检索结果-内蒙古大学图书馆

arXiv 2019年

作者： Klamt, Tobias Rodriguez, Diego Baccelliere, Lorenzo Chen, Xi Chiaradia, Domenico Cichon, Torben Gabardi, Maßimiliano Guria, Paolo Holmquist, Karl Kamedula, Malgorzata Karaoguz, Hakan Kashiri, Navvab Laurenzi, Arturo Lenz, Christian Leonardis, Daniele Hoffman, Enrico Mingo Muratore, Luca Pavlichenko, Dmytro Porcini, Francesco Ren, Zeyu Schilling, Fabian Schwarz, Max Solazzi, Maßimiliano Felsberg, Michael Frisoli, Antonio Gustmann, Michael Jensfelt, Patric Nordberg, Klas Roßmann, Jürgen Süß, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Germany Humanoids and Human-Centred Mechatronics Istituto Italiano di Tecnologia Genoa Italy Department of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden PERCRO Laboratory TeCIP Institute Sant'Anna School of Advanced Studies Pisa Italy Institute for Man-Machine Interaction RWTH Aachen University Germany Computer Vision Laboratory Linköping University Sweden Lausanne Switzerland Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

来源：评论

学校读者我要写书评

暂无评论

Multi-pose moving human detection from a patrol robot in real-time 49

Multi-pose moving human detection from a patrol robot in rea...

引用

49th International Symposium on robotics, ISR 2017

作者： Wu, Qingtian Guo, Huiwen Key Laboratory of Human-Machine Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Acad. of Sci. Guangdong Provincial Key Laboratory of Robotics and Intelligent System China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences China

In this paper, a multi-pose human detection system is presented for a patrol robot in real-time. 20 fps (frame per second) and a satisfying detection accuracy of multi-pose human detection in complex outdoor environments can be achieved in the system with no additional special hardware like GPU (graphics processing unit). First, 30,000 positive samples with various appearances are selected manually from different camera angles and are used to train the convolutional neural network (CNN) classifier. Secondly, optical flow of two successive frames taken by on-board camera is used to extract region of interests (ROIs) and a series of post-processing methods, i.e., average filtering, morphological operation and extraction of outer contour are applied for the real-time requirement. Thirdly, a two-stream CNN combining appearance and motion information are applied to reduce the false detection accuracy. Field experiments in complex outdoor environments have been performed to verify that the proposed system can be used to detect multi-pose humans with high detection accuracy in realtime. © 49th International Symposium on robotics, ISR 2017. All rights reserved.

关键词： Graphics processing unit

来源：评论

学校读者我要写书评

暂无评论

Distributed Leader-follower Formation Control of Nonholonomic Mobile Robots

引用

IFAC-PapersOnLine 2019年第15期52卷 67-72页

作者： Qun Lu Zhiqiang Miao Dan Zhang Li Yu Wenjun Ye Simon X. Yang Chun-Yi Su College of Electrical Engineering Yancheng Institute of Technology Yancheng 224003 China College of Electrical and Information Engineering Hunan University Changsha 410082 China College of Information Engineering Zhejiang University of Technology Hangzhou 310023 China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal QC H3G 1M8 Canada Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph ON N1G 2W1 Canada School of Automation Guangdong University of Technology Guangzhou 510006 China on leave from Concordia University Montreal QC H3G 1M8 Canada

This paper considers the problem of distributed leader-follower formation control for nonholonomic mobile robots only using local interactions among the robots. First, a distributed estimation strategy is presented for each follower robot to estimate the leader’s state. Then the dynamic equations of the formation tracking errors are formulated and a distributed formation control scheme is designed, which yields globally uniformly ultimately bounded stability for the closed-loop systems without requiring persistent excitation conditions. Finally, a simulation example demonstrates the effectiveness of the proposed approach.

