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检索条件"任意字段=International Conference on Methods and Models in Automation and Robotics"

共 24757 条记录，以下是561-570 订阅

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A Deep Concept Graph Network for Interaction-Aware Trajectory Prediction 39

A Deep Concept Graph Network for Interaction-Aware Trajector...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Ban, Yutong Li, Xiao Rosman, Guy Gilitschenski, Igor Meireles, Ozanan Karaman, Sertac Rus, Daniela MIT Comp Sci & Artificial Intelligence Lab Cambridge MA 02139 USA MIT Lab Informat & Decis Syst Cambridge MA USA Toyota Res Inst Toyota Japan Univ Toronto Dept Comp Sci Toronto ON Canada Massachusetts Gen Hosp Boston MA 02114 USA

ISBN: (纸本)9781728196817

Temporal patterns (how vehicles behave in our observed past) underline our reasoning of how people drive on the road, and can explain why we make certain predictions about interactions among road agents. In this paper we propose the ConceptNet trajectory predictor - a novel prediction framework that is able to incorporate agent interactions as explicit edges in a temporal knowledge graph. We demonstrate the sample efficiency and the overall accuracy of the proposed approach, and show that using the graphical structure to explicitly model interactions enables better detection of agent interactions and improved trajectory predictions on a large real-world driving dataset.

关键词： Training automation Roads Image edge detection Predictive models Cognition Trajectory

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LK-ORB-SLAM3: An RGB-D Visual SLAM Algorithm Fusing Optical Flow Tracking and Feature Matching 7

LK-ORB-SLAM3: An RGB-D Visual SLAM Algorithm Fusing Optical ...

引用

7th international conference on robotics, Control and automation Engineering, RCAE 2024

作者： Dai, Juan Sun, Shengqiang Liu, Jingwei Su, Zhong Beijing Key Laboratory of High Dynamic Navigation Technology Beijing100192 China Ministry of Education Key Laboratory of Modern Measurement & Control Technology Beijing100101 China Beijing Information Science & Technology University School of Automation Beijing100192 China

ISBN: (纸本)9798350355642

In response to the issue of poor real-time performance caused by the large computational load of feature-based methods, this paper proposed an RGB-D visual SLAM algorithm which integrates optical flow and feature-based methods. This algorithm combined optical flow with the feature-based method, effectively improving the real-time performance of the algorithm while maintaining high precision. Firstly, keyframes are matched using feature-based methods, and camera motion is computed by minimizing the reprojection error. For non-keyframes, keypoints are extracted without computing descriptors and tracked using the optical flow pyramid, and pose estimation is achieved by minimizing the photometric error. Secondly, a dual mechanism based on time and space is employed to execute keyframes insertion which ensures tracking stability. Additionally, an adaptive threshold algorithm is proposed to enhance tracking robustness in low-light environments. Experimental results on the TUM dataset indicated that, with comparable average localization accuracy, the proposed algorithm reduces average tracking cost by 37.19%, achieving real-time frame rates of up to 45 fps on mid-to-low-performance CPUs. © 2024 IEEE.

关键词： Real time systems

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360VO: Visual Odometry Using A Single 360 Camera 39

360VO: Visual Odometry Using A Single 360 Camera

引用

IEEE international conference on robotics and automation (ICRA)

作者： Huang, Huajian Yeung, Sai-Kit Hong Kong Univ Sci & Technol Dept Comp Sci & Engn Hong Kong Peoples R China

ISBN: (纸本)9781728196817

In this paper, we propose a novel direct visual odometry algorithm to take the advantage of a 360-degree camera for robust localization and mapping. Our system extends direct sparse odometry by using a spherical camera model to process equirectangular images without rectification to attain omnidirectional perception. After adapting mapping and optimization algorithms to the new model, camera parameters, including intrinsic and extrinsic parameters, and 3D mapping can be jointly optimized within the local sliding window. In addition, we evaluate the proposed algorithm using both real world and large-scale simulated scenes for qualitative and quantitative validations. The extensive experiments indicate that our system achieves start of the art results.

