
- •Перевод английской научно-технической литературы
- •Введение
- •1. Способы образования терминов
- •2. Упражнения на терминообразование
- •2.1. Префиксы
- •2.2. Суффиксы
- •2.3. Сложные термины
- •2.4. Терминологические словосочетания
- •2.5. Терминологическая конверсия
- •2.6. Аббревиация
- •2.7. Акронимы
- •3. Texts for translation the outstanding chemist of the XX century
- •Engineer and oilman who led the the early cooperation in the oil business
- •Environmental protection: challenge for the future
- •Environmental technology – an important economic factor
- •Investing in people
- •The skilled trades in bavaria
- •Man and machine
- •Tools for every task
- •Smart soldering
- •4. Общие закономерности грамматического строя английской научно – технической литературы
- •4.2. Употребление имени существительного
- •4.3. Особые случаи образования множественного числа существительных
- •4.4. Употребление сказуемого в различных временах
- •Active Voice
- •Passive Voice
- •4.4.1. Неличные формы глагола
- •4.4.2. Употребление причастия
- •4.4.3. Герундий
- •4.4.4. Сослагательное наклонение
- •4.4.5. Условное предложение
- •5. Особенности перевода самостоятельных частей речи
- •5.1. The participle (причастие)
- •5.2. The gerund (герундий)
- •5.3. The infinitive
- •5.3.1. Объектный инфинитивный оборот (сложное дополнение)
- •5.3.2. Субъектный инфинитивный оборот (сложное подлежащее)
- •6. Упражнения
- •I. Subjet and predicate
- •Формы инфинитива
- •7. Особенности перевода многозначных слов
- •Переходные и непереходные глаголы
- •In terms of
- •Multifunctional Words
- •8. Тексты для перевода
- •8.1. Maxwell, hertz, and german radio-wave history
- •Programmable controllers
- •Microprocessors
- •Input and Output
- •Artificial intelligence
- •The golden rules of global networking
- •Client/server development
- •Computer graphics
- •A blueprint for the new is professional
- •Computers in schools
- •Developer's best practices Programming as a Profession
- •The Art of Programming
- •Towards Professional Software Engineering
- •Introduction to the Investment Process
- •8.2. Transportation Propulsion and auxiliary machinery
- •Combinations of machinery
- •Gas turbine and nuclear power
- •Electric drive and integrated machinery plants
- •Dc motors and generators
- •8.3. Real investment and financial investment
- •Investment planning
- •Securities Markets
- •Primary markets and investment banking
- •Secondary markets: exchanges, dealers, and brokers
- •National and Regional Exchanges
- •The New York Stock Exchange
- •Business Conditions Analysis, Corporate Profits, and Stock Prices security prices and the economy
- •Methods of forecasting
- •Short-Term Forecasting on the Basis of Economic Indicators
- •Table 5-1 Leading Indicators of Economic Activity, 1985
- •Options and Warrants options
- •The options market Over – the – Counter Market
- •Chicago Board Options Exchange (cboe)
- •8.4. Ecology and environment
- •Developing a resource management plan
- •Resource inputs
- •Documenting resource requirements
- •Developing an organizational plan
- •8.5. History of gsm
- •Services provided by gsm
- •Mobile station
- •Architecture of the gsm network
- •Base station subsystem
- •Network subsystem
- •Radio link aspects
- •Multiple access and channel structure
- •Traffic channels
- •Project interfaces
- •Mobile robot teleoperation system utilizing a virtual world
- •Introduction
- •Overall structure of the teleoperation system
- •8.6. Robots – from fantasy to reality
- •Our mechanical assistants
- •Capacity for intelligent activity
- •Greater “skill” in the future
- •Control of the gyrover: a single-wheel gyroscopically stabilized robot
- •Introduction
- •Two-stage adaptive robot position/force control using fuzzy reasoning and neural networks
- •Introduction
- •A methodology to investigate robotic intelligence
- •Introduction
- •Operational amplifiers
- •Ideal Op Amp
- •8.7. Survey of electronics
- •Development of electronics
- •Automatic mixer
- •Programmable controller
- •The current challenge: introductory physics
- •The micro-computer in the undergraduate physics laboratory - system, hardware, student reaction, evaluation
- •Mobile messages
- •Scanning the past
- •Библиографический список
- •Содержание
Overall structure of the teleoperation system
We have developed a prototype teleoperation system for mobile robots utilizing a virtual world for better image display for human operators. Figure 2 shows the overall structure of the developed system. The system consists of human interface devices, operation targets and a computer. This system uses TCP/IP (Internet protocol) and each part is connected to the network. In particular, the robot and the computer are linked via the Internet through a radio LAN.
Human interface and devices
The input and output devices. A joystick is used as an input device for easy maneuvering of the robot, whereas the pan and tilt motions of the camera are controlled by the output from a FASTRAK motion tracking system attached to an HMD (Head Mounted Display). The real image captured by the real camera and the virtual image captured by the virtual camera on the virtual robot are displayed on the HMD. The joystick has 2 d.o.f. for forward-backward and left-right, and a button which is pushed when the operator wants to rotate the robot. The human operator inputs the motion commands using the joystick. When the FASTRAK motion tracking system detects a change of magnetic field, it converts this to a numerical value of an angle. The motions of the camera on the real robot and the virtual robot are managed by the value of the angle.
Operation targets
In the real world. The real world consists of a mobile robot, a single onboard CCD camera and an environment in which the mobile robot moves around. The mobile robot has a specially designed driving mechanism and wheels with free rollers. This machinery realizes omni-directional motion and decoupled control of 3-d.o.f movement in a horizontal plane. The omni-directional mobility is suitable for teleoperation systems because an operator can maneuver the robot intuitively. The dimensions of the omni-directional mobile robot are: width = 0.45 m, depth = 0.45 m and height = 0.53 m. The robot has its own IP address and is connected with the computer though a radio LAN device and TCP/IP. It is a kind of physical agent on the Internet. The robot carries a CCD camera with pan (from + 40 Degrees to -40 Degrees), tilt (from + 20 Degrees to -20 Degrees) and zoom functions.
In the virtual world. The virtual world consists of an environment model, a mobile robot model and a process for the virtual robot. The environment model is created using computer graphics based on the real environment where the real mobile robot exists. It is a very difficult problem to automatically model the environment using sensor information, but our target in this paper is to improve the network time-delay problem. Here, we assume that the environment model is given or known. The modeling of an unknown environment using sensor information is a separate and difficult problem. Similarly, the mobile robot model is also created using computer graphics based on the real mobile robot. Figure 6 shows the structure of the overall processes for generation of the virtual world. The roles of the processes for the virtual robot are data acquisition and data processing for operation of the robot in the virtual world. On a graphical workstation, the process which displays the animation is the parent process and the other processes, which receive the angle of the camera and calculate the coordinates of the robot positions, are child processes.