55368 where am i present continous and community
55368 where am i present continous and community
... book, read books to children, study, read a book, use the computer Where: at the post office Who: a man, some people What: mail a letter, wait in line, talk Where: at the post office Who: a man, some ... man, some people What: mail a letter, wait in line, talk Where: at the park Who: two people, a woman, some people, children What: run, ride a bike, walk, walk the dog, play Where: at the park Who: ... a family, the father, a man, a woman What: shop, push a shopping cart, clean the floor, check out Where: at the bank Who: a man, a woman, some people What: make a deposit, wait in line, write...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 2 ppsx
... either the inside or outside steering angles (2i or 2o) as follows [Byrne et al., 19 92] : cot2SA ' d % cot2i 2l (1.9) or, alternatively, cot2SA ' cot2o & d 2l (1.10) Ackerman steering provides a fairly ... 22 Part I Sensors for Mobile Robot Positioning cot2i &cot2o' d l (1.8) where 2i = relative steering angle of the inner wheel 2o = relative steering angle of the ... resonators (2. 3.1) Passive optical resonators (2. 3 .2) Open-loop fiber-optic interferometers (analog) (2. 3.3) Closed-loop fiber-optic interferometers (digital) (2. 3.4) Fiber-optic resonators (2. 3.5)...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 3 pps
... Weight (total) Power 77 dia × 88 mm 3. 0 dia × 3. 5 in 0. 63 1 .38 to 18 630 kg lb VDC mA Figure 2.11: The Andrew Autogyro Model 3ARG (Courtesy of [Andrew Corp].) 44 Part I Sensors for Mobile Robot Positioning ... 2.1.2 .3) based on polarization-maintaining fiber and precision fiber-optic gyroscope technology Model 3ARG-A ($950) comes with an analog output, while model 3ARG-D ($1,100) has an RS- 232 output ... Navigator (Courtesy of [Andrew Corp].) 2 .3. 6.2 Hitachi Cable Ltd OFG -3 Hitachi Cable Ltd markets an optical fiber gyroscope called OFG -3 (see Figure 2. 13) Komoriya and Oyama [1994] tested that...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 5 pptx
... Frequency E-220B/2 15 E-220B/ 150 E-220B/40 10 - 61 - 24 10 20 - 152 - 60 10 61 - 610 24 - 240 35 ( 15) E-220B/26 Units 61 - 914 cm 24 - 360 in 35 ( 15) 2 15 150 40 Max rep rate Resolution 150 0.076 0.03 ... ranging modules (Courtesy of Polaroid.) Parameter Original SN28827 Maximum range 10 .5 35 10 .5 35 Minimum range* 25 10 .5 56 20 16 20 cm in 16 1.6 2.38 2.38 ms 16 no 12 yes Number of pulses Blanking time ... Magellan 10-7 0.011 1.7×l0-6 0.19 5. 73×l0-10 6.36×l0 -5 10-8 5. 73×l0-7 6.36×l0-2 10 -5 1.11 Magnavox GPS Engine Rockwell NavCore V Magnavox 6400 Trimble Placer 84 Part I Sensors for Mobile Robot...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 6 pot
... parallel, RS-422 9- 16 VDC 880 Size (electronics) (scanner) Weight 22×13×7 .6 8.7×5.1×3 18×10×10 7×4×4 m ft m ft mA 22×13×7 .6 8.7×5.1×3 18×10×10 7×4×4 cm in cm in (electronics) 7.25 2. 86 lb (scanner) ... mrad approximately 50 MHz at zero range to MHz at Wavelength 780 /67 0 nm 20 meters (66 ft) The distance to Maximum range 20 m 65 ft target can be determined through use of a frequency-toMinimum ... fan-shaped beams 10 degrees apart in elevation for improved target detection (The original prototype projected only a single spot of light, but ran into problems Table 4 .6: Selected specifications...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 7 doc
... possible with additional signal processing Figure 4. 37: Safety First/General Microwave Corporation's Collision Avoidance Radar, Model 170 7A with two antennas (Courtesy of Safety First/General ... Ackerman vehicles Hongo et al [19 87] had built such a set of encoder wheels, to improve the accuracy of a large differential-drive mobile robot weighing 350 kilograms (77 0 lb) Hongo et al report that, ... protection (Courtesy of VORAD-2) 126 Part I Sensors for Mobile Robot Positioning The Electronics Control Assembly (see Figure 4.36) located in the passenger compartment or cab can individually distinguish...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 8 pptx
