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Multi-contact Trajectory Planning of Humanoid Based on Relaxed Contact Constraint 17th

Multi-contact Trajectory Planning of Humanoid Based on Relax...

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17th international conference on Intelligent robotics and applications

作者： Liu, Jiongnan Gao, Junyao Wu, Taiping Zuo, Weilong Xin, Xilong Cao, Jingwei Beijing Inst Technol Sch Mechatron Engn Beijing 10081 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

Humanoid robots are capable of imitating most human actions due to their joint configuration being similar to that of human. Research on motion planning for humanoid robots often focuses on the legs, aiming to plan legs' trajectories to achieve movements such as walking, running, and jumping. However, when humanoid robots operate in real human environments, relying solely on foot-end contact is often insufficient due to the complexity of the environment. Multi-contact trajectory planning greatly expands the working space of humanoid robots, enabling them to confidently navigate complex environments. To plan multi-contact and whole-body motions for humanoids, we explore a trajectory optimization framework and incorporate relaxed contact constraints to ensure that the solver can find feasible solutions. We introduce a full-body dynamic model for humanoid robots and simplified it into a multi-link model. During the planning process, collision points for the robot are pre-specified, and the kinematics and dynamics of these collision points are derived. The relaxed contact constraints reconcile the conflict between contact forces and contact distances while ensuring the continuity of contact dynamics. We demonstrate that this algorithm is capable of generating multi-contact motion plans with a humanoid robot. In real experiments, humanoid robot BHR-FCR achieve multi-contact motion on flat terrain.

关键词： Trajectory optimization Relaxed contact constraint Humanoid robot

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Integration of Internet of Things, Data Sets, and Cloud computing towards Space-Science 5.0 3

Integration of Internet of Things, Data Sets, and Cloud comp...

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3rd international conference on Advance Computing and Innovative Technologies in Engineering, ICACITE 2023

作者： Deshpande, Rashmi Sameer Pandey, Ashutosh Buddhi, Dharam Chandhar, Kothakonda Muni Raju, Adusupalle Patidar, Vijay Dr D y Patil Institute of Engineering Management and Research Akurdi Pune India Srmscet Bareilly Department of Basic Science Uttar Pradesh Bareilly India Uttaranchal Institute of Technology Uttaranchal University India Sr University School of Computer Science and Artificial Intelligence Telangana Warangal India Department of Marketing India Parul University Department of Aero India

ISBN: (纸本)9798350399264

technology has been influenced by the Internet of Things technology (IoT) in many different ways. It started as a network of interconnected devices communicating over the Internet has become tremendously complex system as network nodes were added and particular IoT domains were formed. There are numerous sub domains for IoT. IoT has yet to be implemented in a number of fields, including healthcare, robotics, and other related ones. one of the space research technologies that is advancing quickly. Over the past few decades, space research has grown significantly, with studies covering exo-planet discovery, colonization, space communication, and the potential for life on distant planets. In this study, we propose an unique Internet of Space Things (IoST) infrastructure that is cloud-compatible for the rapidly expanding and far-reaching field of space technology. The essay offers a thorough logical and physical architecture that takes into account ground stations, interstellar communication, public networks, cloud providers, enterprise networks, and cloud networks. The study will be helpful towards scientists and researchers working on IoT, emerging technologies, migration, robot assisted surgeries, space farming, etc. © 2023 IEEE.

关键词： Space research

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Design of Intelligent Tomato Picking robot Based on User Demand in Solar Greenhouse 3

Design of Intelligent Tomato Picking Robot Based on User Dem...

