检索结果-内蒙古大学图书馆

International Conference on Computing and Networking Technology (ICCNT)

作者： Ashutosh A. Thorat Abhishek Dixit Pooja Agrawal Department of Aerospace Engineering Defence Institute Of Advanced Technology Pune India School of Robotics Defence Institute Of Advanced Technology Pune India

This paper presents the effectiveness of a fractional order PID (FOPID) controller in stabilizing a sensor mounted on a two-axis gimbal system used for tracking a target. The study focuses on isolating the sensor from various disturbance torques and body motions that can affect its line of sight. The analysis considers the impact of the base body’s angular motion with dynamic balances on the gimbal system’s torque relationships. The study uses a cross-coupling unit to link the stabilization loops for the gimbal system. Simulation comparisons demonstrate that proposed FOPID controller can outperform the conventional PID controller.

关键词：

来源：评论

学校读者我要写书评

暂无评论

AgileVision Academy: Indoor Drone Navigation and Obstacle Avoidance

AgileVision Academy: Indoor Drone Navigation and Obstacle Av...

引用

IEEE International Symposium on Information (IT) in Medicine and Education, ITME

作者： Haolong Jiang Lingdan Gu Jiayu Wang Xiao Lan Qinyao Liu Fanxin Wang Department of Electrical and Electronic Engineering School of Advanced Technology Xi’an Jiaotong Liverpool University University of Liverpool Suzhou China Department of Intelligence Robotics Engineering With Contemporary Entrepreneurialism School of Robotics Xi'an Jiaotong Liverpool University Suzhou China Department of Information and Computer Science School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China Department of Electrical and Electronic Engineering School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China Department of Mechatronics and Robotics School of Advanced Technology Xi’an Jiaotong Liverpool University Suzhou China

ISBN: (数字)9798350356670

ISBN: (纸本)9798350356687

Navigating cluttered indoor environments presents a significant challenge for aerial robots, requiring agility, speed, and a high level of reliability to avoid collisions. This project aims to address this challenge by developing advanced algorithms for lightweight drones, enabling them to reach target location and carrying out delivery efficiently and safely. Utilizing camera data to map and avoid obstacles, we create a system that not only maps and perceives the environment but also navigates its path to the destination. Included in the educational content, this project demonstrates the effectiveness of the technology through practical applications and real-world testing, helping the next generation of engineers accumulate technical experience and broaden their understanding of drone navigation algorithms and applications in system integration. It has a milestone impact on education and development of the drone field.

关键词： Accuracy Navigation Trajectory tracking Heuristic algorithms Education Indoor environment Safety Nonlinear dynamical systems Collision avoidance Drones

来源：评论

学校读者我要写书评

暂无评论

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

引用

Chinese Journal of Mechanical engineering 2022年第5期35卷 244-261页

作者： Chaoyu Shen Haibo Qu Sheng Guo Xiao Li Robotics Research Center School of MechanicalElectronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China China Waterborne Transport Research Institute Beijing 100088China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijing 100044China

The kinematic redundancy is considered as a way to improve the performance of the parallel *** this paper,the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy(3-DOF PM-KR)and the influence of redundant parts on the PM-KR are ***,the kinematics model of the PM-KR is *** inverse solutions,the Jacobian matrix,and the workspace of the PM-KR are ***,the influence of redundancy on the PM-KR is *** there exists kinematic redundancy,the PM-KR possesses fault-tolerant *** locking one actuating joint or two actuating joints simultaneously,the fault-tolerant workspace is *** the position of the redundant part is changed,the workspace and singularity will be *** results show that kinematic redundancy can be used to avoid ***,the simulations are performed to prove the theoretical analysis.

关键词： Parallel mechanism Kinematic redundancy Singularity Simulation analysis

来源：评论

学校读者我要写书评

暂无评论

Functional Materials and Innovative Strategies for Wearable Thermal Management Applications

引用

Nano-Micro Letters 2023年第9期15卷 562-603页

作者： Yeongju Jung Minwoo Kim Taegyeom Kim Jiyong Ahn Jinwoo Lee Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical EngineeringSeoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea Department of Mechanical Roboticsand Energy EngineeringDongguk University30 Pildong-ro 1-gilJung-guSeoul 04620South Korea Institute of Advanced Machinery and Design(SNU-IAMD) Seoul National UniversityGwanak-roGwanak-guSeoul 08826South Korea Institute of Engineering Research Seoul National University1 Gwanak-roGwanak-guSeoul 08826South Korea

Thermal management is essential in our body as it affects various bodily functions,ranging from thermal discomfort to serious organ failures,as an example of the worst-case *** have been extensive studies about wearable materials and devices that augment thermoregulatory functionalities in our body,employing diverse materials and systematic approaches to attaining thermal *** paper reviews the recent progress of functional materials and devices that contribute to thermoregulatory wearables,particularly emphasizing the strategic methodology to regulate body *** exist several methods to promote personal thermal management in a wearable *** instance,we can impede heat transfer using a thermally insulating material with extremely low thermal conductivity or directly cool and heat the skin ***,we classify many studies into two branches,passive and active thermal management modes,which are further subdivided into specific *** from discussing the strategies and their mechanisms,we also identify the weaknesses of each strategy and scrutinize its potential direction that studies should follow to make substantial contributions to future thermal regulatory wearable industries.

