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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Applied intelligence 2 (1992), S. 127-153 
    ISSN: 1573-7497
    Keywords: Adaptive controller ; correlation ; cartesian controller ; optical flow ; telerobotics ; visual servoing
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract This paper addresses the problem of integrating the human operator with autonomous robotic visual tracking and servoing modules. A CCD camera is mounted on the end-effector of a robot and the task is to servo around a static or moving rigid target. In manual control mode, the human operator, with the help of a joystick and a monitor, commands robot motions in order to compensate for tracking errors. In shared control mode, the human operator and the autonomous visual tracking modules command motion along orthogonal sets of degrees of freedom. In autonomous control mode, the autonomous visual tracking modules are in full control of the servoing functions. Finally, in traded control mode, the control can be transferred from the autonomous visual modules to the human operator and vice versa. This paper presents an experimental setup where all these different schemes have been tested. Experimental results of all modes of operation are presented and the related issues are discussed. In certain degrees of freedom (DOF) the autonomous modules perform better than the human operator. On the other hand, the human operator can compensate fast for failures in tracking while the autonomous modules fail. Their failure is due to difficulties in encoding an efficient contingency plan.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Springer
    Agroforestry systems 19 (1992), S. 109-118 
    ISSN: 1572-9680
    Keywords: western Himalaya ; fodder trees ; leaf production ; leaf fall ; protein content
    Source: Springer Online Journal Archives 1860-2000
    Topics: Agriculture, Forestry, Horticulture, Fishery, Domestic Science, Nutrition
    Notes: Abstract Leaf production, leaf fall, leaf protein and net primary productivity have been reported for 4-year-old fodder trees in the mid-western Himalaya (altitude 1350 m; rainfall 1100 mm). The species include; Grewia optiva, Robinia pseudoacacia and Celtis australis growing in the open and Quercus glauca, Q. leucotrichophora and Ilex odorata growing in the forest. G. optiva, R. pseudoacacia and C. australis showed two distinct periods of leaf flush, and their leaves were short-lived (180 to 360 days) compared with the remaining three species which retained their leaves for more than two years, and had only one flush period during March–April. The open site species showed much higher leaf production, and the leaves contained a significantly (P 〈 0.05) higher protein content, compared with the forest group. Net primary productivity of G. optiva, C. australis and R. pseudoacacia was significantly (P 〈 0.05) higher than the forest species, which may be related to their high leaf production and rapid turnover rate of the leaves. The results are useful for management of these species in agroforestry systems.
    Type of Medium: Electronic Resource
    Library Location Call Number Volume/Issue/Year Availability
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