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检索条件"机构=Advanced Robot Technology"

共 538 条记录，以下是91-100 订阅

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A Finite-Time Posture Control Strategy for the Swarm Underactuated robots 5th

A Finite-Time Posture Control Strategy for the Swarm Under...

引用

5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021

作者： Huang, Zixin Qin, Xiangyu Wei, Shaoqi Wang, Lejun Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan430205 China Hubei Key Laboratory of Digital Textile Equipment Wuhan Textile University Wuhan430200 China School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan430205 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789811939976

Under the background of industrial machinery automation. The swarm robots are required to cooperate to complete complex and accurate works in finite-time and create more relative residual value. Based on the inherent advantages of underactuated robot, the research of finite time posture control strategy has higher theoretical and practical value. Firstly, the dynamic model of a single Pendubot of planar swarm underactuated robots was built. However, the robots reach to the same objective from different initial states and keep being at the same posture, so it was necessary to plan a feasible trajectory. Then, the planned trajectory parameters are optimized to make the underactuated robots relized the objectives in finite time. Finally, an unified tracking controller is designed for the underactuated robots. Simulation results of the swarm underactuated robots demonstrated the effectiveness of the proposed control strategy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： robots

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A camera calibration method suitable for complex illumination conditions

A camera calibration method suitable for complex illuminatio...

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2022 Chinese Automation Congress, CAC 2022

作者： Chen, Haifeng Fan, Xuan Yang, Pan Liu, Bingyou Anhui Polytechnic University The Key Lab. of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Wuhu China Research Institute of Harbin Institute of Technology The Wuhu Robot Industry Technology Wuhu China The Dahl Intelligent Control Co. Ltd. Wuhu China

ISBN: (纸本)9781665465335

Images in weak or strong light usually have problems of uneven illumination and low contrast. Obtaining high-quality images is an important guarantee for good camera calibration results. In order to solve the problem of low camera calibration accuracy under complex lighting conditions, an image enhancement method based on Retinex under complex lighting conditions is proposed, and camera calibration is studied. Firstly, the color enhancement and color constancy of the image are realized based on the MSR algorithm. Then, the calibration plate image is processed by Gaussian homomorphic filtering to improve the image contrast and other indicators, and the final calibration plate image is obtained through image segmentation and bilateral filtering combined with Otsu algorithm. Finally, based on Zhang Zhengyou's calibration method, comparative experiments are carried out under weak illumination, uneven illumination and strong illumination conditions. The experimental results show that the algorithm enhances the details of the calibration plate image under complex lighting conditions and improves the accuracy of camera calibration under complex lighting conditions. © 2022 IEEE.

关键词： Calibration

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A Self-Powered Tactile Sensing Interface For Human-Machine Interaction

A Self-Powered Tactile Sensing Interface For Human-Machine I...

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： Yuyang Sun Hanyang Li Kaiyao Wang Xiaowei Feng Cheng Hou Tao Chen Huicong Liu School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robot Soochow University Suzhou China School of Computer Science and Technology Soochow University Suzhou China

Human-machine interfaces (HMIs) are the critical platforms for achieving effective and intuitive operations and control tasks between the user and machine. In this work, we propose a self-powered tactile sensing interface (STI) based on an array of bilayer single-electrode triboelectric nanogenerator (TENG) units. For each TENG unit, a pair of innovative, flexible materials, i.e., PET-PDMS and PTFE-PDMS, are arranged in a mosaic pattern, which can serialize the signal peaks and valleys, thus realizing the encoding of tactile sensing information and optimization of the wiring layout. This self-powered, signal-serialized and neatly wired STI can demonstrate the control of intelligent vehicles by detecting touch events.

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Multi-model Fusion Solution for IEEE UV 2022 'Vision Meets Algae' Object Detection Challenge 6

Multi-model Fusion Solution for IEEE UV 2022 'Vision Meets A...

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6th IEEE International Conference on Universal Village, UV 2022

作者： Peng, Xiaoxiao Wang, Yueyi Chen, Dayu Tian, Yuchen Huang, Keyu Zheng, Jianfeng Robot Technology Co. Ltd Department of Automatic Driving Software Engineering Shanghai China King's College London Department of Informatics London United Kingdom Didi Chuxing Department of Algorithm Strategy Hangzhou China Institute of Advanced Technology University of Science and Technology of China Anhui China Koto Communication Technology Co. Ltd Department of Algorithm Strategy Xiamen China

ISBN: (纸本)9781665474771

This report summarizes the fourth-place solution of the 'Vision Meets Algae' object detection challenge held on IEEE UV'2022 focuses on object detection in marine biology images obtained through the microscope. First, we experimented with a large number of backbones and necks to improve mAP by enhancing the model structure. Then, we designed and tested a variety of data augmentation schemes based on algal characteristics from a data perspective. Finally, with multiple models ensembled adopted, our methods achieve 57.579% mAP on the test set. © 2022 IEEE.

