety of sensors to perform redundant sensing and achieve data fusion. This book contains revised versions of papers presented at a NATO Advanced Research Workshop held in Florida in September 1989 within the activities of the NATO Special Programme on Sensory Systems for Robotic Control. The fundamental issues addressed in this volume were: - Theory and techniques, including knowledge-based systems, geometrical fusion, Boolean fusion, probabilistic fusion, feature-based fusion, error-estimation approach, and Markov process modeling. - General concepts, including microscopic redundancy at the sensory element level, macroscopic redundancy at the sensory system level, parallel redundancy, and standby redundancy. - Implementation and application, including robotic control, sensory technology, robotic assembly, robot fingers, sensory signal processing, sensory system integration, and PAPIA architecture. - Biological analogies, including neural nets, pattern recognition, low-level fusion, and motor learning.

A Few Steps Towards 3D Active Vision

Author : Thierry Vieville
Publisher : Springer Science & Business Media
ISBN 13 : 3642608426
Total Pages : 251 pages
Book Rating : 4.6/5 (426 download)

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Book Synopsis A Few Steps Towards 3D Active Vision by : Thierry Vieville

Download or read book A Few Steps Towards 3D Active Vision written by Thierry Vieville and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: T. Viéville: A Few Steps Towards 3D Active Vision appears as Vol. 33 in the Springer Series in Information Sciences. A specific problem in the field of active vision is analyzed, namely how suitable is it to explicitly use 3D visual cues in a reactive visual task? The author has collected a set of studies on this subject and has used these experimental and theoretical developments to propose a synthetic view on the problem, completed by some specific experiments. With this book scientists and graduate students will have a complete set of methods, algorithms, and experiments to introduce 3D visual cues in active visual perception mechanisms, e.g. autocalibration of visual sensors on robotic heads and mobile robots. Analogies with biological visual systems provide an easy introduction to this subject.

Sensory Robotics for the Handling of Limp Materials

Author : Paul M. Taylor
Publisher : Springer Science & Business Media
ISBN 13 : 364275533X
Total Pages : 339 pages
Book Rating : 4.6/5 (427 download)

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Book Synopsis Sensory Robotics for the Handling of Limp Materials by : Paul M. Taylor

Download or read book Sensory Robotics for the Handling of Limp Materials written by Paul M. Taylor and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 339 pages. Available in PDF, EPUB and Kindle. Book excerpt: Limp materials are used in many economically impo~tant industries such as garment manufacture, shoe manufacture, aerospace (composites) and automobiles (seats and trim). The use of sensors is essential for reliable robotic handling of these materials, which are often based on naturally occurring substances such as cotton and leather. The materials are limp and have non-homogeneous mechanical properties which are often impossible to predict accurately. The applications are very demanding for vision and tactile sensing and signal processing, adaptive control systems, planning and systems integration. This book comprises the collection of papers presented at the NATO Advanced Research Workshop on 'Sensory Robotics for the Handling of Limp Materials', held in October 1988 at II Ciocco, Tuscany, Italy. The aim of the workshop was to examine the state of the art and determine what research is needed to provide the theoretical and technological tools for the successful application of sensory robotics to the handling of limp materials. The meeting also acted as the first-ever forum for the interchange of knowledge between applications-driven researchers and those researching into the provision of fundamental tools. The participants were drawn from academia (20), industry (5), and other non-university research organisations (5).

Mapping and Spatial Modelling for Navigation

Author : Louis F. Pau
Publisher : Springer Science & Business Media
ISBN 13 : 3642842151
Total Pages : 361 pages
Book Rating : 4.6/5 (428 download)

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Book Synopsis Mapping and Spatial Modelling for Navigation by : Louis F. Pau

Download or read book Mapping and Spatial Modelling for Navigation written by Louis F. Pau and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 361 pages. Available in PDF, EPUB and Kindle. Book excerpt: The successful implementation of applications in spatial reasoning requires paying attention to the representation of spatial data. In particular, an integrated and uniform treatment of different spatial features is necessary in order to enable the reasoning to proceed quickly. Currently, the most prevalent features are points, rectangles, lines, regions, surfaces, and volumes. As an example of a reasoning task consider a query of the form "find all cities with population in excess of 5,000 in wheat growing regions within 10 miles of the Mississippi River. " Note that this query is quite complex. It requires- processing a line map (for the river), creating a corridor or buffer (to find the area within 10 miles of the river), a region map (for the wheat), and a point map (for the cities). Spatial reasoning is eased by spatially sorting the data (i. e. , a spatial index). In this paper we show how hierarchical data structures can be used to facilitate this process. They are based on the principle of recursive decomposition (similar to divide and conquer methods). In essence, they are used primarily as devices to sort data of more than one dimension and different spatial types. The term quadtree is often used to describe this class of data structures. In this paper, we focus on recent developments in the use of quadtree methods. We concentrate primarily on region data. For a more extensive treatment of this subject, see [SameS4a, SameSSa, SameSSb, SameSSc, SameSga, SameSgbj.

Distributed Artificial Intelligence

Author : Robin Gasser
Publisher : Morgan Kaufmann
ISBN 13 : 1483294811
Total Pages : 649 pages
Book Rating : 4.4/5 (832 download)

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Book Synopsis Distributed Artificial Intelligence by : Robin Gasser

Download or read book Distributed Artificial Intelligence written by Robin Gasser and published by Morgan Kaufmann. This book was released on 2014-05-23 with total page 649 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed Artificial Intelligence

Parallel Architectures And Neural Networks - Third Italian Workshop

Author : E R Caianiello
Publisher : World Scientific
ISBN 13 : 9814611352
Total Pages : 440 pages
Book Rating : 4.8/5 (146 download)

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Book Synopsis Parallel Architectures And Neural Networks - Third Italian Workshop by : E R Caianiello

Download or read book Parallel Architectures And Neural Networks - Third Italian Workshop written by E R Caianiello and published by World Scientific. This book was released on 1990-12-13 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robots and Biological Systems: Towards a New Bionics?

