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共 2673 条记录，以下是311-320 订阅

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Photon-Counting Integral Imaging Using Bayesian Estimation with Depth Camera Information 23

Photon-Counting Integral Imaging Using Bayesian Estimation w...

引用

23rd international conference on control, automation and Systems, ICCAS 2023

作者： Uchino, Hideaki Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Department of Computer Science and Networks Fukuoka Iizuka820-8502 Japan School of ICT Robotics and Mechanical Engineering Iitc Hankyong National University Kyonggi-do Anseong17579 Korea Republic of

ISBN: (纸本)9788993215274

In this paper, we propose a method for visualizing object information under low light conditions using photon-counting integral imaging and depth images as prior information. To visualize 3D objects under low-light conditions, computational photon-counting imaging may be used. It is possible to estimate photons using statistical methods such as the Poisson distribution. Therefore, photon-counting integral imaging can visualize 3D images under low-light conditions by maximum likelihood estimation (MLE). However, MLE does not consider prior information so it may not be an accurate estimation. In addition, it is difficult to obtain accurate depth information as the distance increases due to rounding errors caused by computational reconstruction. Therefore, we propose Bayesian estimation such as a maximum a posteriori estimation method that uses as a priori information images from a depth camera, which can be acquired even in low-light conditions, to improve the quality of 3D images. To evaluate image quality of the proposed method, optical experiments were conducted by calculating image quality metrics. This technology can be utilized for night vision applications, such as object recognition in security camera systems and autonomous driving, using RGB cameras and depth cameras. © 2023 ICROS.

关键词： Maximum likelihood estimation

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Thompson Sampling and Its Applications: Solution for Multi-robot Targets Search 3

Thompson Sampling and Its Applications: Solution for Multi-r...

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3rd international Symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Guo, Yifan Liu, Hongqing Ye, Jia University of Pittsburgh Swanson School of Engineering Pittsburgh United States Wuhan University of Technology School of Automation Wuhan China University of Sussex School of Engineering and Informatics Brighton United Kingdom

ISBN: (纸本)9781665437189

This paper introduces a combinatorial optimization algorithm based on Thompson sampling to solve the multi-armed bandit problem (MAB) and applies the algorithm to improve the search efficiency in the multi-robot multi-target search problem. Other algorithms for solving MAB problems like-Greedy Algorithm and UCB1 are briefly illustrated as references. The proposed algorithm could be widely used in MAB, exploration-exploitation, reinforcement learning, and investment analysis. © 2021 IEEE.

关键词： Reinforcement learning

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Diabetic Foot Ulcer Unsupervised Segmentation with Vision Transformers Attention 4th

Diabetic Foot Ulcer Unsupervised Segmentation with Vision T...

引用

4th Diabetic Foot Ulcers Grand Challenge, DFUC 2024 held in Conjunction 27th international conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2024

作者： Brodzicki, Andrzej Kucharski, Dariusz Moniak, Bartlomiej Kostuch, Aleksander Noworolnik, Filip Anna, W. Jaworek-Korjakowska, Joanna Department of Automatic Control and Robotics AGH University of Kraków Kraków Poland Center of Excellence in Artificial Intelligence AGH University of Kraków Kraków Poland

ISBN: (纸本)9783031808708

The Diabetic Foot Ulcer Challenge is a global computer vision competition organised to raise awareness of the complications caused by diabetes and motivate researchers to develop solutions that might help in the treatment. In 2024, the challenge focused on self-supervised learning methods and synthetic data, as the process of collecting and labelling medical data is a tedious one. In this research, we present a novel, two-stage method for self-supervised DFU segmentation. It is based on a Vision Transformer attention from classification pre-task, followed by U-Net weakly supervised segmentation refinement. Our solution took 3rd place on the challenge leaderboard, with a 0.4796 Dice Score on the test set. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Distribution transformers

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Design of Sapling Planting Robot 3

Design of Sapling Planting Robot

引用

3rd international conference on Mechanical Design and Simulation, MDS 2023

作者： Shan, Jiajie Cai, Changji Beijing China International School in Dongguan Guangdong China

ISBN: (纸本)9781510664890

Rather than open-air planting, small and medium-sized farm facilities dominate agricultural production in China. The dimensional characteristics of these facilities include a low ceiling height and a narrow width. With these dimensional parameters, field agricultural robotics could be improved in these facilities, leading to hand transplanting by farmers. To meet the demands of small and medium-sized agrarian facilities for sapling transplantation, a sapling planting robot has been developed whose functions are to plant saplings semiautomatically to meet the needs of these facilities. All mechanisms were driven by electric power due to environmental sustainability. Throughout this paper, the main focus will be on the design of the mechanical system used. Hardware components of this machine include the chassis, sapling feeding unit, transmission system, and duckbill planter. This machine's hardware design has been completed, along with the design of its central control system using a PLC (programmable logic controller). The sapling planting robots were tested at 10m/s with the highest success rate measured at 96.25%, respectively. In conclusion, the machine is capable of planting well and has an effective control system. © 2023 SPIE.

