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检索条件"任意字段=3rd International Conference on Robotics, Control and Automation Engineering, RCAE 2020"

共 544 条记录，以下是111-120 订阅

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Research on texture haptic reconstruction method based on Informer model 23

Research on texture haptic reconstruction method based on In...

引用

3rd international conference on robotics and control engineering, RobCE 2023

作者： Chen, Dapeng Zhu, Dongliang Liu, Jia Chen, Geng Fang, Yingping Zhang, Yunjie School of Automation C-IMER Nanjing University of Information Science & Technology Jiangsu Nanjing China

ISBN: (纸本)9781450398107

As the technology of virtual reality (VR) and augmented reality (AR) continue to advance at a rapid pace, there has been an increasing focus among researchers on the perception of haptic feedback in virtual environments. In recent years, vibration-based texture haptic modeling research has gradually received attention. Using vibration signals to analyze the texture features of objects and describing them using mathematical models, object textures can be reproduced. This technique is not only widely used in VR and AR, but also has important research value and application prospects in haptic assistive technology for the blind. This article proposes a virtual texture haptic reconstruction model based on the Informer model, aiming to address issues such as poor accuracy, weak generalization ability, and poor real-time performance of texture haptic reconstruction models. The algorithm is based on the encoder-decoder framework of Informer model, and uses interaction information as input to extract features from the user-texture interaction parameters (sliding speed and interaction pressure) to generate dynamic vibration acceleration signals in real time. The algorithm is experimentally validated by performance evaluation of the model to verify the accuracy as well as the generalization of the algorithm. © 2023 ACM.

关键词： Augmented reality

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Optimized Object-aided SLAM for robots Based on Shufflenetv3 and Relocalization

Optimized Object-aided SLAM for robots Based on Shufflenetv3...

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robotics, automation and Intelligent control (ICRAIC), international conference on

作者： Qinyang Liu Zhaoting Wu Zhiyu Lu Ruyue Jiang Fei Xie Jing Zhao School of Electrical and Automation Engineering Nanjing Normal University Nanjing China College of Automation and College of Artificial Intelligence Nanjing University of Posts and Telecommunications Nanjing China

Autonomous mobile robots have experienced rapid development over the past few years, and real-time object detection and localization are considered to be their basic capabilities. In order to improve the robot’s object detection and relocalization performance, an optimized object SLAM based on Shumenetv3 and relocalization is proposed. Firstly, an enhanced lightweight object detection model Shufflenetv3 is suggested to be used to obtain the object detection of a specified object or multiple objects in the to-be-tested frame, which provides it with the benefits of quick computation and excellent accuracy. Secondly, the accuracy of relocalization is increased by employing the refined target object-aided technique. Finally, to validate the effectiveness of the improved lightweight target extraction, we evaluate the performance of our method utilizing the Pascal VOC 2012 datasets and compare it with YOLOv5 and YOLO-shufflenetv3 in precision and efficiency. Comparing the proposed method to YOLOv5 and YOLOshumenetv3, these quantitative evaluations demonstrate that it performs well with competitive inference times and the most memory-efficient inference. Additionally, we conduct experiments using a public TUM dataset, and the outcomes showed that our approach is far more reliable and consistent to guarantee robot application.

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SLAM Augmented Reality Based Interaction Method for Hand Rehabilitation Training 23

SLAM Augmented Reality Based Interaction Method for Hand Reh...