关键词： Algae

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Importance of compliant joints in below-knee exoskeletons for improving walking 2

Importance of compliant joints in below-knee exoskeletons fo...

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2nd International Conference on Intelligent Computing and Human-Computer Interaction, ICHCI 2021

作者： She, Haotian Zhao, Yan Huang, Gao Zhu, Jinying School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robot and System Beijing100081 China Beijing University of Technology Faculty of Information Technology Beijing100124 China

ISBN: (纸本)9781665407649

This paper evaluated an exoskeleton with compliant joints containing a toe joint. The ankle and toe joints were driven by two series elastic of actuators that can provide maximal push-off power. Firstly, the Human walking experiments were conducted for exploring the effects of the toe joint on providing power and keeping the gait balanced. Secondly, based on a theoretical model and computations, a compliant exoskeleton with a toe joint was designed for those whose ankle is not powerful enough for walking. Because of the impedance control, the exoskeleton was controlled to either follow or guide a person. Finally, an experiment with one person whose ankle could not provide enough power for supporting walking was conducted, and the results validated the effectiveness of the toe joint containing compliant actuators during walking. © 2021 IEEE.

关键词： Actuators

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Garbage Classification System with YOLOV5 Based on Image Recognition 6

Garbage Classification System with YOLOV5 Based on Image Rec...

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6th International Conference on Signal and Image Processing, ICSIP 2021

作者： Yang, Guanhao Jin, Jintao Lei, Qujiang Wang, Yi Zhou, Jiangkun Sun, Zhe Li, Xiuhao Wang, Weijun Intelligent Robot and Equipment Center Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangzhou511458 China University of Chinese Academy of Sciences Beijing100039 China

ISBN: (纸本)9780738133737

At present, the main technology of garbage identification and classification is the use of traditional machine vision algorithm or the use of sensors for screening and identification of garbage, in garbage sorting, the first accurate identification and classification of garbage is very necessary. By collecting various types of garbage pictures and building detection data sets, we adopt the garbage identification and detection algorithm based on YOLO-V5 and use data enhancement to improve the robustness of the model, to achieve fast and accurate identification of different types of garbage. Experimental results show that this method has high accuracy, short time consumption, and good robustness. © 2021 IEEE.

关键词： Computer vision

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Flexible stretchable sensor garments that monitor human movement

Flexible stretchable sensor garments that monitor human move...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Mingsheng Bi Yang Zhao Chunjie Chen Yao Liu Shaocong Chen Yuxian Ding Gang Li Shenzhen Institute of Advanced Technology Engineering Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of Sciences SIASUN Robot Automation CO. Ltd. 33 Quanyun Road Shenyang China

In this paper, a flexible stretchable pressure sensor that can be combined with clothing is designed. Due to its excellent flexibility, it is no longer limited to conventional uses when combined with fabrics. This wearable flexible stretchable pressure sensor is easy to process and low in cost and can participate in human motion monitoring accurately, flexibly, and variably. The sensors show different performances when they are made of different flexible materials, microstructures, and processing technologies. They have ideal biocompatibility and adaptability and have considerable application prospects. Moreover, multiple sensors can be applied to various parts of the human body to measure the angle of the human body. Angle monitoring in the sagittal plane, coronal plane, and horizontal plane may also be realized in the future, In this report, the performance of the sensor integrated into the elastic tights was tested, and then the actual application and independence of the sensor clothing were demonstrated by measuring the angle of the hip joint in the sagittal plane. Finally, when the sensor clothing was worn, the synchronous gait measurement was carried out on the treadmill with the dynamic capture, and then the captured data was processed to obtain the human motion data. Through comparison with the dynamic capture system, To detect the initial actual performance of the sensor and characterize the defects in wearing measurement.

