检索结果-内蒙古大学图书馆

您好，读者！请登录

内蒙古大学图书馆

首页
概况
党建
资源
服务
科研支持
- 论文收录引用证明
- 科技查新
知识产权
档案馆
帮助

咨询与建议

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

您的常用邮箱：*

您的手机号码：*

问题描述：

当前已输入0个字，您还可以输入200个字

全部搜索
期刊论文
图书
学位论文
标准
纸本馆藏
外文资源发现
数据库导航
超星发现

高级检索

时间限定

出版年份：

文献类型

图书期刊文献学位论文多媒体

馆藏选择

电子馆藏纸本馆藏

核心期刊

全部期刊 SCI 收录期刊 SSCI 收录期刊 EI 收录期刊 CSCD 收录期刊 CSSCI 收录期刊

语言

中文英文

文献类型

期刊文献图书学位论文标准纸本馆藏

帮助

文字说明：

T=题名（书名、题名），A=作者（责任者），K=主题词，P=出版物名称，PU=出版社名称，O=机构（作者单位、学位授予单位、专利申请人），L=中图分类号，C=学科分类号，U=全部字段，Y=年（出版发行年、学位年度、标准发布年）

检索规则说明：

AND代表“并且”；OR代表“或者”；NOT代表“不包含”；(注意必须大写,运算符两边需空一格)

检索范例：

范例一：(K=图书馆学 OR K=情报学) AND A=范并思 AND Y=1982-2016
范例二：P=计算机应用与软件 AND (U=C++ OR U=Basic) NOT K=Visual AND Y=2011-2016

分类表

所选分类

>> <<

限定检索结果

文献类型

5,195 篇 会议
38 册 图书
31 篇 期刊文献

馆藏范围

5,264 篇 电子文献
0 种 纸本馆藏

日期分布

学科分类号

2,683 篇 工学
- 2,025 篇 控制科学与工程
- 1,276 篇 计算机科学与技术...
- 700 篇 软件工程
- 590 篇 机械工程
- 405 篇 电气工程
- 206 篇 信息与通信工程
- 198 篇 仪器科学与技术
- 181 篇 交通运输工程
- 151 篇 电子科学与技术（可...
- 146 篇 生物医学工程（可授...
- 118 篇 光学工程
- 117 篇 生物工程
- 106 篇 力学（可授工学、理...
- 106 篇 土木工程
- 101 篇 航空宇航科学与技...
- 95 篇 动力工程及工程热...
- 95 篇 安全科学与工程
- 78 篇 化学工程与技术
- 74 篇 建筑学
- 57 篇 材料科学与工程（可...
656 篇 理学
- 272 篇 数学
- 206 篇 物理学
- 143 篇 生物学
- 97 篇 系统科学
- 54 篇 统计学（可授理学、...
349 篇 管理学
- 316 篇 管理科学与工程(可...
- 110 篇 工商管理
- 51 篇 图书情报与档案管...
100 篇 医学
- 94 篇 临床医学
- 51 篇 基础医学(可授医学...
33 篇 农学
31 篇 经济学
31 篇 法学
20 篇 教育学
8 篇 军事学
3 篇 艺术学
2 篇 文学

主题

607 篇 automatic contro...
446 篇 robotics and aut...
415 篇 control systems
382 篇 robots
366 篇 intelligent robo...
341 篇 robot sensing sy...
274 篇 accuracy
229 篇 mobile robots
205 篇 real-time system...
181 篇 robot control
180 篇 navigation
171 篇 robot kinematics
166 篇 safety
163 篇 service robots
149 篇 stability analys...
143 篇 manipulators
142 篇 process control
142 篇 trajectory
138 篇 training
126 篇 automation

机构

56 篇 institutes for r...
54 篇 university of ch...
46 篇 state key labora...
26 篇 key laboratory o...
21 篇 shenyang institu...
21 篇 shenyang institu...
20 篇 school of contro...
18 篇 beijing aerospac...
17 篇 institute of rob...
14 篇 tianjin key labo...
14 篇 national key lab...
14 篇 institute of int...
13 篇 shien-ming wu sc...
12 篇 school of mechat...
12 篇 school of automa...
12 篇 quality manage d...
11 篇 school of mechan...
11 篇 school of electr...
9 篇 shenzhen academy...
9 篇 college of intel...