引用

3rd international conference on robotics and control engineering, RobCE 2023

作者： Liu, Jia Gu, Qiyao Chen, Dapeng School of Automation C-IMER Nanjing University of Information Science & Technology Jiangsu Nanjing China

ISBN: (纸本)9781450398107

The current hand rehabilitation training implemented through augmented reality technology has shown the potential to enhance user engagement. However, it falls short in realizing the virtual and realistic occlusion effect, or in producing realistic edge processing of virtual and realistic occlusion. This fragmentation between virtual objects and the real world poses a significant challenge. In light of this, this paper proposes a method that utilizes SLAM to achieve more accurate and realistic voxel occlusion and interaction effects during hand rehabilitation training. The method begins with acquiring dense point cloud data, which is voxelized by SLAM with dynamic removal. Corresponding objects are then segmented using OPTICS clustering for voxel edge constraint. Next, a second thread is initiated to reconstruct the dense point cloud prediction, leveraging local map semantic information combined with the edge SDF algorithm for the input 3D point cloud. By combining the predicted point cloud with the voxel segmented edges, the edge points are updated, and new edge surfaces are fitted to improve the accuracy and shapeliness of the 3D segmented object edges. The feasibility and accuracy of the algorithm are verified using datasets and real-time experiments. Finally, the paper presents an interactive system for hand rehabilitation training with virtual and real occlusion. © 2023 ACM.

关键词： Augmented reality

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Image Defogging Algorithm Based on Semi-Supervised Learning Neural Network

Image Defogging Algorithm Based on Semi-Supervised Learning ...

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robotics, automation and Intelligent control (ICRAIC), international conference on

作者： Zhilin Gao Fei Xie Yue Yin Xuan Chen Jun Wang Jianjun Shi School of Electrical and Automation Engineering Nanjing Normal University Nanjing China Nanjing 30000iot Technology Co. Ltd. Nanjing China Nanjing Zhongke Raycham Laser Technology Co. Ltd Nanjing China

To improve the quality of images acquired by imaging devices in bad weather such as haze, defogging algorithms are widely used to acquire clear images. This paper proposes two distinct image-defogging algorithms, based on semi-supervised learning, to address the issue of the limited performance of deep learning dehazing algorithms when using synthetic hazy images as their current dehazing datasets. To this end, the poor effect of real foggy images applied to network training is addressed. Generative adversarial networks, employed as an unsupervised branch, are initially utilized to introduce real foggy images into the model training and to train the network in an alternating fashion with synthetic datasets. Secondly, in the unsupervised branch, the fog residual K of the fogged image is estimated by AOD-net, and the defogged image is restored to a fogged image by the improved atmospheric scattering model in AOD-net. Finally, this paper compares the SOTS test set in the RESIDE dataset with five classical algorithms. The comparison algorithms in both PSNR and SSIM indicators are outdone by the algorithms proposed in this paper, as demonstrated by the experimental results.

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Research on Climbing Motion control of Snake-Shaped Robot for Variable Diameter Piles

Research on Climbing Motion Control of Snake-Shaped Robot fo...

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Service robotics (ICoSR), international conference on

作者： Jinhu Ye Jie Zhang Ouyang Sheng Luoding Polytechnic Guangdong China School of Automation Science and Engineering South China University of Technology Guangdong China

ISBN: (数字)9798350367119

ISBN: (纸本)9798350367126

In this paper, the movement control of snake-shaped robot for pipeline clamber is studied, and a method based on neural network and Sigmoid joint decoupling is proposed to solve the adaptive problem of snake-shaped robot in pipeline climbing. By obtaining the angle information and angle change law of the snake-shaped robot, effectively Forecast the change law of the pipeline diameter parameters can be realized, so as to further estimate and predict the parameter adjustment law controlled by the snake-shaped robot, and realize the effective decoupling of the joint angle of the robot, thus improving the adaptability of the robot to climbing the pipeline. The effectiveness of the proposed method is verified by experiments and simulations.

关键词： Adaptation models Spirals Pipelines Neural networks Snake robots Training data Tail Predictive models Adaptive control Robots

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Static Precision Sensitivity Analysis of Five-Axis Aviation Turbine Disc Tenon Groove Broaching Equipment

Static Precision Sensitivity Analysis of Five-Axis Aviation ...

