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检索条件"主题词=Robotics and automation"

共 11731 条记录，以下是141-150 订阅

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Keypoints Estimation on Partial Point Clouds

Keypoints Estimation on Partial Point Clouds

引用

International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Maryam Saleem Mohammad Zohaib Syed Abbas Zilqurnain Naqvi Department of Mechatronics & Control Engineering Human Centered Robotics Lab UET Lahore Pakistan SIGMA Clermont University of Clermont Auvergne Aubiere France

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Estimating 3D keypoints of an object has achieved considerable interest, especially in computer graphics and ma-chine vision. The complexity of the problem increases when the object is noisy, decimated, or partially occluded. To this end, we present an approach to estimate 3D keypoints from the partial PCDs such that they also highlight the object's missing parts. It is based on two modules: shape completion and keypoints estimation. The first module computes the object's missing parts and generates a dense shape which is used by the second module to estimate semantically and geometrically consistent keypoints. The approach also estimates confidence scores that allow the selection of valid keypoint considering the object's structure. We evaluate the proposed method for four different backbones and observe that we get better results using PointNet. Furthermore, the presented results show that the Percentage of Correct Keypoints (PCK) and Dual Alignment Score (DAS) for the keypoints estimated from the dense shapes (36.61 and 76.29) are 23.51 % and 12.14% higher, respectively, compared to those estimated from the partial objects (13.10 and 64.15).

关键词： Point cloud compression Industries Three-dimensional displays Accuracy Shape Estimation Computer graphics Complexity theory Noise measurement robotics and automation

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Incorporating Scene Graphs into Pre-trained Vision-Language Models for Multimodal Open-vocabulary Action Recognition

Incorporating Scene Graphs into Pre-trained Vision-Language ...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Chao Wei Zhidong Deng Department of Computer Science BNRist THUAI Tsinghua University Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents Action-SGFA, a novel action feature alignment approach to learn unified joint embeddings across four action modalities incorporating scene graph (SG) comprehension. A new training paradigm for Action-SGFA is also devised to improve pre-trained VL models using datasets with SG annotation. When learning from image-SG pairs, it captures structure-associated action knowledge for visual and textual encoders. SG supervision generates fine-grained captions based on various graph augmentations highlighting different compositional aspects of action scenes. Furthermore, our research reveals that all combinations of paired data are unnecessary to train such unified embeddings, and only image-paired data is sufficient to bind all action modalities together. Our Action-SGFA can leverage existing large VL models, enhancing their zero-shot capabilities of new modalities due to their natural pairings with images. The open-vocabulary zero-shot performance improves with the strength of the pre-trained VL model and the SG comprehension. We establish a new state-of-the-art in several zero-shot action recognition tasks across modalities, significantly surpassing the vanilla skeleton zero-shot method by 27.0% and 19.7% on NTU-60 and NTU-120, respectively. Additionally, in the context of RGB videos, we surpass the state-of-the-art method on Kinetics-400 by 2.1%.

关键词： Training Visualization Annotations Skeleton Task analysis robotics and automation Videos

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Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects

Quasi-static Soft Fixture Analysis of Rigid and Deformable O...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Yifei Dong Florian T. Pokorny Division of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We present a sampling-based approach to reasoning about the caging-based manipulation of rigid and a simplified class of deformable 3D objects subject to energy constraints. Towards this end, we propose the notion of soft fixtures extending earlier work on energy-bounded caging to include a broader set of energy function constraints, such as gravitational and elastic potential energy of 3D deformable objects. Previous methods focused on establishing provably correct algorithms to compute lower bounds or analytically exact estimates of escape energy for a very restricted class of known objects with low-dimensional configuration spaces, such as planar polygons. We instead propose a practical sampling-based approach that is applicable in higher-dimensional configuration spaces, but only produces a sequence of upper-bound estimates that, however, appear to converge rapidly to actual escape energy. We present 8 simulation experiments demonstrating the applicability of our approach to various complex quasi-static manipulation scenarios. Quantitative results indicate the effectiveness of our approach in providing upper-bound estimates for escape energy in quasi-static manipulation scenarios. Two real-world experiments also show that the computed normalized escape energy estimates appear to correlate strongly with the probability of escape of an object under randomized pose perturbation 1 .

关键词： Potential energy Three-dimensional displays Heuristic algorithms Fixtures Cognition robotics and automation

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Simulation and Optimization of the BD1 Pre-rolling Heating Process

Simulation and Optimization of the BD1 Pre-rolling Heating P...

引用

Advanced Information, Mechanical Engineering, robotics and automation (AIMERA), IEEE International Conference on

作者： Xin Liu Li Gong Chunduo Dai Wenyue Liu Shuai He Meihui Sun Ansteel Beijing Research Institute Co. Ltd. Beijing China

ISBN: (数字)9798350343335

ISBN: (纸本)9798350343342

The high strength steels need to be heated for a long period in the soaking pit before BD1 billet opening in a steel mill, which greatly decreases the production efficiency. Based on the problem, this work studied the influence of gas supply on the temperature field of mold ingot. The results show that when the gas flow rate is 1, 2 and 4 m/s with the temperature of ingot core being 1255 °C, the furnace time is 24, 17 and 12 h, respectively. Therefore, under the condition of 1 m/s gas supply, the time can reduce 29% when the gas supply is doubled, and the time can reduce 40% when the gas supply is quadrupled.