关键词： Location awareness Adaptation models Solid modeling Three-dimensional displays automation Art Robot vision systems

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Control Strategies for Switching SIS Epidemic models with Multiple Equilibrium Points 2

Control Strategies for Switching SIS Epidemic Models with Mu...

引用

2nd international conference on Machine Learning, Control, and robotics, MLCR 2023

作者： Wang, Kun Zhu, Liying School of Information and Automation Jinan China

ISBN: (纸本)9798350381245

This paper studies a class of hybrid susceptible-infective-susceptible (SIS) epidemic models in the constant total population in the form of switched systems with multiple equilibria. First, this paper formulated a switching SIS epidemic model having three different equilibria. Then, several sufficient conditions of Lyapunov stability are derived for switching the SIS epidemic model with multiple equilibria in this paper. Finally, two numerical examples are performed to show the effectiveness and practicality of the Lyapunov stability results obtained in this paper for such kinds of switching nonlinear systems with multiple equilibria. © 2023 IEEE.

关键词： Disease control

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Method for Improvement of Biosignal Measurement Accuracy in the IoB System 27

Method for Improvement of Biosignal Measurement Accuracy in ...

引用

27th international conference on Soft Computing and Measurements, SCM 2024

作者： Altay, Yeldos A. Uskenbayeva, Raisa K. Fedorov, Alexey V. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan Satbayev University Almaty Kazakhstan Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9798350363708

This paper presents filtering methods for improvement of biosignal measurement accuracy - an ECG signal under the influence of electromagnetic interference, which has a significant impact on the operation of the IoB system. A single-frequency polynomial notch filter has been synthesized to filter this noise to improve the accuracy of ECG signal measurement. The results of the implementation of the synthesized notch filter demonstrated that the filter makes it possible to separate the informative component from the distorting noise and increase the accuracy of signal measurement during its implementation in comparison with wavelet filters. © 2024 IEEE.

关键词： Notch filters

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Optimization and evaluation methods for automation of e-commerce logistics networks 16

Optimization and evaluation methods for automation of e-comm...

引用

16th international conference on Computer and automation Engineering (ICCAE)

作者： He, Jun Xu, Lingxiao Li, Bo Commun Univ China Sch Data Sci & Intelligent Media Beijing Peoples R China

ISBN: (纸本)9798350370058;9798350370164

In this paper, for the e-commerce logistics network of cargo volume prediction, site closure, network adjustment and comprehensive evaluation and other issues, the establishment of the corresponding mathematical model, based on the prediction results and the handling capacity of each logistics site and the transport capacity of the line to design the logistics network adjustment program, for the e-commerce logistics network for emergency mobilization and structural optimization of the problem to provide a solution. Firstly, the cargo volume of three important routes was predicted using ARIMA and LSTM models, and the weighted combination method was used to obtain the final results. Secondly, the network after site closure was optimized using simulated annealing algorithm to obtain a new line allocation scheme, and the load factor of each line was calculated. Then, the dynamically adjustable network was planned using a multi-objective dynamic decision model. Finally, the importance of each site and line was evaluated using the entropy weighting method TOPSIS model, and the change of the load rate of each line was observed under different random days and disturbance ratios, which was found to have little effect and the model was robust.

关键词： e-commerce logistics network ARIMA time series model multi-objective optimization simulated annealing entropy weight TOPSIS

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Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D 39

Contact Mode Guided Motion Planning for Quasidynamic Dextero...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Cheng, Xianyi Huang, Eric Hou, Yifan Mason, Matthew T. Carnegie Mellon Univ Pittsburgh PA 15213 USA

ISBN: (纸本)9781728196817

This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous state transitions and discrete contact mode switches, without the need for pre-specified contact sequences or pre-designed motion primitives. The key idea is to use automatically enumerated contact modes of environment-object contacts to guide the tree expansions during the search. Contact modes automatically synthesize manipulation primitives, while the sampling-based planning framework sequences those primitives into a coherent plan. We test our algorithm on fourteen 3D manipulation tasks, and validate our models by executing some plans open-loop on a real robot-manipulator system(1).