关键词： Distributed formation control nonholonomic mobile robots distributed formation control persistent exciting conditions

来源：评论

学校读者我要写书评

暂无评论

Research on Position Sensorless Control of PMSM Based on Improved SMO

引用

IOP Conference Series: Materials Science and Engineering 2019年第1期533卷

作者： Zhang Guoqing Xiong Xinhong Zheng Yousheng Zhang Yanhui Chen Lianbo Wu Xinyu Feng Wei 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 Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China

The sliding mode observer (SMO) can effectively achieve the permanent magnet synchronous motor (PMSM) to perform position sensorless control, but there are still drawbacks of system chattering and high complexity. In this paper, an improved SMO is established based on hyperbolic tangent function and Kalman filter. The system chattering is effectively suppressed, and the accuracy of position and speed observation error is significantly improved without phase compensation. It is found that the convergence rate of the hyperbolic tangent function has a strong correlation with the system chattering degree and the speed observation error. When a is between 3 and 4, the speed error accuracy of the improved SMO is the optimum situation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Parameter Tuning of PID Controller of Servo System Based on Particle Swarm Optimization Algorithm

引用

IOP Conference Series: Materials Science and Engineering 2019年第1期533卷

作者： Chen Lianbo Xiong Xinhong Zheng Yousheng Zhang Yanhui Zhang Guoqing Wu Xinyu Feng Wei 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 Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China

In order to improve the control precision of permanent magnet synchronous motor servo drive, a Proportional-Integral-Differential (PID) control method based on particle swarm optimization (PSO) algorithm is proposed. Firstly, the mathematical model of the permanent magnet synchronous motor was established. Then the PSO algorithm was used to adjust the parameters of the PID controller. Finally, the simulation experiment was carried out under the MATLAB/Simulink environment to test its performance. Compared with the traditional manual parameters tuning, the PID controller based on PSO algorithm had better performance and better stability.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation

arXiv

引用

arXiv 2017年

作者： Giftthaler, Markus Neunert, Michael Stäuble, Markus Frigerio, Marco Semini, Claudio Buchli, Jonas Agile & Dexterous Robotics Lab Institute of Robotics and Intelligent Systems ZürichETH Switzerland Dept. of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy

Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with Rigid Body Dynamics, these derivatives are difficult to derive analytically and to implement efficiently. To overcome this issue, we extend the modelling tool ‘RobCoGen’ to be compatible with Automatic Differentiation. Additionally, we propose how to automatically obtain the derivatives and generate highly efficient source code. We highlight the flexibility and performance of the approach in two application examples. First, we show a Trajectory Optimization example for the quadrupedal robot HyQ, which employs auto-differentiation on the dynamics including a contact model. Second, we present a hardware experiment in which a 6 DoF robotic arm avoids a randomly moving obstacle in a go-to task by fast, dynamic replanning. This paper is an extended version of [1]. Copyright © 2017, The Authors. All rights reserved.

关键词： Aerodynamics

来源：评论

学校读者我要写书评

暂无评论

AFA-PredNet: The action modulation within predictive coding

arXiv

引用

arXiv 2018年

作者： Zhong, Junpei Cangelosi, Angelo Zhang, Xinzheng Ogata, Tetsuya Artificial Intelligence Research Center National Institute of Advanced Industrial Science and Technology Tokyo Japan Centre for Robotics and Neural Systems Plymouth University PlymouthPL4 8AA United Kingdom School of Electrical Engineering Jinan University Zhuhai China Lab for Intelligent Dynamics and Representation Waseda University Tokyo Japan

— The predictive processing (PP) hypothesizes that the predictive inference of our sensorimotor system is encoded implicitly in the regularities between perception and action. We propose a neural architecture in which such regularities of active inference are encoded hierarchically. We further suggest that this encoding emerges during the embodied learning process when the appropriate action is selected to minimize the prediction error in perception. Therefore, this predictive stream in the sensorimotor loop is generated in a top-down manner. Specifically, it is constantly modulated by the motor actions and is updated by the bottom-up prediction error signals. In this way, the top-down prediction originally comes from the prior experience from both perception and action representing the higher levels of this hierarchical cognition. In our proposed embodied model, we extend the PredNet Network, a hierarchical predictive coding network, with the motor action units implemented by a multi-layer perceptron network (MLP) to modulate the network top-down prediction. Two experiments, a minimalistic world experiment, and a mobile robot experiment are conducted to evaluate the proposed model in a qualitative way. In the neural representation, it can be observed that the causal inference of predictive percept from motor actions can be also observed while the agent is interacting with the environment. Copyright © 2018, The Authors. All rights reserved.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

Acoustic and Kinematic Examination of Dysarthria in Cantonese Patients of Parkinson’s Disease

Acoustic and Kinematic Examination of Dysarthria in Cantones...