引用

3rd international conference on Intelligent Design, ICID 2022

作者： Fu, Mengyu Gao, Guohua College of Art and Design Beijing University of Technology Beijing China Beijing University of Technology Faculty of Materials and Manufacturing Beijing China

ISBN: (数字)9781665476775

ISBN: (纸本)9781665476775

With the rapid development of electronic information technology, tomato picking intelligence and mechanization are getting higher and higher attention. In this paper, the author analyzes the tomato growing environment, picking characteristics, and related products, and then proposes a design method combining KANO-FAST-FBS. Firstly, the author obtains user requirements through field research and user research. Secondly, the author classifies the importance of user requirements through KANO model. Thirdly, the author uses FAST to sort out the product functions and uses FBS to establish the mapping from user requirements to product structure. Through the above research, the design strategy of picking robot is put forward. © 2022 IEEE.

关键词： Product design

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Advanced detection of malicious transactions in ethereum unraveling complex asset transfer patterns 3

Advanced detection of malicious transactions in ethereum unr...

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3rd international conference on Electronic Information Engineering and Data Processing, EIEDP 2024

作者： Mao, Hengyi Zhao, Wenxuan Guo, Miaomiao School of Computer and Artificial Intelligence Beijing Technology and Business University Beijing China Institute of Information Engineering Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781510680531

As Ethereum emerges as a leading platform in blockchain technology, it increasingly faces security threats, particularly targeting smart contracts and decentralized applications (DApps). Current transaction analysis methods, such as dynamic taint analysis based on transaction tracing, are effective in specific scenarios but often fall short in handling complex logical vulnerabilities. Addressing these challenges, this study introduces a novel method for detecting attack transactions in Ethereum, focusing on the analysis of asset transfer behaviors between transaction initiators and interacting contract accounts. The innovation of this approach lies in its perspective of asset transfer, offering a fresh vantage point for identifying potential attack patterns. In the experimental phase, the method demonstrated effectiveness on existing datasets, albeit with the possibility of false positives in more complex scenarios. Overall, this study provides a new perspective in the field of Ethereum security research and offers valuable insights for enhancing the accuracy and efficiency of blockchain transaction security analysis. © 2024 SPIE.

关键词： Smart contract

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A Multi-scale Enhanced Lightweight Lane Line Detection Algorithm 3

A Multi-scale Enhanced Lightweight Lane Line Detection Algor...

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3rd IEEE international conference on Information technology, Big Data and Artificial intelligence, ICIBA 2023

作者： Gao, Junjie Zhang, Yu Dalian University of Technology School of Automotive Engineering Liaoning China

ISBN: (纸本)9781665490788

n order to reduce the imbalance between the real-time performance and detection accuracy of current semantic segmentation-based lane detection algorithms to adapt to engineering applications, a multi-scale enhanced lightweight lane detection algorithm (MEL-LDA) is adopted, and a lane detection method based on improved Res_Unet is proposed in this paper. First, a multi-scale enhanced atrous spatial pyramid pooling module (ME-ASPP), used at the encoding-decoding connection, is designed to improve the algorithm's multi-scale feature learning ability. Secondly, we propose a model pruning strategy based on the global-local threshold, which can approximately reduce the model and solve the fault phenomenon caused by excessive pruning rate to achieve both reducing the algorithm's complexity and maintaining the same accuracy. Compared with the Res_Unet algorithm, MEL-LDA improves the mean intersection over union (MIOU) by 1.3%, reduces parameter quantity by 61.1%, and improves single-image inference speed by 27.7%. Experimental results demonstrate that the proposed algorithm can improve the accuracy and inference speed of lane detection, effectively reduce the complexity of the algorithm model, and better meet the needs of practical production. © 2023 IEEE.

关键词： Image enhancement

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Design of A Pneumatic-Driven Bionic robot Fish Based on A Fish Tail Structure 17th

Design of A Pneumatic-Driven Bionic Robot Fish Based on A Fi...