Author : Paolo Dario
Publisher : Springer Science & Business Media
ISBN 13 : 3642580696
Total Pages : 782 pages
Book Rating : 4.6/5 (425 download)

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Book Synopsis Robots and Biological Systems: Towards a New Bionics? by : Paolo Dario

Download or read book Robots and Biological Systems: Towards a New Bionics? written by Paolo Dario and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 782 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bionics evolved in the 1960s as a framework to pursue the development of artificial systems based on the study of biological systems. Numerous disciplines and technologies, including artificial intelligence and learningdevices, information processing, systems architecture and control, perception, sensory mechanisms, and bioenergetics, contributed to bionics research. This volume is based on a NATO Advanced Research Workshop within the Special Programme on Sensory Systems for Robotic Control, held in Il Ciocco, Italy, in June 1989. A consensus emerged at the workshop, and is reflected in the book, on the value of learning from nature in order to derive guidelines for the design of intelligent machines which operate in unstructured environments. The papers in the book are grouped into seven chapters: vision and dynamic systems, hands and tactile perception, locomotion, intelligent motor control, design technologies, interfacing robots to nervous systems, and robot societies and self-organization.

Neurocomputing

Author : Francoise Fogelman Soulie
Publisher : Springer Science & Business Media
ISBN 13 : 3642761534
Total Pages : 454 pages
Book Rating : 4.6/5 (427 download)

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Book Synopsis Neurocomputing by : Francoise Fogelman Soulie

Download or read book Neurocomputing written by Francoise Fogelman Soulie and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 454 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains the collected papers of the NATO Conference on Neurocomputing, held in Les Arcs in February 1989. For many of us, this conference was reminiscent of another NATO Conference, in 1985, on Disordered Systems [1], which was the first conference on neural nets to be held in France. To some of the participants that conference opened, in a way, the field of neurocomputing (somewhat exotic at that time!) and also allowed for many future fruitful contacts. Since then, the field of neurocomputing has very much evolved and its audience has increased so widely that meetings in the US have often gathered more than 2000 participants. However, the NATO workshops have a distinct atmosphere of free discussions and time for exchange, and so, in 1988, we decided to go for another session. This was an ~casion for me and some of the early birds of the 1985 conference to realize how much, and how little too, the field had matured.

Three-dimensional Computer Vision

Author : Olivier Faugeras
Publisher : MIT Press
ISBN 13 : 9780262061582
Total Pages : 712 pages
Book Rating : 4.0/5 (615 download)

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Book Synopsis Three-dimensional Computer Vision by : Olivier Faugeras

Download or read book Three-dimensional Computer Vision written by Olivier Faugeras and published by MIT Press. This book was released on 1993 with total page 712 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph by one of the world's leading vision researchers provides a thorough, mathematically rigorous exposition of a broad and vital area in computer vision: the problems and techniques related to three-dimensional (stereo) vision and motion. The emphasis is on using geometry to solve problems in stereo and motion, with examples from navigation and object recognition. Faugeras takes up such important problems in computer vision as projective geometry, camera calibration, edge detection, stereo vision (with many examples on real images), different kinds of representations and transformations (especially 3-D rotations), uncertainty and methods of addressing it, and object representation and recognition. His theoretical account is illustrated with the results of actual working programs.Three-Dimensional Computer Vision proposes solutions to problems arising from a specific robotics scenario in which a system must perceive and act. Moving about an unknown environment, the system has to avoid static and mobile obstacles, build models of objects and places in order to be able to recognize and locate them, and characterize its own motion and that of moving objects, by providing descriptions of the corresponding three-dimensional motions. The ideas generated, however, can be used indifferent settings, resulting in a general book on computer vision that reveals the fascinating relationship of three-dimensional geometry and the imaging process.

Information Control Problems in Manufacturing Technology 1992

Author : M.B. Zaremba
Publisher : Elsevier
ISBN 13 : 1483298841
Total Pages : 507 pages
Book Rating : 4.4/5 (832 download)

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Book Synopsis Information Control Problems in Manufacturing Technology 1992 by : M.B. Zaremba

Download or read book Information Control Problems in Manufacturing Technology 1992 written by M.B. Zaremba and published by Elsevier. This book was released on 2016-02-25 with total page 507 pages. Available in PDF, EPUB and Kindle. Book excerpt: These proceedings contain more than 80 of the best papers presented at the INCOM '92 Symposium, and relate to the vast changes which are occurring worldwide in manufacturing technology. Research oriented technical papers cover subjects such as: simulation of manufacturing processes; sensor based robots; information systems; general aspects of CIM and manufacturing networks.

Autonomous Mobile Robots in Unknown Outdoor Environments

Author : Xiaorui Zhu
Publisher : CRC Press
ISBN 13 : 1351647539
Total Pages : 207 pages
Book Rating : 4.3/5 (516 download)

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Book Synopsis Autonomous Mobile Robots in Unknown Outdoor Environments by : Xiaorui Zhu

Download or read book Autonomous Mobile Robots in Unknown Outdoor Environments written by Xiaorui Zhu and published by CRC Press. This book was released on 2017-12-15 with total page 207 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots have been increasingly applied in many different scenarios, such as space exploration and search and rescue, where the robots are required to travel over uneven terrain while outdoors. This book provides a new framework and the related algorithms for designing autonomous mobile robotic systems in such unknown outdoor environments.