关键词： Solid modeling Three-dimensional displays automation Hybrid power systems Planning Task analysis Robots

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A Container Cloud Elastic Scaling Method Based on GRU Attention Mechanism 5

A Container Cloud Elastic Scaling Method Based on GRU Attent...

引用

5th international conference on Computer Engineering and Intelligent Control, ICCEIC 2024

作者： Zhang, Yue Sun, Yong Song, Chunhe Gao, Pengpei Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China

ISBN: (纸本)9798331507992

In modern container cloud computing environments, achieving efficient elastic scaling is crucial to optimizing resource utilization and improving system performance. This paper proposes a new prediction model based on gated recurrent unit (GRU) and attention mechanism for load prediction and elastic scaling strategy optimization. The model uses the time series processing capability of GRU combined with the optimization characteristics of the attention mechanism to improve the accuracy and real-time performance of load prediction. Experimental results show that compared with traditional methods, the model can more accurately capture the load change trend and achieve more agile and efficient resource scheduling and management, thereby effectively reducing resource waste and improving service quality. This study provides a novel and effective solution for elastic scaling in container cloud environments. © 2024 IEEE.

关键词： Prediction models

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MyoSim: Fast and physiologically realistic MuJoCo models for musculoskeletal and exoskeletal studies 39

MyoSim: Fast and physiologically realistic MuJoCo models for...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Wang, Huawei Caggiano, Vittorio Durandau, Guillaume Sartori, Massimo Kumar, Vikash Univ Twente Fac Biomech Engn Engn Technol NL-7500 AE Enschede Netherlands Facebook AI Res Salt Lake City UT USA

ISBN: (纸本)9781728196817

Owing to the restrictions of live experimentation, musculoskeletal simulation models play a key role in biological motor control studies and investigations. Successful results of which are then tried on live subjects to develop treatments as well as robot aided rehabilitation procedures for addressing neuromusculoskeletal anomalies ranging from limb loss, to tendinitis, from sarcopenia to brain and spinal injuries. Despite its significance, current musculoskeletal models are computationally expensive, and provide limited support for contact-rich interactions which are essential for studying motor behaviors in activities of daily living, during rehabilitation treatments, or in assistive robotic devices. To bridge this gap, this work proposes an automatic pipeline to generate physiologically accurate musculoskeletal, as well as hybrid musculoskeletal-exoskeletal models. Leveraging this pipeline we present MyoSim - a set of computationally efficient (over 2 orders of magnitude faster than state of the art) musculoskeletal models that support fully interactive contact rich simulation. We further extend MyoSim to support additional features that help simulate various reallife changes/diseases, such as muscle fatigue, and sarcopenia. To demonstrate the potential applications, several use cases, including interactive rehabilitation movements, tendon-reaffirmation, and the co-simulation with an exoskeleton, were developed and investigated for physiological correctness. Webpage: https://***/view/myosuite

关键词： Musculoskeletal system Motor drives Computational modeling Biological system modeling Pipelines Muscles Brain modeling

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Negative Stiffness Analysis and Regulation of In-Hand Manipulation with Underactuated Compliant Hands 39

Negative Stiffness Analysis and Regulation of In-Hand Manipu...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Chen, Wenrui Diao, Qiang Wang, Yaonan Zhou, Xiaodong Zhang, Qiang Yan, Cuo Li, Zhiyong Hunan Univ Sch Robot Changsha 410082 Peoples R China Beijing Inst Control Engn Beijing 100094 Peoples R China

ISBN: (纸本)9781728196817

This paper addresses the generation mechanism and avoidance method of negative stiffness during in-Hand manipulation with underactuated compliant hands. Firstly, a planar hand with two three-jointed fingers manipulating a rectangular is set, and a quasi-static underactuated operation model is established. Secondly, based on this simulation model, we investigated the stiffness evolution during in-hand manipulation, and analyze the influence factors of system stiffness. Finally, a stiffness regulation method is developed to avoid negative stiffness during in-hand manipulation. The method is validated by simulation. The research results are beneficial to improve the performance of underactuated in-hand manipulation.

关键词： Analytical models automation Regulation

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