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Hardware-Free Event Cameras Temporal Synchronization Based on Event Density Alignment 1

引用

16th international conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Wenxuan Dong, Yan Qiu, Shaoqiang Han, Bin State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology Hubei Wuhan430074 China Guangdong Intelligent Robotics Institute Dongguan523106 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Event cameras are a novel type of sensor designed for capturing the dynamic changes of a scene. Due to factors such as trigger and transmission delays, a time offset exists in the data collected by multiple event cameras, leading to inaccurate information fusion. Thus, the collected data needs to be synchronized to overcome any potential time offset issue. Hardware synchronization methods require additional circuits, while certain models of event cameras (e.g., CeleX5) do not support hardware synchronization. Therefore, this paper proposes a hardware-free event camera synchronization method. This method determines differences between start times by minimizing the dissimilarity of the event density distributions of different event cameras and synchronizes the data by adjusting timestamps. The experiments demonstrate that the method's synchronization error is less than 10 ms under various senses with multiple models of event cameras. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Cameras

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Rethinking Specificity in SBDD: Leveraging Delta Score and Energy-Guided Diffusion 41

Rethinking Specificity in SBDD: Leveraging Delta Score and E...

引用

41st international conference on Machine Learning, ICML 2024

作者： Gao, Bowen Ren, Minsi Ni, Yuyan Huang, Yanwen Qiang, Bo Ma, Zhi-Ming Ma, Wei-Ying Lan, Yanyan Tsinghua University China Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Academy of Mathematics and Systems Science Chinese Academy of Sciences China Department of Pharmaceutical Science Peking University China Beijing Frontier Research Center for Biological Structure Tsinghua University Beijing China China

In the field of Structure-based Drug Design (SBDD), deep learning-based generative models have achieved outstanding performance in terms of docking score. However, further study shows that the existing molecular generative methods and docking scores both have lacked consideration in terms of specificity, which means that generated molecules bind to almost every protein pocket with high affinity. To address this, we introduce the Delta Score, a new metric for evaluating the specificity of molecular binding. To further incorporate this insight for generation, we develop an innovative energy-guided approach using contrastive learning, with active compounds as decoys, to direct generative models toward creating molecules with high specificity. Our empirical results show that this method not only enhances the delta score but also maintains or improves traditional docking scores, successfully bridging the gap between SBDD and real-world needs. Copyright 2024 by the author(s)

关键词： Molecular docking

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Multi-Feature Fusion Transformer for Natural Language Inference

Multi-Feature Fusion Transformer for Natural Language Infere...

引用

robotics, Intelligent Control and Artificial Intelligence (RICAI), international conference on

作者： Lei Sun Xiangyang Li Hengxin Yan Tianj in Key Laboratory for Control Theory and Complicated Industry Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

Natural Language Inference (NLI) is a branch of Natural Language Processing (NLP) whose main task is to determine the relationship between two sentences. Such tasks essentially use pre-trained models to ensure accuracy, and many applications are found in human-computer dialog and question-answering systems. However, in some cases where small devices are deployed offline, lightweight model implementations are often required to save computational resources. To address this problem and ensure more efficient inference capabilities, this paper describes how to improve the preexisting Transformer and proposes a Multi-Feature Fusion Transformer Network for NLI processing. The model integrates sequence features and introduces a priori information to enhance local features. It also achieves a comprehensive fusion of sequence information, local features, and non-local features, thus compensating for many potential shortcomings of Transformer. At the same time, it maintains the lightweight feature of the model and facilitates the implementation of downstream tasks. We verified the above point by experiments, our model has better inference performance compared to previous models used for the same task. The accuracy in the SNLI dataset reached 89.0%, while the matched and mismatched versions of MultiNLI reached 79.3% and 78.7%.

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A Continuous Illumination Estimator for Shadow Removal

A Continuous Illumination Estimator for Shadow Removal

引用

IEEE international conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Jiawei Liu Huijie Fan Yiming Su Zhen Yan Qiang Wang Wentao Li Yandong Tang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Key Laboratory of Manufacturing Industrial Integrated Shenyang University Shenyang China

Shadow removal methods often encounter difficulties in completely removing shadows or avoiding excessively bright removal results in shadow areas. To address this challenge, we propose a continuous-intensity shadow synthesis model and an illumination estimator for shadow removal. Our shadow synthesis model generates visually realistic images with continuously varying shadow intensity to augment the current shadow removal dataset. By utilizing the synthesized shadow images, we train a network to accurately estimate the illumination intensity in shadow areas. The estimated illumination intensity is positive for a shadow input image and negative for an over-lit input image, thus our method can illuminate shadow areas or suppress over-lit areas. Experimental results demonstrate that our method outperforms current state-of-the-art shadow removal methods, particularly when handling shadows with a wide range of intensity variations.