关键词： Machine design

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Kinematic Modeling of a Twisted -String Actuated Soft Robotic Finger as Part of an Anthropomorphic Gripper 3

Kinematic Modeling of a Twisted -String Actuated Soft Roboti...

引用

3rd Modeling, Estimation and control conference (MECC)

作者： Swanbeck, Steven Konda, Revanth Zhang, Jun Univ Texas Austin Austin TX 78712 USA Univ Nevada Reno NV 89557 USA

ISBN: (纸本)9781713872344

Twisted string actuators (TSAs) generate high tendon -based (muscle -like) linear actuation and forces and have wide operational bandwidth. For these properties, TSAs are well-suited for advanced robotic and mechatronic applications, though their inclusion in soft robots has been limited. We recently employed TS As to drive an anthropomorphic soft gripper which successfully demonstrated dexterous grasping and manipulation. While the gripper showed superior qualitative performance, the lack of modeling and control strategies limited its realization in a fully autonomous system that could generalize well to new grasping behaviors. As a first step toward this objective, this paper presents modeling strategies for a monolithic soft silicone finger driven by a TSA. A physics -based kinematic model is developed to predict the bending and velocity kinematics of the finger as a function of the TS A's twisting angle. An average error of 2.06 degrees was obtained for the kinematic bending model across different actuation behaviors and an average error of 2.95 degrees/s was measured for the angular velocity model.

关键词： Soft robotics Modeling Twisted-String Actuators Mechatronics

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An AI Based Approach for Personalized Nutrition and Food Menu Planning 3

An AI Based Approach for Personalized Nutrition and Food Men...

引用

3rd IEEE international conference on Electronics, control, Optimization and Computer Science, ICECOCS 2022

作者： Azzimani, Khalid Bihri, Hayat Dahmi, Asma Azzouzi, Salma Charaf, My El Hassan Ibn Tofail University Laboratory of Research in Informatics Faculty of Sciences Kenitra Morocco Mohammed v University Laboratory of Biodiversity Ecology and Genome Faculty of Sciences Rabat Morocco

ISBN: (数字)9781665457231

ISBN: (纸本)9781665457231

Dietary intake is considered one of the major research issues in the field of nutrition and health care. However, existing tools are time consuming and require skilled people to interview patients and collect useful data. In this paper, we start by determining the nutritional needs of patients and then we propose a method for personalizing meals using artificial intelligence (AI) methods. The basic idea is to use images of food before and after consumption and to estimate nutrient intakes using image analysis methods. These methods are rapidly evolving with applicable solutions in the nutrition field towards the use of machine learning algorithms. Finally, the design and architecture of our prototype are detailed and evaluated in order to enhance the system functionalities. © 2022 IEEE.

关键词： Nutrition

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Design and Prototyping of an Robotic Exoskeleton for Rehabilitation After Total Knee Arthroplasty

Design and Prototyping of an Robotic Exoskeleton for Rehabil...

引用

automation, robotics and Computer Engineering (ICARCE), international conference on

作者： Raed Abdulameer Mahmood Alalwani Ali Selk Ghafari School of Science and Enginnering Sharif University of Technology International Campus Kish Island Hormozghan Iran Alfurat Al-awsat Technical University Alkufa Iraq

ISBN: (数字)9798331529505

ISBN: (纸本)9798331529512

The most increasing trend is to utilize total knee arthroplasty (TKA) as a surgical solution to relief the effects of severe arthritis. Researchers have become interested in replacing an efficient robotic assisted method in place of traditional physiotherapy post-TKA. The effectiveness of these devices in reducing recovery time, improving mobility, and decreasing the risk of future injuries is entirely reliant on the design and functionality of the proposed robotic system. The main objective of this study is to propose a streamlined and organized process to design and construct an exoskeletal robotic system for post-TKA, drawing on biomechanical investigations. In the design of a system for safe human-robot interaction during rehabilitation, it is crucial to prioritize compatibility and reliability as important parameters. This research proposes a framework that combines physiotherapy protocol with biomechanical analysis of human motion to address these issues. An experimental investigation was conducted on the built prototype to assess the performance of the suggested design framework.