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Computer, control and robotics (ICCCR), international conference on

作者： Ping Song Bei Song Chenghui Lin Zhonghua Liu Shunqi Zhang School of Mechatronic Engineering and Automation Shanghai University Shanghai China Technology Department Zhejiang CHR Intelligent Equipment Co. Ltd. Zhejiang P.R. China

Broaching is the most important processing technology of mortise and tenon of aviation turbine disk. The precision of broaching equipment determines the processing quality of mortise and tenon. According to the principle of multi-body kinematics and the homogeneous coordinate transformation, the mathematical model of static accuracy analysis of the five-axis aircraft turbine disk tenon broaching machine is established, and the tool setting error matrix is derived. Monte Carlo method was used to obtain the statistical distribution of errors in line with the assembly requirements and motion accuracy, and the simulation model of the tool process was built to complete the prediction of the static accuracy of the broaching machine. The influence of various errors in motion on the sensitivity of the tool accuracy was analyzed systematically.

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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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Distributed Robust Particle Filter Based on Wasserstein Metric

Distributed Robust Particle Filter Based on Wasserstein Metr...

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Computer, control and robotics (ICCCR), international conference on

作者： Hao Wang Aolei Yang Qing Sun School of Mechatronic Engineering and Automation Shanghai University Shanghai China

In this paper, for nonlinear systems with uncertain interference factors, particle filter can no longer accurately estimate the state when both process noise and measurement noise are unknown, so a distributed robust particle filter method based on Wasserstein metric is proposed. The method mainly uses Wasserstein metric to construct the fuzzy set of real data distribution, replaces the original empirical distribution with the prior estimation distribution of particle filter, and takes it as the center point of the new fuzzy set; Secondly, on the premise of tolerable conservatism, the optimal state estimator in this state is constructed according to the criterion of minimum root mean square error in the worst case; Then, the updating and resampling of particle filter are used to complete the calculation of a posteriori estimation, which solves the problem of state estimation of nonlinear systems under uncertain disturbances; Finally, an example is given to verify the feasibility and effectiveness of the distributed robust particle filter method.

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A UAV Coverage Path Planning Algorithm Based on Double Deep Q-Network 3

A UAV Coverage Path Planning Algorithm Based on Double Deep ...

引用

2021 3rd international conference on robotics, Intelligent control and Artificial Intelligence, ICRICA 2021

作者： Li, Shang Chen, Xin Zhang, Min Jin, Qingchen Guo, Yudi Xing, Shunxiang College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China

The UAV path planning method has practical value in the military field and automated production. Based on deep reinforcement learning theory and the characteristics of coverage path planning, this paper designs and implements a set of deep reinforcement learning frameworks suitable for UAV coverage path planning and trains it in the abstract environment model built. The simulation experiment results show that the designed UAV coverage path planning frameworks can consider obstacles, no-fly zones and length constraints, plan a reasonable path to complete the coverage task, and have a certain generalization ability. © Published under licence by IOP Publishing Ltd.

关键词： Unmanned aerial vehicles (UAV)

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Piezoelectric-bonded Structural Health Monitoring in Plate-like Structures Based on Bayesian Theory

Piezoelectric-bonded Structural Health Monitoring in Plate-l...

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Computer, control and robotics (ICCCR), international conference on

作者： Yujie Wei Xiang Wang Yu Yang Shunqi Zhang School of Mechatronic Engineering and Automation Shanghai University Shanghai China AVIC Aircraft Strength Research Institute Xi'an China

Piezoelectric transducers can serve as sensors or actuators. This study aims to employ Bayesian theory for monitoring the health state of piezoelectric-bonded plate structure. Due to the characteristic of easy excitation, the excited mode shapes are regarded as damage indicators. Firstly, two-dimensional finite element method was used to simulate the interested undamaged and damaged states of structures. The simulation data are regarded as the known sample results. Then combing these data with measured data, the confidence probability of each damage condition can be calculated by Bayesian formula. In this paper, an aluminum plate clamped on one side is taken as an example, and self-coded program is used for the numerical simulation. The identification accuracy of this method under the conditions of zero noise, Gaussian noise and impact noise is considered.

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