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Haptic Feedback Improves Human-Robot Agreement and User Satisfaction in Shared-Autonomy Teleoperation

Haptic Feedback Improves Human-Robot Agreement and User Sati...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Zhang, Dawei Tron, Roberto Khurshid, Rebecca P. Boston Univ Dept Mech Engn Boston MA 02215 USA Boston Univ Div Syst Engn Boston MA 02215 USA

ISBN: (纸本)9781728190778

Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared autonomy teleoperation paradigm that uses haptic feedback to inform the user about the inner state of a shared autonomy paradigm, while still guaranteeing safety. This differs from haptic shared control, which uses haptic feedback to inform the user's actions, but gives the human operator full control over the robot's actions. We conducted a user study in which twelve users flew a simulated UAV in a search-and-rescue task with no assistance or assistance provided by haptic shared control, shared autonomy, or haptic shared autonomy. All assistive teleoperation methods use control barrier functions to find a control command that is both safe and as close as possible to the human-generated control command. For assistive teleoperation conditions with haptic feedback, we apply a force to the user that is proportional to the difference between the human-generated control and the safe control. We find that haptic shared autonomy improves the user's task performance and satisfaction. We also find that haptic feedback in assistive teleoperation can improve the user's situational awareness. Finally, results show that adding haptic feedback to shared-autonomy teleoperation can improve human-robot agreement.

关键词： automation conferences Force Haptic interfaces Safety Task analysis Robots

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Sparrow search algorithm based on cosine similarity and random multi-chaotic perturbation 6

Sparrow search algorithm based on cosine similarity and rand...

引用

6th international conference on Mechatronics and Intelligent robotics, ICMIR 2022

作者： Li, Guangyang Qian, Qian Feng, Yong Fu, Yunfa Faculty of Information Engineering and Automation Kunming University of Science and Technology Yunnan Kunming650500 China Yunnan Key Laboratory of Computer Technology Applications Kunming University of Science and Technology Yunnan Kunming650500 China

ISBN: (纸本)9781510656635

Aiming at the problems of sparrow algorithm (SSA), such as easy to fall into local extremum, uneven initial population distribution and slow convergence in late iteration, a sparrow search algorithm (CMSSA) was proposed, which combined cosine similarity and random multi-chaotic disturbance. The algorithm firstly integrates the reverse learning strategy and initializes the population by using the population uniform adjustment strategy of cosine similarity to ensure the uniformity and richness of the population, so that the algorithm can better search for the global optimal solution. Secondly, a random selection mechanism of multi-chaos local search strategy is used to take advantages from different disturbance states of multiple chaos models. Randomly selected chaos maps are used in each iteration to perturb individuals and help SSA get rid of local extremums. Simulation results show that compared with other intelligent algorithms,CMSSA achieves better results in robustness and optimization accuracy. © 2022 SPIE.

关键词： Stochastic systems

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Design and Fabrication of a Novel Miniature Magnetic Gripper

Design and Fabrication of a Novel Miniature Magnetic Gripper

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IEEE international conference on robotics and automation (ICRA)

作者： Mengde Li Fuqiang Zhao Xiangli Li Mingchang Li Sheng Liu Miao Li The Institute of Technological Sciences Wuhan University Hubei China Hubei Luojia Laboratory Hubei China School of Power and Mechanical Engineering Wuhan University Hubei China Department of Neurosurgery Renmin Hospital of Wuhan University Wuhan China School of Microelectronics Wuhan University Hubei China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Small-scale robots hold significant promise in the field of minimally invasive surgery (MIS). In this paper, we present a miniature magnetic gripper and develop a data-driven kinematic model. The gripper comprises four fingers, wherein each finger has a maximum size not exceeding 3mm, 4mm and 5.5mm in three dimensions. By integrating permanent magnets and elastic ropes as internal actuation elements into the fingers, the gripper is equipped with the capability to open-close under an external magnetic field, facilitating the manipulation of small objects in confined spaces. Modeling and analysis of the magnetic gripper are undertaken, wherein the relationship between the open angle and the external magnetic field is established. The average error between the experimentally observed open angles and the model-predicted values is 2.31°. Subsequent experiments demonstrated the necessity of the magnetic gripper model for precise manipulation, verified its excellent sensitivity to magnetic fields, and demonstrated its potential for future applications in MIS.