关键词： Heating systems Billets Temperature distribution Furnaces Heat engines Fluid flow Production Steel robotics and automation Stress

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DA-RAW: Domain Adaptive Object Detection for Real-World Adverse Weather Conditions

DA-RAW: Domain Adaptive Object Detection for Real-World Adve...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Minsik Jeon Junwon Seo Jihong Min Defense Development Republic of Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Despite the success of deep learning-based object detection methods in recent years, it is still challenging to make the object detector reliable in adverse weather conditions such as rain and snow. For the robust performance of object detectors, unsupervised domain adaptation has been utilized to adapt the detection network trained on clear weather images to adverse weather images. While previous methods do not explicitly address weather corruption during adaptation, the domain gap between clear and adverse weather can be decomposed into two factors with distinct characteristics: a style gap and a weather gap. In this paper, we present an unsupervised domain adaptation framework for object detection that can more effectively adapt to real-world environments with adverse weather conditions by addressing these two gaps separately. Our method resolves the style gap by concentrating on style-related information of high-level features using an attention module. Using self-supervised contrastive learning, our framework then reduces the weather gap and acquires instance features that are robust to weather corruption. Extensive experiments demonstrate that our method outperforms other methods for object detection in adverse weather conditions.

关键词： Rain Snow Object detection Detectors Contrastive learning Robustness robotics and automation

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Data Analysis of Energy Absorption Behavior of Aluminum Alloy Buffer

Data Analysis of Energy Absorption Behavior of Aluminum Allo...

引用

Advanced Information, Mechanical Engineering, robotics and automation (AIMERA), IEEE International Conference on

作者： Pengshihan Bai Shang Wang Chuan Liu William Wang Ruosheng Dang Jing Ma School of Metallurgical and Ecological Engineering University of Science and Technology Beijing Beijing China School of Automotive Engineering Beijing Polytechnic Beijing China The University of Queensland Australia Lakeley inc California USA Lomonosov Moscow State University Moscow Russia Dezhou Natural Resources Bureau China

ISBN: (数字)9798350343335

ISBN: (纸本)9798350343342

Aluminum alloy buffers are widely employed in various engineering applications to absorb impact energy and mitigate potential damage. The design of these buffers, particularly the transitional angle between the pressure head and the aluminum tube, plays a crucial role in their energy absorption performance and load stability. This study investigates the influence of the transitional angle on the energy absorption behavior and crushing force fluctuations through finite element analysis. Eight finite element models were constructed with transitional angles ranging from 14.04° to 30.96°, while other geometric parameters remained constant. Dynamic explicit simulations were performed, and the resulting Mises stress distributions, energy absorption values, and crushing force data were analyzed. The results revealed that the transitional angle had a minimal impact on the stress distribution and maximum Mises stress values, which varied within a narrow range of 197 MPa to 200 MPa across the models. However, the transitional angle significantly affected the energy absorption capacity, with Model-7 (transitional angle of 28.81°) achieving the highest peak value of 3.473 kJ, 1.18 times that of Model-1 (14.04°). Furthermore, the crushing force fluctuations varied substantially among the models, with Model-7 exhibiting the highest variance of 27.31, indicating relatively large fluctuations, while Model-2 (16.70°) had the lowest variance of 2.539, indicating minimal fluctuations. A trade-off between energy absorption performance and load stability was observed, necessitating a balanced design approach based on specific application requirements. The findings provide valuable insights into the role of the transitional angle in optimizing aluminum alloy buffer designs, enabling improved energy absorption and load stability characteristics tailored to specific industrial needs.

关键词： Fluctuations Sensitivity Absorption Force Aluminum alloys Stability analysis Finite element analysis robotics and automation Stress Load modeling

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Multi-Scale Heart Rate Anomaly Detection Based on Temporal Convolutional Networks

Multi-Scale Heart Rate Anomaly Detection Based on Temporal C...

引用

WRC Symposium on Advanced robotics and automation (WRC SARA)

作者： Lianlian Cai Qiao Wu Di Zhang Qizhe Liang Xinxin Cong Xupeng Huang

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

This study aims to utilize the Temporal Convolutional Network (TCN) to develop a multi-scale heart rate anomaly detection method, enhancing the accuracy and efficiency of anomaly recognition. Utilizing the MIT-BIH Arrhythmia Dataset, this research preprocesses ECG data with a Butterworth bandpass filter and combines time-domain and frequency-domain analyses to extract signal features at key time points through PCA. We designed a novel TCN model that captures high-frequency and low-frequency information of heart rate signals using varying convolutional kernel scales, integrated with ResNet technology to improve the learning of abstract features. The experimental results show that this model excels in multi-class heart rate anomaly detection with an accuracy of up to 99.41%, significantly outperforming comparable models. Additionally, by aggregating features through a multi-head attention mechanism, the model's capability to capture complex nonlinear characteristics of ECG signals is further enhanced, validating its feasibility and effectiveness.