作者

20 篇 yongchun fang
14 篇 jianda han
14 篇 han jianda
13 篇 jingtai liu
13 篇 fang yongchun
13 篇 wang xin
12 篇 yang yang
12 篇 ning sun
11 篇 yangsheng xu
11 篇 wei zhang
11 篇 xiao liang
11 篇 liang xiao
10 篇 xin zhao
10 篇 sami haddadin
10 篇 dzmitry tsetseru...
10 篇 g. schmidt
10 篇 martin buss
10 篇 ying zhang
9 篇 li yang
9 篇 liu yang

语言

4,792 篇 英文
466 篇 其他
16 篇 中文

检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

共 5264 条记录，以下是201-210 订阅

全选清除本页清除全部题录导出标记到"检索档案"

详细简洁

排序：

A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models

A Point-to-distribution Degeneracy Detection Factor for LiDA...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Ji, Sehua Chen, Weinan Su, Zerong Guan, Yisheng Li, Jiehao Zhang, Hong Zhu, Haifei Guangdong Univ Technol Sch Electromech Engineer Biomimet & Intelligent Robot Lab BIRL Guangzhou Guangdong Peoples R China Guangdong Acad Sci Inst Intelligent Mfg Guangdong Key Lab Modern Control Technol Guangzhou Guangdong Peoples R China JT Innovat Guangdong Intelligent Technol Co Ltd Guangzhou Peoples R China South China Agr Univ Coll Engn Guangzhou Peoples R China Southern Univ Sci & Technol Shenzhen Key Lab Robot & Comp Vis Shenzhen Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Limited by the working principles, LiDAR-SLAM systems suffer from the degeneration phenomenon in environments such as long corridors and tunnels, due to the lack of sufficient geometric features for frame-to-frame matching. The accuracy and sensitivity of existing degeneracy detection methods need to be further improved. In this paper, we propose a novel method for degeneracy detection using local geometric models based on point-to-distribution matching. To obtain an accurate description of local geometric models, an adaptive adjustment of voxel segmentation according to the point cloud distribution and density is designed. The codes of the proposed method is open-source and available at https://***/jisehua/***. Experiments with public datasets and self-build robots were conducted to evaluate the methods. The results exhibit that our proposed method achieves higher accuracy than the other existing approaches. Applying our proposed method is beneficial for improving the robustness of the LiDAR-SLAM systems.

关键词： SLAM robotics

来源：评论

学校读者我要写书评

暂无评论

Meta-Reinforcement Learning of Hierarchical Fault-Tolerant controller for Multiple Leg Failures in Hexapod robots 11

Meta-Reinforcement Learning of Hierarchical Fault-Tolerant C...

引用

11th IEEE international conference on Cybernetics and intelligent Systems (CIS) / 11th IEEE international conference on robotics, Automation and Mechatronics (RAM)

作者： Xu, Tengye Yang, Zhe Ren, Qinyuan Zhejiang Univ Coll Control Sci & Engn Hangzhou Peoples R China

ISBN: (纸本)9798350364200;9798350364194

Hexapod robots used in resource exploration and post-disaster rescue operations often face the risk of multiple unexpected leg failures, which can lead to an immediate threat of falling. Traditional controllers generally lack the fault-tolerance required to adjust locomotion gaits to continue to move in a target direction. Maintaining the original motion patterns in such situations can result in severe damage to the robot. This work proposes a hierarchical fault-tolerant control scheme that employs a meta-learning training architecture capable of addressing the non-stationary multi-task leg failure adaptation problem. The meta Learning architecture simultaneously trains multiple locomotion tasks with all possible configurations of one, two or three leg failures occurring during the normal movement of hexapod robots. Experimental results demonstrate the exceptional fault-tolerant capabilities of the trained controller in adapting to unexpected leg failures. Furthermore, the controller maintains the robot's planar mobility, providing superior velocity tracking and directional following abilities compared to baselines.

