检索结果-内蒙古大学图书馆

第36届中国控制会议

作者： Bing Sun Wenyang Gan Daqi Zhu Wei Zhang Simon X Yang Lab.of Underwater Vehicles and Intelligent Systems Shanghai Maritime University Advanced Robotics and Intelligent Systems Laboratory University of Guelph

ISBN: (纸本)9781538629185

In this paper,the trajectory tracking control problem with model predictive control approach is investigated for Unmanned Underwater Vehicle(UUV) ***,the kinematic tracking controller based on model predictive control(MPC) is applied to reach the tracking control in a kinematic *** with conventional backstepping control,MPC can solve the speed jump control problem very ***,to deal with dynamic tracking control with the nonlinear UUV dynamic model,the computation cost of MPC will be tremendous and cannot meet the real-time ***,in order to deal with this problem,the MPC algorithm is cooperated with sliding mode control to reach a dynamic tracking control which can be robust with modeling uncertainty and ***,the experimental results show that the proposed method can solve speed jump and robust enough for tracking control compared with other benchmark method.

关键词： Unmanned Underwater Vehicle trajectory tracking model predictive control sliding mode control speed jump

来源：评论

学校读者我要写书评

暂无评论

Gait Phase Classification Based on sEMG Signals Using Long Short-Term Memory for Lower Limb Exoskeleton Robot

引用

IOP Conference Series: Materials Science and Engineering 2020年第1期853卷

作者： Ye Yuan Ziming Guo Can Wang Shengcai Duan Lufeng Zhang Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergic Systems Shenzhen Institutes of Advanced Technology Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Southwest University.

In this work, we present a Long Short-Term Memory Model (LSTMM) for gait phase classification based on sEMG signals to control the lower limb exoskeleton robot which can recognize 2 phases (Stand and Swing) of leg phases between the foot and ground. This model only needs four sEMG signals to control the lower limb exoskeleton robot helping the hemiplegia patient walking. Compared with the existing methods, the proposed model not only avoids the complex sensor systems but also enhances the accuracy of gait phase classification. The experimental results first verify the availability of sEMG data acquisition system on the lower limb exoskeleton robot made by the Shenzhen Institutes of advanced Technologies (SIAT) by quantify the system with gold standard optoelectronic system Vicon, then show that the proposed LSTMM is significantly higher on prediction accuracy and has better robustness for gait phase classification to control the lower limb exoskeleton robot with different speeds. Finally, the maximum accuracy of LSTMM on the gait phase classification is 97.89%.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Road detection through CRF based LiDAR-camera fusion

Road detection through CRF based LiDAR-camera fusion

引用

2019 International Conference on robotics and Automation, ICRA 2019

作者： Gu, Shuo Zhang, Yigong Tang, Jinhui Yang, Jian Kong, Hui PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information Ministry of Education Jiangsu Key Lab of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing 210094 China School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing 210094 China Institute of Advanced Artifical Intelligence in Nanjing Horizon Robotics China

ISBN: (纸本)9781538681763

In this paper, we propose a road detection method with LiDAR-camera fusion in a novel conditional random field (CRF) framework to exploit both range and color information. In the LiDAR based part, a fast height-difference based scanning strategy is applied in the 2D LiDAR range-image domain and a dense road detection result in camera image domain can be obtained through geometric upsampling given the LiDAR-camera calibration parameters. In the camera based part, a fully convolutional network is applied in the camera image domain. Finally, we fuse the dense and binary road detection results from both LiDAR and camera in a single CRF framework. Experiments show that using a single thread of CPU, the proposed LiDAR based part can operate at a frequency of over 250Hz with sparse output in range image and 40Hz with dense result in camera image for the 64-beam Velodyne scanner. Our CRF fusion method achieves very promising road detection performance on the KITTI-Road dataset. © 2019 IEEE.

关键词： Laser radar Roads Cameras Three-dimensional displays Two dimensional displays Image segmentation Transforms

来源：评论

学校读者我要写书评

暂无评论

An Overload Protector Inspired by Joint Dislocation and Reduction for Shoulder of Humanoid Robot

An Overload Protector Inspired by Joint Dislocation and Redu...