关键词： Heart rate Accuracy Electrocardiography Feature extraction Convolutional neural networks Time-domain analysis robotics and automation

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Enhancing motion trajectory segmentation of rigid bodies using a novel screw-based trajectory-shape representation

Enhancing motion trajectory segmentation of rigid bodies usi...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Arno Verduyn Maxim Vochten Joris De Schutter Department of Mechanical Engineering Flanders Make at KU Leuven Leuven Belgium

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Trajectory segmentation refers to dividing a trajectory into meaningful consecutive sub-trajectories. This paper focuses on trajectory segmentation for 3D rigid-body motions. Most segmentation approaches in the literature represent the body’s trajectory as a point trajectory, considering only its translation and neglecting its rotation. We propose a novel trajectory representation for rigid-body motions that incorporates both translation and rotation, and additionally exhibits several invariant properties. This representation consists of a geometric progress rate and a third-order trajectory-shape descriptor. Concepts from screw theory were used to make this representation time-invariant and also invariant to the choice of body reference point. This new representation is validated for a self-supervised segmentation approach, both in simulation and using real recordings of human-demonstrated pouring motions. The results show a more robust detection of consecutive sub-motions with distinct features and a more consistent segmentation compared to conventional representations. We believe that other existing segmentation methods may benefit from using this trajectory representation to improve their invariance.

关键词： Three-dimensional displays Motion segmentation Fasteners Feature extraction Trajectory Recording robotics and automation

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AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space

AMSwarmX: Safe Swarm Coordination in CompleX Environments vi...

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IEEE International Conference on robotics and automation (ICRA)

作者： Vivek K. Adajania Siqi Zhou Arun Kumar Singh Angela P. Schoellig Learning Systems and Robotics Lab University of Toronto Institute for Aerospace Studies Canada Technical University of Munich Germany Vector Institute for Artificial Intelligence University of Tartu Estonia

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Quadrotor motion planning in complex environments leverage the concept of safe flight corridor (SFC) to facilitate static obstacle avoidance. Typically, SFCs are constructed through convex decomposition of the environment’s free space into cuboids, convex polyhedra, or spheres. However, such SFCs can be overly conservative when dealing with a quadrotor swarm, substantially limiting the available free space for quadrotors to coordinate. This paper presents an Alternating Minimization-based approach that does not require building a conservative free-space approximation. Instead, both static and dynamic collision constraints are treated in a unified manner. Dynamic collisions are handled based on shared position trajectories of the quadrotors. Static obstacle avoidance is coupled with distance queries from the Octomap, providing an implicit non-convex decomposition of free space. As a result, our approach is scalable to arbitrary complex environments. Through extensive comparisons in simulation, we demonstrate a 60% improvement in success rate, an average 1.8× reduction in mission completion time, and an average 23× reduction in per-agent computation time compared to SFC-based approaches. We also experimentally validated our approach using a Crazyflie quadrotor swarm of up to 12 quadrotors in obstacle-rich environments. The code, supplementary materials, and videos are released for reference.

关键词： Limiting Codes Buildings Trajectory Planning Collision avoidance robotics and automation

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Enhancing Rehabilitation for Frozen Shoulder With a Two-Degree of Freedom Approach

Enhancing Rehabilitation for Frozen Shoulder With a Two-Degr...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Shehla Inam Faisal Amin Hussain Al Faisal Muhammad Waqar Rahat Ehsan Uzair Iftikhar Dept. of Biomedical Engineering Riphah International University Islamabad Pakistan Dept. of Biomedical Engineering BUETK Quetta Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

Frozen shoulder, also known as Adhesive Capsulitis (AC), is characterized by shoulder joint pain and restricted movement caused by capsule inflammation, which is frequently associated with injury, surgery, or illnesses such as diabetes. Current therapies, such as corticosteroid injections and rehabilitation exercises, have disadvantages, with injections being uncomfortable and potentially producing long-term damage, and rehab sessions commonly missed due to logistical difficulties. This research provides a remedy for AC using 2-degree of freedom (DOF) workout equipment designed specifically for the indigenous population to assist in executing critical rehab activities. Our results reveal that for flexion, the average angle at high speed was $101.94^{\circ}\pm 11.26^{\circ}$ and at low speed was $103.10^{\circ}\pm 8.52^{\circ}$ . For extension, the high-speed average was $64.53^{\circ}\pm 14.42^{\circ}$ and low speed was $65.03^{\circ}\pm 14.06^{\circ}$ . In abduction, the high-speed average was $102.91^{\circ}\pm 6.84^{\circ}$ and the low-speed average was $102.56^{\circ}\pm 9.12^{\circ}$ . For adduction, high-speed had an average of $72.15^{\circ}\pm 13.70^{\circ}$ and low speed was $65.03^{\circ}\pm 14.06^{\circ}$ . Thus, patients can utilize it independently or with physiotherapists, which will help reduce sessions and ensure effective exercise application at home.

关键词： Performance evaluation Industries Pain Shoulder Surgery Diabetes robotics and automation

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