引用

17th international conference on Intelligent robotics and applications

作者： Zhou, Junwei Yu, Chuanhao Wen, Zhengke Huang, Zixin Wuhan Inst Technol Sch Mech & Elect Engn Wuhan Peoples R China Wuhan Inst Technol Sch Elect & Informat Engn Wuhan Peoples R China Wuhan Inst Technol Hubei Key Lab Intelligent Robot Wuhan 430205 Peoples R China Wuhan Text Univ Hubei Key Lab Digital Text Equipment Wuhan 430200 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

As a new type of underwater autonomous vehicle, underwater bionic robot fish not only has excellent swimming performance and flexibility of fish, but also has the characteristics of simple structure, low movement noise and weak impact on underwater environment, it gradually become an important carrier for exploring underwater environment. In order to meet the needs of underwater exploration, this paper first introduces a bionic underwater robotic fish based on pneumatic driving. The robotic fish is composed of caudal fin actuator, rod, shell, tail fin and so on. The tail fin actuator is mainly composed of a soft airbag and a piston. The soft airbag changes its volume by receiving or discharging compressed gas, thereby push the piston rod to generate thrust and drive the tail fin to swing, thus realizing various underwater movements of the robotic fish. Finally, we constructs an experimental system to measure the swing angle of the tail fin of bionic robot fish, and the relationship between the swing angle of the tail fin and the input air pressure has been obtained, which enables the accurate control of the tail fin swing angle.

关键词： Bionic robotic fish Pneumatic drive Underwater robot Underwater exploration

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Research on Blockchain Consensus Mechanism for Judicial Depository applications 3

Research on Blockchain Consensus Mechanism for Judicial Depo...

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3rd international conference on Electronic Information Engineering and Computer Science, EIECS 2023

作者： Liu, Shuaiqi Zheng, Qingxiao Chengdu University of Information Technology Industry College of Blockchain Technology Sichuan China

ISBN: (纸本)9798350316674

Aiming at the efficiency and security of the blockchain application's consensus mechanism in the judicial depository field, this paper proposes an algorithm that integrates the PoS consensus mechanism based on node credibility with the Bitcoin-NG consensus mechanism. The method improves the security of the consensus algorithm by calculating and rewarding the credibility of nodes based on the improved Cobb-Douglas production function model. Moreover, by enhancing the key block generation algorithm in the Bitcoin-NG consensus mechanism, the consensus time of the blockchain network can be reduced, and the efficiency of the consensus mechanism can be improved. The experimental comparison results show that this improvement scheme can improve the throughput and security of the blockchain system. Applied in the judicial field, this scheme can achieve a credible, secure and efficient judicial depository. © 2023 IEEE.

关键词： Bitcoin-NG consensus mechanism blockchain judicial depository PoS consensus mechanism

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Automation of Road Infrastructure: Indulgence of AI, Big Data Analytics & AR 3

Automation of Road Infrastructure: Indulgence of AI, Big Dat...

引用

3rd international conference on Pervasive Computing and Social Networking, ICPCSN 2023

作者： Pachouri, Vikrant Kathuria, Samta Gehlot, Anita Negi, Prafful Kathuria, Abhinav Chaudhary, Mahima Uttaranchal Institute of Technology Uttaranchal University Dehradun India Uttaranchal University Lcd Division of Research & Innovation Dehradun India Uttaranchal University Uit Division of Research & Innovation Dehradun India Law College Dehradun Uttaranchal University Dehradun India School of Applied & Life Sciences Uttaranchal University Uttarakhand India

ISBN: (纸本)9798350322842

In order to achieve safer mobility, this study investigates the upgrading of road-based technology. The inclusion of Artificial intelligence (AI), Big Data Analytics (BDA) & Augmented Reality (AR) enhances road environment and strengthen the evolvement of digital road architecture. AR, BDA and AR provide a new approach towards Intelligent Transportation System (ITS). Various applications of AI, BDA and AR have been discussed in this study. The findings of this study indicate that combining various AI, BDA, and AR approaches appears to be highly promising, particularly for managing and analysing the enormous quantity of data created in the transportation industry. Digitalization has also been discussed and it shows that these technologies improve the road environment and makes transportation more efficient. Finally, based on the research, the difficulties and recommendations for future improvement in achieving ITS are provided. © 2023 IEEE.