关键词： Legged locomotion Biomechanics Protocols Pain Prototypes Reliability engineering Knee replacement Motion control Robots Read only memory

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Enhancement Three-Dimensional Localization of ArUco Marker Under Photon-Starved Conditions 23

Enhancement Three-Dimensional Localization of ArUco Marker U...

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23rd international conference on control, automation and Systems, ICCAS 2023

作者： Ha, Jin-Ung Kim, Hyun-Woo Cho, Myungjin Lee, Min-Chul Kyushu Institute of Technology Department of Computer Science and Networks Fukuoka Iizuka820-8502 Japan School of ICT Robotics and Mechanical Engineering Iitc Hankyong National University Kyonggi-do Anseong17579 Korea Republic of

ISBN: (纸本)9788993215274

In this paper, we propose a method to improve the recognition rate of ArUco markers under photon-starved conditions by using preprocessing such as photon counting algorithm and histogram equalization to estimate the exact three-dimensional(3D) location of improved objects. In the conventional ArUco marker recognition technology, the recognition rate of ArUco markers decreases under photon-starved conditions, and the exact 3D location of the object cannot be estimated. In the conventional ArUco marker recognition technology, the photon counting algorithm can be used to estimate the 3D location of objects by recognizing ArUco markers under photon-starved conditions. However, the photon counting algorithm has the problem that the computation speed is slowed down when there are many photons to estimate, and the recognition rate of the ArUco marker is reduced when there are few photons to estimate. To solve these problems of the photon counting algorithm and improve the recognition rate of ArUco markers, we apply histogram equalization to ArUco markers with the photon counting algorithm. To verify the feasibility of the proposed method, we implement simulations using the Open Manipulator-X platform and show performance metrics such as Peak Signal-to-Noise Ratio (PSNR). © 2023 ICROS.

关键词： Photons

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Development of an Accelerometer-based Data Acquisition System for Hand Gesture Recognition

Development of an Accelerometer-based Data Acquisition Syste...

引用

robotics, automation, Artificial-intelligence and Internet-of-Things (RAAICON), 2019 IEEE international conference on

作者： Atique Tajwar Md. Ettashamul Haque Md Mehedi Hasan Department of Robotics and Mechatronics Engineering University of Dhaka Dhaka Bangladesh

ISBN: (数字)9798331534400

ISBN: (纸本)9798331534417

This study presents a novel approach to Human-Robot Interaction (HRI) by employing gesture recognition to control robotic systems, such as bionic arms or manipulators, through accelerometer-based data collection. Using a low-cost glove equipped with an ESP32 microcontroller and accelerometer, data was gathered from 22 participants performing five distinct gestures: a clockwise circle, square, triangle, double tap, and the letter S. After filtering, these gestures were translated into features that trained a small neural network model designed for low-storage microcontrollers like the ESP32. With a performance accuracy of 90.4%, the neural network outperformed existing ensemble learning models, demonstrating its suitability for real-time gesture recognition tasks in embedded robotic systems. This highly efficient model enables seamless and intuitive control of robotic devices by facilitating responsive and natural HRI through gesture recognition. Designed specifically for compact and resource-limited environments, the model addresses the challenges associated with limited computational resources and restricted hardware capabilities. It provides a robust and scalable solution that can be easily integrated into various robotics applications, where gesture-based control is advantageous.

关键词： Microcontrollers Computational modeling Neural networks Human-robot interaction Low-pass filters Gesture recognition Data collection Manipulators Feature extraction Data models

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Flexible Circuits for Soft robotics

Flexible Circuits for Soft Robotics

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automation, robotics and Computer Engineering (ICARCE), international conference on

作者： Li Wang Yin Zhang Peijin Li Huangyu Zhou Fanghao Ning Tao Qin School of Big Data and Internet of Things Chongqing Vocational Institute of Engineering Chongqing China School of Big Data and Internet of Things School of Big Data and Intelligent Engineering Chongqing China

ISBN: (数字)9798331529505

ISBN: (纸本)9798331529512

In today's rapidly evolving industrial landscape, traditional rigid industrial robots are increasingly unable to meet the demands of complex and variable tasks due to their limited deformability, significant fatigue wear, and poor thermal management. This paper explores the flexible circuit technologies designed specifically for soft robots and their innovative manufacturing processes, highlighting how these technologies can significantly enhance the adaptability and flexibility of robots to address existing challenges. We propose a method combining liquid metal conductive pathways with an elastic substrate island structure to create stretchable circuit designs that meet the needs of soft robotics.

关键词： Liquids Rapid thermal processing Manufacturing processes Metals Soft robotics Light emitting diodes Thermal management Industrial robots Fatigue Substrates

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