关键词： Hexapod Fault-Tolerant Meta-RL Locomotion Hierarchical control

来源：评论

学校读者我要写书评

暂无评论

Co-Design Optimisation of Morphing Topology and control of Winged Drones

Co-Design Optimisation of Morphing Topology and Control of W...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Bergonti, Fabio Nava, Gabriele Wueest, Valentin Paolino, Antonello L'Erario, Giuseppe Pucci, Daniele Floreano, Dario Ist Italiano Tecnol Artificial & Mech Intelligence Lab Genoa Italy Univ Manchester Sch Comp Sci Manchester Lancs England Ecole Polytech Fed Lausanne Lab Intelligent Syst Lausanne Switzerland Univ Naples Federico II Dept Ind Engn Naples Italy

ISBN: (纸本)9798350384581;9798350384574

The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient solution. However, morphing drones require the addition of actuated joints that increase the topology and control coupling, making the design process more complex. We propose a co-design optimisation method that assists the engineers by proposing a morphing drone's conceptual design that includes topology, actuation, morphing strategy, and controller parameters. The method consists of applying multi-objective constraint-based optimisation to a multi-body winged drone with trajectory optimisation to solve the motion intelligence problem under diverse flight mission requirements, such as energy consumption and mission completion time. We show that co-designed morphing drones outperform fixed-winged drones in terms of energy efficiency and mission time, suggesting that the proposed co-design method could be a useful addition to the aircraft engineering toolbox.

关键词： Conceptual design

来源：评论

学校读者我要写书评

暂无评论

Multi-Agent Reinforcement Learning for High-Efficiency Multi-Finger Robotic Grasping 9

Multi-Agent Reinforcement Learning for High-Efficiency Multi...

引用

9th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Wang, Jiashuai Li, Ke Shandong Univ Sch Control Sci & Engn Inst Intelligent Med Engn Jinan 250062 Peoples R China

ISBN: (纸本)9798350385731;9798350385724

Advanced control methods play a role in robotic grasping of objects. Currently most of the advanced control methods for robotic grasping can fall into the reinforcement learning and neural networks, which typically require large amounts of training data and computational resources. To achieve faster and more efficient robotic grasping with multiple fingers is still a challenging issue. In this study, we proposed a novel intelligent control method for multi-finger robotic grasping based on multi-agent reinforcement learning (MARL). The MARL was constructed based on potential energy model, enabling the agents to accomplish tasks within relatively shorter time. An experiment was performed to simulate the object grasping and movement with multi-finger robotic hand from an initial position to a target position. Results showed that the task could be accomplished within only 20 iterations using the MARL. The success rate of grasping using the MARL reached up to 90%, which was higher than the success rates of traditional Q-learning (80%) or preprogrammed in structured environment (70%). These results indicated that the proposed MARL could achieve higher success rate of grasping with shorter training time for multi-finger robotic grasping, which may play a role in a variety of dexterous object grasping and manipulation with robotic hand in unstructured environment.

关键词： multi-agent reinforcement learning robotic grasping

来源：评论

学校读者我要写书评

暂无评论

Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive control for Bipedal Locomotion Resilient to External Perturbations

Walking-by-Logic: Signal Temporal Logic-Guided Model Predict...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Gu, Zhaoyuan Guo, Rongming Yates, William Chen, Yipu Zhao, Yuntian Zhao, Ye Georgia Inst Technol Lab Intelligent Decis & Autonomous Robots Woodruff Sch Mech Engn Atlanta GA 30332 USA