关键词： Magnetic field measurement Torque Sensitivity Magnetic confinement Magnetoelasticity Fingers Predictive models

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Optimized Control Strategy for Self-Balancing Robot: Micro-Stepping Motors and PID Algorithm

Optimized Control Strategy for Self-Balancing Robot: Micro-S...

引用

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

作者： Md. Muhiul Islam Muhiuddin Akil Ahmad Taki Khondokar Zahin Md. Jawadul Karim Syed Muid Al Kais Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology Dhaka Bangladesh

ISBN: (数字)9798331534400

ISBN: (纸本)9798331534417

This research includes the creation and execution of a Self-Balancing Robot (SBR) that is operated by stepper motors. The robot’s primary operation depends on the accurate manipulation of pulse-driven stepper motors, obviating the necessity for a feedback loop. The design utilizes two NEMA-17 stepper motors to control the wheels. It exploits micro-stepping to achieve a stepping angle of 1.8 degrees and minimize overshoot, ringing, and resonance. The SBR incorporates a strategically positioned battery to achieve a design that is weighted towards the top, hence improving the sensation of input when tilting. The essential electronic components include an Arduino Uno microcontroller, DRV8825 stepper motor drivers, an HC-05 Bluetooth module, and an MPU-6050 sensor for measuring the pitch angle through sensor fusion. The control system employs a Proportional-Integral-Derivative (PID) controller to modify motor inputs according to the tilt angle, assuring stability. In addition, we provide a mathematical model of the stepper motor’s properties and a state-space description of the *** into design concerns for such applications are provided by experimental data and model simulations that show how well the components and control algorithms work together to preserve the SBR’s equilibrium.

关键词： Accuracy Wheels Sensor fusion Motors Robot sensing systems Mathematical models Stability analysis Data models PD control Mobile robots

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automation in robotics with Artificial Intelligence

Automation in Robotics with Artificial Intelligence

引用

international conference on Recent Advances in Design, Materials and Manufacturing, ICRADMM 2020

作者： Borole, Yogini Dethe, C.G. Savitribai Phule Pune University Pune India G H Raisoni College of Engineering and Management Pune412207 India UGC-Staff College Nagpur440022 India

ISBN: (纸本)9789811640827

This document provides an introduction to man-made brain power, robots, and experimental streams that look at the financial and physiological consequences of this and other related innovations. We present a preliminary assessment of man-made knowledge and expertise to work on financial matters with writing managers and integrate existing methods adopted by investigators here. We look at the understanding of non-counterfeit fraud, mechanical autonomy, and the use of system sequences and robust systems, striving for the most remarkable commitment to these points by authoritative and technical analysts, as well as photographs of future experiments. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Artificial intelligence automation Humanoid robot’s introduction Robots Structural strategy

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Attitude Control of Airbag Isolation System Based on Adaptive Model Predictive Control

Attitude Control of Airbag Isolation System Based on Adaptiv...

引用

IEEE international conference on Mechatronics, robotics and automation (ICMRA)

作者： Hanyan He Wenxia Xu Baocheng Yu Zhiqiang Tang Sanbao Zhu Chen Cao Wuhan Institute of Technology Wuhan China

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

The air bag vibration isolation device has an important application in ship vibration and noise reduction. However, traditional fuzzy control has problems such as slow response and low accuracy when dealing with complex environments and multi-variable coupling. In this paper, a new method based on Adaptive Model Predictive Control (AMPC) is proposed to improve the attitude control performance of the airbag isolation system. Firstly, the system is modeled and a discrete-time state space model is established. By dynamically adjusting the model parameters, the future state of the system is accurately predicted. Then, a rolling optimization MPC controller was designed to select the optimal airbag for inflating and deflating operations by using the real-time collected pressure and displacement data, so as to realize the precise control of the attitude. Experimental results show that compared with the traditional fuzzy control method, the control algorithm based on AMPC shows significant advantages in control accuracy, response speed and pressure balance. This study provides a new technical approach for the efficient control of the air bag vibration isolation system, and lays a foundation for the application of more complex ship vibration and noise reduction system in the future.

关键词： Vibrations Safety devices Adaptation models Adaptive systems Attitude control Atmospheric modeling Noise reduction Optimization Automotive components Predictive control

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