关键词： Data Analytics

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EdgeSnake: A Lightweight Intelligent Modular Snake robot 9

EdgeSnake: A Lightweight Intelligent Modular Snake Robot

引用

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

作者： Zuo, Haobo Fu, Changhong Lu, Liang Duan, Ran Zhang, Yinqiang Tongji Univ Sch Mech Engn Shanghai 201804 Peoples R China Univ Hong Kong Ctr Transformat Garment Prod Hong Kong 999077 Peoples R China Univ Hong Kong Dept Comp Sci Hong Kong 999077 Peoples R China Hong Kong Polytech Univ Dept Land Surveying & Geoinformat Res Ctr Deep Space Explorat Hong Kong 999077 Peoples R China

ISBN: (纸本)9798350385731;9798350385724

SOTA Snake robots attract wide attention due to their modular bodies and multi-freedom movement abilities. However, the high production costs and intricate manufacturing procedures hinder the rapid mass production and deployment of the snake robot. Additionally, these factors limit its consumer-grade popularization and educational applications. To handle the above issues, this work proposes a low-cost lightweight intelligent modular snake robot, i.e., EdgeSnake, with a simple modular mechanical structure and flexible manufacturing technique. Specifically, each module of the snake robot is designed to minimize unnecessary volume, thereby reducing material usage and achieving a lightweight body structure. Moreover, an innovative rapid 3D printing and assembly approach is developed to efficiently realize mass production and development of specific snake robots, adapting to varying task demands and terrain features. Furthermore, EdgeSnake is also equipped with an RGB camera and onboard processor to achieve environmental perception. A comprehensive simulation control system is developed for EdgeSnake based on the ROS-Gazebo platform, thereby facilitating its instructional employment. Extensive experiments have been conducted on the self-built simulation control system to verify the superior obstacle detouring and traversing capabilities of EdgeSnake.

关键词： Modular robots

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Penetration of Deep Learning in Human Health Care and Pharmaceutical Industries;the Opportunities and Challenges 3

Penetration of Deep Learning in Human Health Care and Pharma...

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3rd international conference on Innovative Practices in technology and Management, ICIPTM 2023

作者： Raman, Ramakrishnan Radha, H.R. Inbamalar, T.M. Subhahan, D. Abdus Kumar, Ashok Bathrinath, S. Sarkar, Swagata Symbiosis Institute of Business Management Pune & Symbiosis International Maharashtra Pune India K. S. School of Engineering and Management Department of Chemistry Karnataka Bangalore India R.M.K. College of Engineering Department of Electronics and Communication Tamil Nadu Thiruvallur India B v Raju Institute of Technology Department of Computer Science Telangana Narsapur India Banasthali Vidyapith Department of Computer Science Rajasthan India Kalasalingam Academy of Research Department of Mechanical Engineering Tamil Nadu Krishnankoil India Sri Sai Ram Engineering College Department of Artificial Intelligence and Data Science Tamil Nadu India

ISBN: (纸本)9798350336238

Computational medicine has emerged as a result of the advancement of medical technology, which has led to the emergence of the big data era in the biomedical area, which is supported by artificial intelligence technology. To advance the development of precision medicine, people must be able to extract the valuable information from this vast biomedical data. In the past, professionals in the field of feature engineering and domain knowledge were typically utilised to extract the features from the biological data using machine learning techniques, which took a lot of time and resources. Modern machine learning techniques like deep learning (DL) have an advantage over them in that they can automatically find strong, complex features from fresh data without the necessity for succeeding engineering. The study of DL's applications in the fields of genomics, drug development, electronic health records, and medical imaging suggests that deep learning has clear advantages in maximising the use of biomedical data. Deep learning is becoming increasingly important in the field of medicine and health due to its large range of potential applications. The lack of data, interpretability, data privacy, and heterogeneity are some of the limitations of deep learning in computational medical health. A resource for improving the use of deep learning in medical health is provided by the analysis and discussion of these difficulties. © 2023 IEEE.

关键词： Health care

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