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  • 1
    Monograph available for loan
    Monograph available for loan
    New York [u.a.] : Elsevier
    Call number: 12407
    Type of Medium: Monograph available for loan
    Pages: XXVI, 640 S. : graph. Darst.
    ISBN: 044400324X
    Location: Upper compact magazine
    Branch Library: GFZ Library
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  • 2
    Publication Date: 2011-08-24
    Description: A fuzzy logic control of camera pan and tilt has been implemented to provide real-time camera tracking of a moving object. The user clicks a mouse button to identify the object that is to be tracked. A rapid centroid estimation algorithm is used to estimate the location of the moving object, and based on simple fuzzy membership functions, fuzzy x and y values are input into a six-rule fuzzy logic rule base. The output of this system is de-fuzzified to provide pan and tilt velocities required to keep the image of the object approximately centered in the camera field of view.
    Keywords: CYBERNETICS
    Type: In: WNN 92; Proceedings of the 3rd Workshop on Neural Networks: Academic(Industrial)NASA/Defense, Auburn Univ., AL, Feb. 10-12, 1992 and South Shore Harbour, TX, Nov. 4-6, 1992 (A93-50726 21-63); p. 511-520.
    Format: text
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  • 3
    Publication Date: 2013-08-31
    Description: The Rice University Department of Mechanical Engineering and Materials Sciences' Robotics Group designed and built an eight degree of freedom redundant manipulator. Fuzzy logic was proposed as a control scheme for tasks not directly controlled by a human operator. In preliminary work, fuzzy logic control was implemented for a camera tracking system and a six degree of freedom manipulator. Both preliminary systems use real time vision data as input to fuzzy controllers. Related projects include integration of tactile sensing and fuzzy control of a redundant snake-like arm that is under construction.
    Keywords: CYBERNETICS
    Type: NASA-CR-190277 , NAS 1.26:190277
    Format: application/pdf
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  • 4
    Publication Date: 2011-08-24
    Description: We present a unified formulation for the inverse kinematics of redundant arms, based on a special formulation of the null space of the Jacobian. By extending (appropriately re-scaling) previously used null space parameterizations, we obtain, in a unified fashion, the manipulability measure, the null space projector, and particular solutions for the joint velocities. We obtain the minimum norm pseudo-inverse solution as a projection from any particular solution, and the method provides an intuitive visualization of the self-motion. The result is a computationally efficient, consistent approach to computing redundant robot inverse kinematics.
    Keywords: CYBERNETICS
    Type: In: Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992 (A93-29101 10-54); p. 229-239.
    Format: text
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  • 5
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    In:  Other Sources
    Publication Date: 2011-08-24
    Description: The paper describes the design and implementation of a telepresence system, as well as its control hardware and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free-flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three-DOF platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: In: Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992 (A93-29101 10-54); p. 393-400.
    Format: text
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  • 6
    Publication Date: 2011-08-24
    Description: This paper presents an analysis of the mechanics for multifingered grasps of planar and solid objects. Squeezing and frictional effects between the fingers and the grasped objects is fully visualized through our approach. An algorithm for qualitively choosing the grasp points is developed based on the mechanics of grasping. It is shown further that our method can be easily extended for the soft-fingered grasp model where the torsional moments along the contact normals can be transmitted through the grasp points.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: In: Cooperative intelligent robotics in space II; Proceedings of the Meeting, Boston, MA, Nov. 12-14, 1991 (A93-27001 09-54); p. 356-376.
    Format: text
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  • 7
    Publication Date: 2019-07-13
    Description: Research activity has shifted from computer graphics and vision systems to the broader scope of applying concepts of artificial intelligence to robotics. Specifically, the research is directed toward developing Artificial Neural Networks, Expert Systems, and Laser Imaging Techniques for Autonomous Space Robots.
    Keywords: COMPUTER PROGRAMMING AND SOFTWARE
    Type: Research Inst. for Computing and Information Systems, Reports on Computer Graphics Testbed to Simulate and Test Vision Systems for Space Applications; 3 p
    Format: text
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  • 8
    Publication Date: 2019-07-13
    Description: A system was developed for displaying computer graphics images of space objects and the use of the system was demonstrated as a testbed for evaluating vision systems for space applications. In order to evaluate vision systems, it is desirable to be able to control all factors involved in creating the images used for processing by the vision system. Considerable time and expense is involved in building accurate physical models of space objects. Also, precise location of the model relative to the viewer and accurate location of the light source require additional effort. As part of this project, graphics models of space objects such as the Solarmax satellite are created that the user can control the light direction and the relative position of the object and the viewer. The work is also aimed at providing control of hue, shading, noise and shadows for use in demonstrating and testing imaging processing techniques. The simulated camera data can provide XYZ coordinates, pitch, yaw, and roll for the models. A physical model is also being used to provide comparison of camera images with the graphics images.
    Keywords: COMPUTER PROGRAMMING AND SOFTWARE
    Type: Research Inst. for Computing and Information Systems, Reports on Computer Graphics Testbed to Simulate and Test Vision Systems for Space Applications; 108 p
    Format: text
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  • 9
    Publication Date: 2019-07-13
    Description: An analysis of the mechanics for multifingered grasps of planar and solid objects is presented. A method that is intuitive and computationally efficient is proposed. The search for finger grasp positions is combined with finger (manipulation and squeezing) for calculations in a single method. Physically, the squeezing and frictional effects between the fingers and the grasped objects are fully visualized through this approach. Mathematically, the complexity of finger force calculations are reduced when this scheme is compared with previously available schemes. The efficiency of the scheme is illustrated. On the basis of the analysis of grasp mechanics, an algorithm for quantitatively choosing the grasp points is proposed to ensure stable grasps.
    Keywords: CYBERNETICS
    Type: Journal of Robotic Systems (ISSN 0741-2223); 10; 2; p. 153-186.
    Format: text
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  • 10
    Publication Date: 2019-07-13
    Description: Artificial intelligence concepts are applied to robotics. Artificial neural networks, expert systems and laser imaging techniques for autonomous space robots are being studied. A computer graphics laser range finder simulator developed by Wu has been used by Weiland and Norwood to study use of artificial neural networks for path planning and obstacle avoidance. Interest is expressed in applications of CLIPS, NETS, and Fuzzy Control. These applications are applied to robot navigation.
    Keywords: COMPUTER PROGRAMMING AND SOFTWARE
    Type: Research Inst. for Computing and Information Systems, Reports on Computer Graphics Testbed to Simulate and Test Vision Systems for Space Applications; 12 p
    Format: text
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