首页 | 本学科首页   官方微博 | 高级检索  
文章检索
  按 检索   检索词:      
出版年份:   被引次数:   他引次数: 提示:输入*表示无穷大
  收费全文   16篇
  免费   0篇
无线电   1篇
一般工业技术   1篇
自动化技术   14篇
  2017年   2篇
  2016年   2篇
  2014年   2篇
  2012年   2篇
  2010年   1篇
  2006年   1篇
  2004年   1篇
  2003年   1篇
  2002年   1篇
  1994年   2篇
  1991年   1篇
排序方式: 共有16条查询结果,搜索用时 93 毫秒
1.
This paper considers the problem of multirobot coordination in pick-and-place tasks on a conveyor band. The robot team is composed of identical robots with mutually exclusive, but neighboring workspaces. The products are fed in at one end of the band, move through each workspace sequentially until being picked up and are collected at the other end—if not picked up interim. Each robot has the same task—that is picking up and packaging as many products as possible. We propose an approach based on noncooperative game theory where each robot uses local observations of the conveyor band and their neighbors' actions in order to decide on its actions. The developed algorithm has been implemented and tested in a simulated manufacturing environment using Webots. Results obtained from the simulations are analyzed using a variety of statistical performance measures.  相似文献   
2.
With the recent developments in sensor technology including Microsoft Kinect, it has now become much easier to augment visual data with three-dimensional depth information. In this paper, we propose a new approach to RGB-D based topological place representation—building on bubble space. While bubble space representation is in principle transparent to the type and number of sensory inputs employed, practically, this has been only verified with visual data that are acquired either via a two degrees of freedom camera head or an omnidirectional camera. The primary contribution of this paper is of practical nature in this perspective. We show that bubble space representation can easily be used to combine RGB and depth data while affording acceptable recognition performance even with limited field of view sensing and simple features.  相似文献   
3.
This paper considers the problem of video streaming in low bandwidth networks and presents a complete framework that is inspired by the fovea–periphery distinction of biological vision systems. First, an application specific attention function that serves to find the important small regions in a given frame is constructed a priori using a back-propagation neural network that is optimized combinatorially. Given a specific application, the respective attention function partitions each frame into foveal and periphery regions and then a spatial–temporal pre-processing algorithm encodes the foveal regions with high spatial resolution while the periphery regions are encoded with lower spatial and temporal resolution. Finally, the pre-processed video sequence is streamed using a standard streaming server. As an application, we consider the transmission of human face videos. Our experimental results indicate that even with limited amount of training, the constructed attention function is able to determine the foveal regions which have improved transmission quality while the peripheral regions have an acceptable degradation.  相似文献   
4.
Attentional sequence-based recognition: Markovian and evidential reasoning   总被引:1,自引:0,他引:1  
Biological vision systems explore their environment via allocating their visual resources to only the interesting parts of a scene. This is achieved by a selective attention mechanism that controls eye movements. The data thus generated is a sequence of subimages of different locations and thus a sequence of features extracted from those images - referred to as attentional sequence. In higher level visual processing leading to scene cognition, it is hypothesized that the information contained in attentional sequences are combined and utilized by special mechanisms - although still poorly understood. However, developing models of such mechanisms prove out to be crucial - if we are to understand and mimic this behavior in robotic systems. In this paper, we consider the recognition problem and present two approaches to using attentional sequences for recognition: Markovian and evidential reasoning. Experimental results with our mobile robot APES reveal that simple shapes can be modeled and recognized by these methods - using as few as ten fixations and very simple features. For more complex scenes, longer attentional sequences or more sophisticated features may be required for cognition.  相似文献   
5.