... percent of distance traveled) run between $20K to $50K [Dahlin and Krantz, 1 988 ] \book \tvin4set.ds4;.w mf, 07/19/95 146 Part II Systems and Methods for Mobile Robot Positioning Experimental results ... calculated without the outliers p and p 18 is at P b = (12.5 cm, 18. 3 cm) The final position estimate after the Position Estimator is applied again on the 18 “good” landmarks (i.e., without the ... error, is shown as the heavy line (Adapted from [Barshan and Durrant-Whyte, 1995] © IEEE 1995.) 1 48 Part II Systems and Methods for Mobile Robot Positioning amount of noise, was 0.16 /s for the START...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 10 pot
... features Large enough? Generate hypothesis yes Localization Delete features Hypothetical features no Implausible? yes Large enough? yes yes no Too old? yes Cluster hypothesis Robot position Observation ... map-building algorithm maintains a hypothesis tree for the three sensor reading categories: hypothetical, tentative, and confirmed (Adapted from [Rencken, 1994].) 194 Part II Systems and Methods for ... matches a confirmed feature that is a line-type (see cases a and b in Fig 8 .10) or point-type (case c in Fig 8 .10) Figure 8 .10: Different features can reduce the size of the robot's uncertainty ellipse...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 11 pps
... 214 Part II Systems and Methods for Mobile Robot Positioning 9.4.1 Three-Dimensional Geometric Model-Based Positioning Fennema et al [1990] outlined a system for navigating a robot in a partially ... extracted from its map of the current locale with representative features of known locales in the 204 Part II Systems and Methods for Mobile Robot Positioning environment The goal is to recognize the ... place upon return at a later time In this case, multiple autonomously \book\courtney.ds4, wmf, 11/ 13/94 paths through the place can be "linked” together to form a network (Adapted from [Kortenkamp...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 12 potx
... filter (128 128 ) Circle (R=107mm) At 2000 mm 35 mm Global vision Robot localization using a single image Sony CCD camera, f=8.5mm resolution = 0 .12 /pixel at image center Vertically oriented parts ... 10 Hz [Tsumura et al., 1988] Ultrasonic beacons Eight sonar receiver array (45E apart) Six sonar beacons in a 12 m2 space Measured standard dev of path error of 40 mm 150 ms [Kleeman, 1992] Infrared ... [mm] Accuracy orientation [ o] Sampling Rate [Hz] Model based vision system TRC LabMate 68040 512 512 gray-level CCD camera, f=6 mm Corners of the room 100 mm middle error 2% ±3º 3-D orientation...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 13 pptx
... Robotics and Automation, nce San Diego, CA, May 8 -13, pp 130 6 -131 1 136 GPS Report November 5, 1992 Potomac, MD: Phillips Business Information 137 Grenoble, B., 1990, “Sensor and Logic Form Digital ... Literature, 1490 and 1525 Magnetic Sensors, Flint, MI, 313- 744 -133 0 308 ERIM - Environmental Research Institute of Michigan, Box 8618, Ann Arbor, MI 48107, 3139 94-1200 256 References 309 EATON - Eaton-Kenway, ... Robotics and Automation San Diego, CA, May 8 -13, pp 485, 492 387 Parker, K., 1993, “'Bots Struggle to Learn Basics.” Manufacturing Systems, Oct 12, pp 131 4 388 Partaatmadja, O., Benhabib, A., Sun, A.,...
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Where.Am.I-Sensors.and.methods.for.mobile.robot.positioning.-.Borenstein(2001) Part 14 pps
... 25-28, 143 , 144 mean 38, 83, 84, 86, 123, 149 , 226, 227, 232, 233 mechanical 2, 14- 16, 23, 30-34, 38, 44-47, 58, 62, 102, 118, 146 , 179, 243, 248 Index mechanical-scanner ... 215 tractor-trailer 144 , 145 trailer 138, 139, 144 , 145 , 222, 238, 243, 248 trajectory 133, 140 , 150, 196, 215, 216 Trak-Star ... 199, 210 heading 15, 21, 22, 24, 30, 45-47, 53, 54, 57, 58, 66, 80, 143 , 144 , 148 , 150, 153, 159, 163166, 169, 187, 214, 247, 253 helicopter 33, 103, 258 helium-neon...
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