引用

IEEE International Conference on robotics and Biomimetics

作者： Ru Kang Huaxin Liu Fei Meng Runming Zhang Xiaoshuai Ma Botao Liu Aiguo Ming Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Haidian Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China

ISBN: (纸本)9781728103785;9781728103778

Great and sudden force applied to the joint by either a blow or fall, can cause the bones in joint to be displaced or dislocated from normal position, resulting in joint function loss at different degrees. Then joint closed reduction can be operated by trained medical professionals, and fragile joints are protected from impacting damage in this process. Inspired by such principle of dislocation and reduction of human joints, an overload protector applied protect key components from falling down in shoulder joint of humanoid robot is proposed to in this paper. The shoulder joint connects upper limb and shoulder through an overload protector. When a sudden external force applied in upper limb causes great impact on shoulder joint, the overload protector can disengage the connection between the shoulder and the upper limb temporarily, and the normal transmission can continue after closed reduction in a preset period. This process will cycle continuously until the impact force is reduced to the preset safety range. Thereby, it achieves protecting the key components of robot shoulder during falling down. In this paper, the working principle of overload protector is elaborated, its reliability is verified by a series of experiments. The experimental results show that the transmission of overload protector is reliable and stable as a rigid connecting mechanism under low external load, and it can protect the key components from damage by self-detaching when subjected to high external load or sudden impact.

关键词： Flanges Shoulder Force Torque Joints Humanoid robots

来源：评论

学校读者我要写书评

暂无评论

Kinematic Analysis of Effect on Walking Motion by Assistive Powered Wear with Wire-driven Assist

Kinematic Analysis of Effect on Walking Motion by Assistive ...

引用

IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Yumeko Imamura Kenta Murakami Fumiya Hanzawa Kazuaki Kishimoto Yuko Otake Masahiko Sumitani CNRS-AIST Joint Robotics Laboratory UMI3218/RL Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology Japan Panasonic Corporation Tokyo Japan ATOUN Inc. Nara Japan Bunkyo Gakuin University Tokyo Japan The University of Tokyo Hospital Tokyo Japan

This study examines the immediate effect of a walking-assistive powered wear on human gait. The device is small and lightweight with a wire-driven assistive system. It aims to increase users' activity levels, and extend their healthy life-span by exerting a musculoskeletal rehabilitation effect. The powered wearable device assists the hip joints by controlling the timing of the wire actuation during walking. The gait motions of 11 middle-aged and elderly persons wearing the powered assist were measured and kinematically analyzed. The movements of the hip joints were significantly increased in eight of the 11 participants. The device is mainly intended to reduce physical fatigue, but might also improve the gait.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular

Design and Implementation of Jumping Robot with Multi-Spring...

引用

IEEE International Conference on robotics and Biomimetics

作者： Lei Wang Fei Meng Huaxin Liu Xuxiao Fan Ryuki Sato Aiguo Ming Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institude of Technology China Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications Tokyo Japan

ISBN: (纸本)9781728103785;9781728103778

This paper presents a robot with pseudo direct drive and multi-springs inspired from structure of a cat. Combining spring and cable pulley, the passive flexible mechanical structure is realized by two parts: an elastic four-bar linkage crossing the knee and ankle joints; a sprung cable crossing the hip, knee and ankle joint. The structure can make full use of robot's gravitational energy and motor power to store more energy in landing, and then release energy in jumping, which enhances dynamic jump ability. Besides, the robot can maintain a standing state stably under static condition balance with the help of spring which avoids overheating of the motor and improve energy efficiency. Simulation and experiments demonstrated that the multi-springs can reduce the load of knee joint motor and the jumping height of the robot with the springs was 42 mm higher, which show an obvious effectiveness in jumping function.

关键词： Springs Knee Legged locomotion Couplings Hip Cats

来源：评论

学校读者我要写书评

暂无评论

Cost Optimal Control of Microgrids Having Solar Power and Energy Storage

Cost Optimal Control of Microgrids Having Solar Power and En...