引用

International Symposium on Chinese Spoken Language Processing

作者： Yue Sun Manwa L. Ng Chongyuan Lian Lan Wang Feng Yang Nan Yan College of Big Data and Information Engineering Guizhou University Guiyang China Speech Science Laboratory University of Hong Kong Hong Kong China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Speech Therapy Shenzhen Children’s Hospital Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Instimtes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781538656280;9781538656273

Hypokinetic dysarthria is one of the core symptoms of Parkinson's disease, characterized by reduced loudness, slurred speech and distorted consonant productions. Dopaminergic medication for Parkinson's disease (PD) has been proven to be effective in treating limb and gross motor movement problems. However, the literature sees contradictory findings regarding dopaminergic effects on speech problems associated with PD. Previous perceptual and acoustic studies of PD hypokinetic dysarthria mostly involved heterogeneous population and variations of speech tasks which complicated data interpretation. Also, the lack of kinematic data limited our understanding of the details of articulation errors associated with PD, as well as the medication effects. Electromagnetic articulography (EMA) enabled the examination of PD articulatory patterns with high degree of accuracy and safety. The aim of the present study was to address these inconsistencies by providing an integrative description of basic kinematic and acoustic parameters of speech production about the dopaminergic effect on early PD speech by using EMA. The results revealed a significant improvement of articulatory function on dopaminergic effects for PD speech, evidenced by increased vowel space, the velocity and accelerated velocity initiation and coordination of articulation during bilabial or alveolar productions.

关键词： Kinematics Acoustics Auditory system Sun Parameter extraction Schedules Lips

来源：评论

学校读者我要写书评

暂无评论

Barrier-certified adaptive reinforcement learning with applications to brushbot navigation

arXiv

引用

arXiv 2018年

作者： Ohnishi, Motoya Wang, Li Notomista, Gennaro Egerstedt, Magnus School of Electrical Engineering Royal Institute of Technology Stockholm11428 Sweden Georgia Robotics and Intelligent Systems Laboratory Georgia Institute of Technology AtlantaGA30332 United States RIKEN Center for Advanced Intelligence Project Tokyo103-0027 Japan School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30313 United States

This paper presents a safe learning framework that employs an adaptive model learning algorithm together with barrier certificates for systems with possibly nonstationary agent dynamics. To extract the dynamic structure of the model, we use a sparse optimization technique. We use the learned model in combination with control barrier certificates which constrain policies (feedback controllers) in order to maintain safety, which refers to avoiding particular undesirable regions of the state space. Under certain conditions, recovery of safety in the sense of Lyapunov stability after violations of safety due to the nonstationarity is guaranteed. In addition, we reformulate an action-value function approximation to make any kernel-based nonlinear function estimation method applicable to our adaptive learning framework. Lastly, solutions to the barrier-certified policy optimization are guaranteed to be globally optimal, ensuring the greedy policy improvement under mild conditions. The resulting framework is validated via simulations of a quadrotor, which has previously been used under stationarity assumptions in the safe learnings literature, and is then tested on a real robot, the brushbot, whose dynamics is unknown, highly complex and nonstationary. Copyright © 2018, The Authors. All rights reserved.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Graduated automation for humanoid manipulation

Graduated automation for humanoid manipulation

引用

2016 IEEE International Conference on Automation Science and Engineering, CASE 2016

作者： Gray, Steven Chevalier, Robert Caimano, Benjamin Scatena, Jason Robotics and Intelligent Systems Group Lockheed Martin's Advanced Technology Laboratories Cherry HillNJ08002 United States

ISBN: (纸本)9781509024094

The challenges posed by humanoid robotic manipulation in complex, remote environments have shown that fully-autonomous and fully-teleoperated approaches are impractical. In real-world environments, one encounters rapidly changing situations, localization drift, and other errors that break autonomy. Pure teleoperation is impractical due to the sheer number of degrees-of-freedom, real-time constraints such as balancing, and potentially low-bandwidth or unreliable communications between operator and platform. To address these issues, the operator must be able to seamlessly interact with the platform across multiple levels of abstraction. In this paper we present a manipulation framework underpinned by a novel system for applying graduated levels of automation to humanoid control. The level of automation used by the operator is dictated both by their preference as well as the system's own confidence in succeeding autonomously. We present experimental results using the Boston Dynamics Atlas humanoid platform. © 2016 IEEE.

关键词： Degrees of freedom (mechanics)

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：