ISBN: (纸本)9798350384581;9798350384574

This study proposes a novel planning framework based on a model predictive control formulation that incorporates signal temporal logic (STL) specifications for task completion guarantees and robustness quantification. This marks the first-ever study to apply STL-guided trajectory optimization for bipedal locomotion push recovery, where the robot experiences unexpected disturbances. Existing recovery strategies often struggle with complex task logic reasoning and locomotion robustness evaluation, making them susceptible to failures due to inappropriate recovery strategies or insufficient robustness. To address this issue, the STL-guided framework generates optimal and safe recovery trajectories that simultaneously satisfy the task specification and maximize the locomotion robustness. Our framework outperforms a state-of-the-art locomotion controller in a high-fidelity dynamic simulation, especially in scenarios involving crossed-leg maneuvers. Furthermore, it demonstrates versatility in tasks such as locomotion on stepping stones, where the robot must select from a set of disjointed footholds to maneuver successfully.

关键词： Predictive control systems

来源：评论

学校读者我要写书评

暂无评论

This is the Way: Mitigating the Roll of an Autonomous Uncrewed Surface Vessel in Wavy Conditions Using Model Predictive control

This is the Way: Mitigating the Roll of an Autonomous Uncrew...

引用

2024 international conference on intelligent Robots and Systems

作者： Jenkins, Daniel Marshall, Joshua A. Queens Univ Ingenu Labs Res Inst Kingston ON K7L 3N6 Canada Queens Univ Dept Elect & Comp Engn Kingston ON K7L 3N6 Canada

ISBN: (纸本)9798350377712;9798350377705

Though larger vessels may be well-equipped to deal with wavy conditions, smaller vessels are often more susceptible to disturbances. This paper explores the development of a nonlinear model predictive control (NMPC) system for Uncrewed Surface Vessels (USVs) in wavy conditions to minimize average roll. The NMPC is based on a prediction method that uses information about the vessel's dynamics and an assumed wave model. This method is able to mitigate the roll of an under-actuated USV in a variety of conditions by adjusting the weights of the cost function. The results show a reduction of 39 % of average roll with a tuned controller in conditions with 1.75-metre sinusoidal waves. A general and intuitive tuning strategy is established. This preliminary work is a proof of concept which sets the stage for the leveraging of wave prediction methodologies to perform planning and control in real time for USVs in real-world scenarios and field trials.

关键词： Predictive control systems

来源：评论

学校读者我要写书评

暂无评论

Load Side Position Sensorless control of Robot Manipulators with Flexible Joints

Load Side Position Sensorless Control of Robot Manipulators ...

引用

2024 international conference on Advanced robotics and intelligent Systems, ARIS 2024

作者： Yu, Cheng-Han Cheng, Ming-Yang National Cheng Kung University Department of Electrical Engineering Tainan Taiwan

ISBN: (纸本)9798350362572

One of the most notorious control problems for robot manipulators with flexible joints is vibration during movement, which substantially deteriorates motion accuracy. To cope with this problem, this paper proposes a load side position sensorless control scheme consisting of modified integral sliding mode control, command shaping, and command feedforward. A 2-DOF robot manipulator with flexible joints is used as a simulation platform to verify the effectiveness of the proposed approach. Simulation results indicate that the proposed approach exhibits satisfactory performance. © 2024 IEEE.

关键词： Robot applications

来源：评论

学校读者我要写书评

暂无评论

Research on Path Tracking control Method of Fully Driven AUV under Ocean Current Interference 7

Research on Path Tracking Control Method of Fully Driven AUV...

引用

7th international conference on intelligent robotics and control Engineering, IRCE 2024

作者： Zheng, Wanxi Automation Research Institute Lianyungang China

ISBN: (纸本)9798350352399

Autonomous underwater vehicles (AUVs) play an important role in human understanding and management of the ocean. Fully actuated AUVs can achieve 6 degrees of freedom motion control, with high control accuracy and anti-interference ability, and have high application value in the field of underwater precision operations. This article vectorizes the modeling of a multi thruster fully driven underwater vehicle, establishes a path tracking error model in a non-projective Serret Frenet coordinate system, designs disturbance resistant kinematic and dynamic controllers using inverse control methods, and analyzes the stability of the designed controllers. The simulation results show that the controller can asymptotically stabilize path tracking error, velocity tracking error, and attitude tracking error. © 2024 IEEE.