关键词： Pressure sensors Biological system modeling Clothing Exoskeletons Sensor phenomena and characterization Sensor systems Sensors

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LLNet: A Lightweight Lane Line Detection Network 11th

LLNet: A Lightweight Lane Line Detection Network

引用

11th International Conference on Image and Graphics, ICIG 2021

作者： Zhang, Lu Kong, Bin Wang, Can Institute of Intelligent Machines Chinese Academy of Sciences Hefei230031 China University of Science and Technology of China Hefei230026 China The Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China

ISBN: (纸本)9783030873547

The lane line detection methods based on semantic segmentation networks have achieved remarkable results in recent years. However, the semantic segmentation networks are aimed at the pixel level. These methods have a large amount of computation, which can reduce the real-time performance. To reduce the calculation, we propose a Light-weight Lane line detection Network (LLNet). A new sub-layer is established. We also adopt a jumping structure between two sub-layers to enhance the supervisory role of ground truth. Furthermore, we adopt two branches, including instance segmentation and embeddable branch. The combination of two branches can filter out the wrongly detected pixels and further improve the accuracy of detection. Experimental results in the Tusimple dataset show that the detection accuracy of the proposed network is comparable with LaneNet. Meanwhile, it has good real-time performance, and the processing time of a single image is 10.285 ms, which is about one-half of LaneNet. © 2021, Springer Nature Switzerland AG.

关键词： Semantic Segmentation

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Cross-View Fused Network for Multi-View RGB-Based Action Recognition

Cross-View Fused Network for Multi-View RGB-Based Action Rec...

引用

International Conference on Vision, Image and Signal Processing (ICVISP)

作者： Yingyuan Yang Guoyuan Liang Xinyu Wu Biao Liu Chao Wang Jun Liang Jianquan Sun Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology Shenzhen China The University of Chinese Academy of Sciences Beijing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology Shenzhen China Guangzhou gosuncn robot Co. Ltd Guangzhou China China Nuclear Power Technology Research Institute Co. Ltd Shenzhen China

ISBN: (数字)9798331541460

ISBN: (纸本)9798331541477

As the increasing number of multi-camera surveillance systems, researchers have been investigating the potential of multi-view action recognition. The skeleton-based methods are favorable due to the good performance. However, relying on specialized hardware with depth sensors or the efficient estimation for human poses, makes them less suitable for real-world deployment. In this study, we concentrate on the RGB modality for multi-view action recognition and propose a novel cross-view fused network. In details, gated adaptive fusion is utilized to aggregate the global representation across different views and spatio-temporal cross-attention module is employed to facilitate the effective fusion for spatio-temporal features. Based on three well-known multi-view action datasets: NTU-60, NTU-120, and N-UCLA, a series of experiments are conducted and verifies the effectiveness and robustness of the method under multi-view scenarios.

关键词： Image recognition Aggregates Interactive systems Logic gates Streaming media Signal processing Video surveillance Robustness Real-time systems Sensors

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Research on Key Technologies of Human Upper Limb Bone Diagnosis based on Convolutional Neural Network 9

Research on Key Technologies of Human Upper Limb Bone Diagno...

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9th International Conference on Dependable Systems and Their Applications, DSA 2022

作者： Du, Hongbo Zhao, Yaling Wang, Hai Yang, Chunlai Liu, Yongmin Wang, Lei Xu, Manman Gui, Jingsong Tan, Tielong Wang, Xiangdong School of Mechanical Engineering Anhui Polytechnic University Anhui Wuhu China Anhui Key Laboratory of Advanced Numerical Control & Servo Technology Anhui Wuhu China Wuhu Ruilong Robot Technology Co. Ltd Anhui Wuhu China Wuhu Kepu Intelligent Equipment Co. Ltd Wuhu241000 China Wuhu Magnetic Wheel Transmission Technology Co. Ltd Wuhu241000 China

ISBN: (数字)9781665488778

ISBN: (纸本)9781665488778

Fracture is a common disease in medical clinic, which is often diagnosed based on medical images. In order to reduce the reading time of experts and reduce the misdiagnosis rate, a medical auxiliary detection system for upper limb bone abnormality detection is proposed in this paper. The convolution neural network method is used to detect and diagnose the upper limb bone. In this paper, the open mura data set is used in the data set, and the adaptive contrast restriction algorithm is used to process the bone image, so that the bone edge is more obvious and the focus position is more clearly visible. Then, the upper limb bone injury data set and the upper limb bone position classification data set are constructed respectively. For medical image recognition, this paper proposes an IDNet network based on perception and Densenet: in the task of upper limb bone injury classification, the accuracy of IDNet reaches 0.92;In the classification task of upper limb bone parts, the accuracy of IDNet reached 0.99. © 2022 IEEE.

关键词： Fracture

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