关键词： Thermal management Passive heat transfer Active heat transfer Wearable materials Wearable device

来源：评论

学校读者我要写书评

暂无评论

Fuzzy Logic and Neural Network-Based Intelligent Control System for Quadruped Robot on Extreme Terrain

Fuzzy Logic and Neural Network-Based Intelligent Control Sys...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Jinwoo Jeon Myungwoo Jeong Hyun Myung School of Electrical Engineering KI-Robotics Korea Advanced Institute of Science and Technology Daejeon South Korea

The quadruped robot has the advantage of having a high degree of freedom of motion. Therefore, it has been used in various robot applications such as exploration. However, the quadruped robot is not easy to control due to the large number of joints. Existing control methodologies using proportional-integral-differential (PID) or model predictive control show decent performance on uniform terrain. However, the control performance is degraded in the extreme terrain where significant non-linear disturbance occurs. To tackle this problem, we propose FLONIC-Q: fuzzy logic and neural network-based intelligent control system for quadruped robots on extreme terrain. The proposed system includes high-level and low-level control using fuzzy logic and machine learning to deal with disturbances in extreme terrain. As demonstrated in the experiments, the proposed method performs superior to existing system response methods regarding absolute trajectory error and time analysis in various trajectory types.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Domain Generalization with Vital Phase Augmentation

arXiv

引用

arXiv 2023年

作者： Lee, Ingyun Lee, Wooju Myung, Hyun Urban Robotics Lab School of Electrical Engineering Korea Advanced Institute of Science and Technology Korea Republic of

Deep neural networks have shown remarkable performance in image classification. However, their performance significantly deteriorates with corrupted input data. Domain generalization methods have been proposed to train robust models against out-of-distribution data. Data augmentation in the frequency domain is one of such approaches that enable a model to learn phase features to establish domain-invariant representations. This approach changes the amplitudes of the input data while preserving the phases. However, using fixed phases leads to susceptibility to phase fluctuations because amplitudes and phase fluctuations commonly occur in out-of-distribution. In this study, to address this problem, we introduce an approach using finite variation of the phases of input data rather than maintaining fixed phases. Based on the assumption that the degree of domain-invariant features varies for each phase, we propose a method to distinguish phases based on this degree. In addition, we propose a method called vital phase augmentation (VIPAug) that applies the variation to the phases differently according to the degree of domain-invariant features of given phases. The model depends more on the vital phases that contain more domain-invariant features for attaining robustness to amplitude and phase fluctuations. We present experimental evaluations of our proposed approach, which exhibited improved performance for both clean and corrupted data. VIPAug achieved SOTA performance on the benchmark CIFAR-10 and CIFAR-100 datasets, as well as near-SOTA performance on the ImageNet-100 and ImageNet datasets. Our code is available at https://***/excitedkid/vipaug. Copyright © 2023, The Authors. All rights reserved.

关键词： Deep neural networks

来源：评论

学校读者我要写书评

暂无评论

Solving Challenging Tasks with Manipulation Policy with Limited Demonstrations

Solving Challenging Tasks with Manipulation Policy with Limi...

引用

IEEE/ASME (AIM) International Conference on advanced Intelligent Mechatronics

作者： Haofeng Liu Jiayi Tan Yanchun Cheng Yiwen Chen Haiyue Zhu Marcelo H Ang Department of Mechanical Engineering National University of Singapore Advanced Robotics Centre College of Design and Engineering National University of Singapore Agency for Science Technology and Research (A*STAR)

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Deep Reinforcement Learning (DRL), combined with demonstration data, has progressed in developing manipulation policies. However, the practical collection of ample high-quality demonstrations is timeconsuming, and demonstrations generated by humans may not perfectly align with the operational demands of robots. Our study suggests that RL agents in manipulation tasks are acutely sensitive to demonstration quality in both online and offline environments. Utilizing low-quality or limited demonstrations to enhance RL policy development remains a significant challenge. To address these concerns, we propose TD3+Smooth BC, an enhancement of TD3+BC [1] and TD3fG [2]. This algorithm ensures a smooth transition from learning through expert demonstrations to learning from experience, incorporating prior knowledge while mitigating negative demonstration impacts. In the offline setting, TD3+Smooth BC adjusts the balance between imitation and Q-value maximization dynamically, effectively utilizing human demonstrations for efficient policy learning. The algorithm demonstrates marked improvements in the Adroit manipulator and MuJoCo tasks, even with limited demonstrations of varying quality.