引用

2018 IEEE/PES Transmission and Distribution Conference and Exposition, T and D 2018

作者： Gupta, Nikhil Francis, Griffin Ospina, Juan Newaz, Alvi Collins, Emmanuel G. Faruque, Omar Meeker, Rick Harper, Mario United States Center for Intelligent Systems Control and Robotics FAMU-FSU COE United States Department of Electrical and Computer Engineering FAMU-FSU COE United States Center for Advanced Power Systems FSU United States NHU Energy Inc. TallahasseeFL United States Department of Scientific Computing FSU United States

ISBN: (纸本)9781538655832

Solar power availability is intermittent and must be accompanied by an energy storage system (ESS) so that the effect of variability can be minimized. Hence, a strategy is needed to find the optimum combination of grid power, solar power, and power from the ESS so that the total cost of energy can be minimized. A solution to this problem is proposed here as advanced Optimal Resource Allocation (AORA). This control scheme uses the prediction of Photovoltaic (PV) power availability, the real-time price of energy, and the levelized cost of energy for both PV and ESS to optimally combine the dispatch of power sources. Simulation results are presented for a 24 h prediction window and compared with a baseline power usage scheme that is based on a fixed charging and discharging schedule for the ESS. The comparison shows that AORA results in a substantial cost savings over the baseline scheme. © 2018 IEEE.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

Autism Screening Using a Video Game Based on Emotions

Autism Screening Using a Video Game Based on Emotions

引用

National and International Digital Games Research Conference: Trends, Technologies, and Applications (DGRC)

作者： Atefeh Irani Hadi Moradi Leila Kashani Vahid Advanced Robotics and Intelligent Systems Lab University of Tehran Tehran Iran SKKU South Korea Intelligent Systems Research Institute Tehran Iran Departement of Psychology and Special Education Azad University Tehran Iran

ISBN: (纸本)9781728111155;9781728111148

Autism spectrum disorders (ASDs) is referred to as a range of mental and physical. Usually these children deal with disorders such as social problems, repeated patterns of behaviors and inability to understand abstract concepts. If at the very childhood the occupational therapy exercises are done on a person with autism, he can return to normal life. Given the importance of early diagnosis of autism, this study presents the structure of a serious smart game for screening and rehabilitation of autism. This computer game is based on training of three important skills in understanding emotions i.e. the recognition of emotions, the emergence of emotions, and emotion regulation. The game was performed on children with autism and normal children for designing pattern-recognition algorithms for screening children with autism. Then the screening precision reached 93% using a support vector machine with Gaussian kernel.

关键词： Autism Education Classification algorithms

来源：评论

学校读者我要写书评

暂无评论

Optimization of Standing Long Jump Strategy on a Small Quadruped Robot

Optimization of Standing Long Jump Strategy on a Small Quadr...

引用

IEEE International Conference on robotics and Biomimetics

作者： Zewen He Fei Meng Huaxin Liu Xuxiao Fan Shengkai Liu Ryuki Sato Aiguo Ming Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications Tokyo Japan

ISBN: (纸本)9781728103785;9781728103778

The extraordinary jumping ability of quadrupedal animals, is greatly attributed to appropriate jumping motion strategy with elastic element in legs. This paper introduces an optimization process of the robot jumping to a maximum horizontal distance from a static state, and verifies it on a small quadrupedal robot using elastic four-bar linkage mechanism. Two steps of optimization, with simplified stick models built to depict the dynamic characteristics of real robot, was set to search a best jump motion. Moreover, experiments of real robot validate the effectiveness of the mechanism and optimizing jumping method, while the robot could achieve a maximum horizontal jumping distance of 250 mm (78% of body length).

关键词： Legged locomotion Optimization Robot kinematics Torque Mathematical model Dynamics

来源：评论

学校读者我要写书评

暂无评论

An insulation diagnosis method for battery pack based on battery model

引用

IOP Conference Series: Materials Science and Engineering 2020年第1期793卷

作者： Yanhui Zhang Qingpeng Chen Xiao Liu Zhile Yang Shifeng Guo Wei Feng Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China

The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment, which will reduce the insulation between battery pack and chassis, and will affect the performance of on-board equipment and electronic control unit, resulting in heat accumulation effect of leakage circuit and even vehicle fire. Therefore, it is critical to develop a real-time, accurate and reliable detection device to monitor the insulation resistance of the high-voltage system of electric vehicles, which is beneficial to the normal operation of electrical equipment, the safe operation of vehicles and the personal safety of passengers. In this work, an online estimation method of insulation resistance based on battery model is proposed.

关键词：

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：