A hierarchically organized visual place memory enables a robot to associate with its respective knowledge efficiently. In this paper, we consider how this organization can be done by the robot on its own throughout its operation and introduce an approach that is based on the agglomerative method SLINK. The hierarchy is obtained from a single link cluster analysis that is carried out based on similarity in the appearance space. As such, the robot can incrementally incorporate the knowledge of places into its visual place memory over the long term. The resulting place memory has an order-invariant hierarchy that enables both storage and construction efficiency. Experimental results obtained under the guided operation of the robot demonstrate that the robot is able to organize its place knowledge and relate to it efficiently. This is followed by experimental results under autonomous operation in which the robot evolves its visual place memory completely on its own.  相似文献   
6.
7.
A physical model-based analysis of unstructured environments is presented using sonar as a sensing device. Previous methods have relied only on time-of-flight (TOF) methods and have examined only homogenous environments consisting of either smooth or rough surfaces. In this paper, a forward model for the reflection from a class of surfaces with varying degrees of roughness is presented based on the Kirchhoff approximation method. This model integrates different types of environments into a single analytical framework. The echo intensity is parametrized in terms of its energy content and duration, which are functions of the surface roughness, distance, and orientation. The echo-energy and echo-duration maps are introduced to display these parameters. A systematic and robust procedure (ENDURA method) is presented to analyze the reflections and to differentiate and localize the reflecting surfaces. The methodology is verified with experimental results obtained in our laboratory. The results indicate a significant improvement over conventional TOF systems  相似文献   
8.
This paper offers a new approach to integration of modules in an intelligent sensor system. Such a system requires that a set of modules-each doing a smaller portion of the overall task-be integrated within a unifying framework. From the perspective of computational systems, this problem holds a considerable interest because it is characterized by a set of coexisting mathematical objectives that need to be optimized simultaneously. In this sense, the design considerations necessitate the introduction of problem solving with multiple objectives. This paper explores these issues in the instance when each module is associated with a mathematical objective that is a function of the outputs of other modules. The integration problem is formulated and what is required of a good solution is presented. This examination interprets the decentralized mediation of conflicting subgoals as promoting a N-player game amongst the modules to be integrated and proposes a game-theoretic integration framework. We model the interaction among the modules as a noncooperative game and argue that this strategy leads to a framework in which the solutions correspond to a compromise decision. The application of this framework in image analysis motivates the hope that a framework such as game-theoretic integration will facilitate the development of general design principles for “modular” systems  相似文献   
9.
This paper is focused on endowing a mobile robot with topological spatial cognition. We propose an integrated model—where the concept of a ‘place’  is defined as a collection of appearances or locations sharing common perceptual signatures or physical boundaries. In this model, as the robot navigates, places are detected in a systematic manner via monitoring coherency in the incoming visual data while pruning out uninformative or scanty data. Detected places are then either recognized or learned along with mapping as necessary. The novelties of the model are twofold: First, it explicitly incorporates a long-term spatial memory where the knowledge of learned places and their spatial relations are retained in place and map memories respectively. Second, the processing modules operate together so that the robot is able to build its spatial memory in an organized, incremental and unsupervised manner. Thus, the robot’s long-term spatial memory evolves completely on its own while learned knowledge is organized based on appearance-related similarities in a manner that is amenable for higher-level semantic reasoning, As such, the proposed model constitutes a step forward towards having robots that are capable of interacting with their environments in an autonomous manner.  相似文献   
10.
In this paper, we consider dynamic multirobot tasks that can be done by any of the robots, but only with the assistance of any other robot. We propose a novel approach based on the concept of ‘assistance networks’ with two complementary aspects, namely assistant finding and network topology update. Each robot, encountering a new task, seeks an assisting robot among its immediate neighbors in the assistance network in a decentralized manner. The network topology is defined based on pairwise stability via payoff functions that consider general task-related guidelines. As such, the number of potential assisting robots can be ensured a priori depending on tasks’ requirements. As robots move around, the topology is updated via pairwise games. If the games are conducted by a network coordinator, each game is shown to result in a pairwise stable network. A series of simulation and experimental results in a variety of different scenarios demonstrate that the robots are able to get assistance or give assistance flexibly.  相似文献   
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号