关键词： Disturbance rejection

来源：评论

学校读者我要写书评

暂无评论

Nonlinear Magnetic Field Modeling for Electromagnetic Actuation of Miniaturized Medical Robots

Nonlinear Magnetic Field Modeling for Electromagnetic Actuat...

引用

IEEE/ASME international conference on Advanced intelligent Mechatronics (AIM)

作者： Belalit, Billel Larbi, Meziane Belharet, Karim INSA CVL Chateauroux France JUNIA HEI PRISME UR 4229 Chateauroux France

ISBN: (纸本)9798350355376;9798350355369

One of the major challenges in non-contact actuation of miniaturized medical robots (MMRs) during minimally invasive surgery is precise magnetic force control to ensure accurate movement of these devices inside the human body. This study presents a novel model for the control of the magnetic field generated by a magnetic actuator composed of an electromagnetic coil with a ferromagnetic core. A hybrid model that incorporates analytical formulations of physical phenomena and adapts them based on experimental measurements is used as an alternative approach. This model enables calculation of the in-workspace magnetic field, even in nonlinear conditions associated with high currents in the actuator, offering a significant extension of the operating region. We have experimentally evaluated this model in terms of accuracy, computation time and implementability. The results show that it can be computed accurately in a few milliseconds, making it an ideal choice for controlling magnetic mini-robots.

关键词： Medical robotics

来源：评论

学校读者我要写书评

暂无评论

Continuously Estimate and control Prosthetic Grip Force by an Optical Waveguide Sensor

Continuously Estimate and Control Prosthetic Grip Force by a...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Ju, Linhang Jia, Hanze Shi, Yanjun Ding, Xilun Feng, Yanggang Zhang, Wuxiang Beihang Univ Sch Mech Engn & Automat Beijing Peoples R China

ISBN: (纸本)9798350384581;9798350384574

The emergence of intelligent prostheses has facilitated the life and work of disabled patients. The interaction aspect of prostheses has become a highlight research topic in the field of rehabilitation robotics. However, most of the existing prosthetic interaction methods focus on the use of myoelectricity to classify finite gestures, rather than continuous (infinite) force detection, which greatly limits the use of prosthetic scenarios. In this study, a novel optical waveguide sensor was used to collect muscle deformation information from the human arm for continuous control of the prosthetic grip force. The optical waveguide sensor was embedded with carbon fiber to limit the stretching of the waveguide, which led to the optical waveguide sensor being sensitive to bending deformation. Compared with EMGs, the accuracy of continuous grip force control based on the optical waveguide sensor is higher. The R-Square for prosthetic grip force and hand grip force were 0.867 and 0.9724 in the periodic and sustaining grip force experiments, respectively. The results suggested that the proposed method could provide a new approach to the interaction of prostheses.

关键词： Prosthetic interaction grip force muscle deformation information optiacl waveguide

来源：评论

学校读者我要写书评

暂无评论

没有更多数据了...

全选清除本页清除全部题录导出标记到“检索档案”

共500页 << < 17 18 19 20 21 22 23 24 25 26 > >>

检索报告对象比较合并检索0

隐藏清空

合并搜索

回到顶部

执行限定条件

内容：

评分：

请选择保存的检索档案：

请选择收藏分类：

订阅名称：

通借通还

温馨提示：

图书名称：

借书校区：

取书校区：

手机号码：

邮箱地址：

一卡通帐号：

电话和邮箱必须正确填写，我们会与您联系确认。

联系人：

所在院系：

联系邮箱：

联系电话：

内蒙古自治区呼和浩特市赛罕区大学西街235号邮编: 010021

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：