检索结果-内蒙古大学图书馆

arXiv 2025年

作者： Lis, Konrad Kryjak, Tomasz Gorgoń, Marek Embedded Vision Systems Group Department of Automatic Control and Robotics AGH University of Krakow Al. Mickiewicza 30 Krakow30-059 Poland

This paper presents LiFT, a lightweight, fully quantized 3D object detection algorithm for LiDAR data, optimized for real-time inference on FPGA platforms. Through an in-depth analysis of FPGA-specific limitations, we identify a set of FPGA-induced constraints that shape the algorithm’s design. These include a computational complexity limit of 30 GMACs (billion multiply-accumulate operations), INT8 quantization for weights and activations, 2D cell-based processing instead of 3D voxels, and minimal use of skip connections. To meet these constraints while maximizing performance, LiFT combines novel mechanisms with state-of-the-art techniques such as reparameterizable convolutions and fully sparse architecture. Key innovations include the Dual-bound Pillar Feature Net, which boosts performance without increasing complexity, and an efficient scheme for INT8 quantization of input features. With a computational cost of just 20.73 GMACs, LiFT stands out as one of the few algorithms targeting minimal-complexity 3D object detection. Among comparable methods, LiFT ranks first, achieving an mAP of 51.84% and an NDS of 61.01% on the challenging NuScenes validation dataset. The code will be available at https://***/vision-agh/lift. © 2025, CC BY.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Determining the User's Requirements for an Intelligent Mind-controlled Prosthetic Lower Limb System

Determining the User's Requirements for an Intelligent Mind-...

引用

2022 IEEE International Conference on Blockchain, Smart Healthcare and Emerging Technologies, SmartBlock4Health 2022

作者： Dragoi, Marius-Valentin Hadar, Anton Goga, Nicolae Ali, Haider Abdullah University POLITEHNICA of Bucharest Faculty of Industrial Engineering and Robotics Bucharest Romania University POLITEHNICA of Bucharest Faculty of Automatic Control and Computers Bucharest Romania University of Groningen Groningen Netherlands

ISBN: (纸本)9781665460149

Brain-Computer Interface technology (BCI) evolved since 70', from a project made for studying brain affection to an approach of giving the ability to people with massive muscular affection. The basis of BCI is the electroencephalography technique (EEG) which captures brain signals from neuronal activity using electrodes placed on the scalp. These signals are interpreted as commands that can be used to control applications or external devices. EEG non-invasive approach is widely preferred due to non-critical procedures, and it doesn't need or require surgery which can be expensive and dangerous. The current prosthetic leg could be expensive, heavy, and hard to control by disabled people. To determine the functional and non-functional requirements of the user, and learn how users wish to engage with the prosthetic lower limb intelligent system, a quantitative questionnaire is offered in this study. The participant's responses will be considered the basis of the system design. The goal of this quantitative questionnaire is to build a low-cost, lightweight, and intelligent functional bionic prosthetic leg that meets the functional and non-functional requirements of the user. This system will be controlled by mind commands using a dedicated neuro headset. © 2022 IEEE.

关键词： Brain computer interface

来源：评论

学校读者我要写书评

暂无评论

PID-fuzzy switching-based strategy to heading control for remote operated vehicle

引用

Neural Computing and Applications 2024年 1-17页

作者： Xie, Baolong He, Shuping Cao, Xiang Wang, Honghai Stojanovic, Vladimir Shi, Kaibo School of Electrical Engineering and Automation Anhui University Hefei230039 China School of Artificial Intelligence Anhui University Hefei230039 China School of Computing and Artificial Intelligence Chaohu University Chaohu238024 China Department of Automatic Control Robotics and Fluid Technique Faculty of Mechanical and Civil Engineering University of Kragujevac Kraljevo36000 Serbia School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China