关键词： Mechatronics Heuristic algorithms Robot sensing systems Deep reinforcement learning Task analysis Manipulator dynamics

来源：评论

学校读者我要写书评

暂无评论

Robotic grasp detection toward unknown objects using 3D edge detection and Gaussian mixture model for clustering candidates

Robotic grasp detection toward unknown objects using 3D edge...

引用

IEEE International Conference on robotics and Biomimetics

作者： Haruki Shimotori Ping Jiang Junichiro Ooga Atsushi Sugahara Shun Ito Atsuya Koike Ryuichi Ueda Department of Advanced Robotics Faculty of Advanced Engineering Chiba Institute of Technology Narashino Chiba Japan Toshiba Corporate Manufacturing Engineering Center Isogo-ku Yokohama Japan

We propose a novel grasp detection method for arbitrary shape objects. This method is applicable to multijoint manipulators with a two-finger hand and an RGB-D hand-eye camera. When a robot tries to grasp an unknown object with a camera as the only sensor, it must choose a position to grasp without mass distribution information. Moreover, even if the robot can find some candidates of locations for grasping, some of them will be false due to noise. The proposed method chooses an appropriate candidate by variational Bayesian clustering. In the clustering, the candidates are classified based on their closeness. Then the method chooses one existing at the center of the largest cluster since it may be uninfluenced by noise. This set of procedures does not require training unlike learning methods. The proposed method is evaluated with an actual robot. Though the method is a heuristic, it can choose suitable grasping locations from piles of objects.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

引用

2024 International Convention on Rehabilitation engineering and Assistive Technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Zhang, Shuo Zou, Yupeng Guo, Xinqiang Li, Changyu Wang, Jingxin Kobsiriphat, Worawarit Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China Jining Zhongke Intelligent Technology Co. Ltd. China Zhengzhou Central Hospital Zhengzhou University Department of Rehabilitation Medicine Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion. © 2024 IEEE.

关键词： Exoskeleton (robotics)

来源：评论

学校读者我要写书评

暂无评论

An Optimal Control Platform for Simulation of Gait Patterns and Assistive Strategies, Based on “MATLAB-Moco” Co-Simulation

An Optimal Control Platform for Simulation of Gait Patterns ...

引用

Iranian Conference of Biomedical engineering (ICBME)

作者： Mohadeseh Shafie Tali Iman Kardan Alireza Akbarzadeh Dept. of Mechanical Engineering Center of Advanced Rehabilitation and Robotics Research(FUM CARE) Ferdowsi University of Mashhad(FUM) Mashhad Iran

ISBN: (数字)9798331529710

ISBN: (纸本)9798331529727

This paper addresses the field of hip assist technology by focusing on a novel closed-loop control system that uses OpenSim Moco capabilities to optimize the motion and control of musculoskeletal models. The user is equipped with an exoskeleton specifically designed for the hip joint. In the strategy for assisting the user’s hip joint, the use of a closed-loop assist control algorithm for the exoskeleton robot is crucial for walking assistance. The user reacts based on the feedback, and the amount of assist and assist performance can be observed and checked at any step, which can improve factors such as accuracy, stability, and adaptability, which are critical for human-robot exoskeleton interaction. In this paper, the OpenSim Moco toolbox and direct collocation methods are used for the simulation of a walking gait. The OpenSim Moco toolbox supports musculoskeletal models and allows the problem to be solved as an optimal control problem using the direct collocation method. However, currently this toolbox does not support implementation of closed-loop control algorithms, as it is designed to solve the entire motion at once. Given these points, this paper enhances the advantages of the OpenSim Moco toolbox by providing the possibility of step-by-step “MATLABMoco” co-simulation. The proposed structure enables the “MATLAB-Moco” package to be used for closed-loop applications, like the simulation of assistive algorithms. In this structure, at every step of the motion, the controller can receive any desired feedback from the human model and can apply the defined actions to the body. This creates an integrated and responsive interface for any closed-loop simulations that involve the human body and its reactions. In this paper, the proposed method is used for the simulation of a simple assistive strategy in which the control algorithm receives the torque produced by the user and adjusts the assistive torque accordingly. As expected, with increased levels of assistance, the

关键词： Legged locomotion Musculoskeletal system Torque Accuracy Exoskeletons Optimal control Stability analysis MATLAB Hip Robots

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：