Accurate heading control is the premise for underwater vehicles to complete underwater operations. In order to improve the performance of heading control, this paper proposes a heading control strategy based on PID-fuzzy switching. First, the force analysis of the steering motion was carried out to derive the dynamics model of the steering motion. Then, the whole heading control process is divided into two phases, steering phase and holding phase. Fuzzy control is used in the steering phase, and PID control is used in the holding phase. By setting the automatic switching switch, the control system can switch freely between the two to meet the needs of system adjustment under different errors. Finally, the performance of the established heading control system is verified through motion control simulations and pool experiments, and the proposed control strategy is compared with other methods. The results show that the control strategy can effectively achieve ROV heading control with good steady-state accuracy, and the overall performance has been greatly improved. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Fuzzy control

来源：评论

学校读者我要写书评

暂无评论

Autonomous Cost-Effective Robotic Exploration and Mapping for Disaster Reconnaissance 10

Autonomous Cost-Effective Robotic Exploration and Mapping fo...

引用

10th International Conference on Emerging Trends in Engineering and Technology - Signal and Information Processing, ICETET-SIP-22 2022

作者： Seenu, N. Manohar, Lokeshwaran Stephen, Nikhit Mathew Ramanathan, Kuppan Chetty Ramya, M.M. Centre for Automation and Robotics Hindustan Institute of Technology and Science Chennai India Technische Universität Dortmund Department of Electrical Engineering and Information Technology Dortmund Germany École Centrale de Nantes Automatic Control and Robotics Department Nantes France

ISBN: (纸本)9781665467414

Natural calamities like earthquake and tsunami wreak havoc on life of so many people and the infrastructure, thus saving people who are trapped in the affected region has been a very difficult task for rescuers. This work aims to develop a system which will ease this task for the rescuers by using behavior based multiple robots that will explore, map, localize, path plan and navigate in an unknown environment. Various incarnations of pre-existing meta-heuristic algorithms are used to develop a cost-effective solution in this work. A random walk exploration is used to explore the entire environment effectively which reduces the computational cost and time. To reduce the complexities of mapping, binary occupancy grid is used for the map layout, which is not as efficient as compared to its counterparts but better, where time is the crucial factor. To identify the efficient path to navigate from source to destination positions in the environment, Particle Swarm Optimization algorithm is used in this paper. The last and the most crucial step of the system is navigation towards the destination. By integrating INS and GPS algorithms, the robot can get an almost perfect algorithm for navigation which is not prone to errors. Autonomous robot exploration, mapping and navigation are achieved by integrating the proposed algorithms to work simultaneously. The effectiveness of the proposed algorithms is analyzed through simulations in Webots virtual simulator environment, and the results are presented. Adapting the proposed exploration technique for swarm of robots is a prospective future research direction of this paper. © 2022 IEEE.

关键词： Legged locomotion Navigation Robot sensing systems Tsunami Sensors Particle swarm optimization Task analysis

来源：评论

学校读者我要写书评

暂无评论

How to Teach Fractional Calculus Inspired Electronics Remotely? 9

How to Teach Fractional Calculus Inspired Electronics Remote...

引用

9th IEEE International Conference on e-Learning in Industrial Electronics, ICELIE 2022

作者： Bauer, Waldemar Kucharska, Edyta Baranowski, Jerzy Kapoulea, Stavroula Bertsias, Panagiotis Psychalinos, Costas AGH University of Science and Technology Department of Automatic Control Robotics Krakow Poland University of Patras Electronics Laboratory Rio Patras Physics Department GR26504 Greece

ISBN: (数字)9781665489904

ISBN: (纸本)9781665489904

In this paper we consider the problem of teaching fractional calculus concepts, applied to practice, remotely. This advanced concepts require both appropriate tools and proper project planning. In this paper we discuss both. Especially we present a high level case study as an example of interlocking multiple parts of advanced project. © 2022 IEEE.

关键词： E-learning

来源：评论

学校读者我要写书评

暂无评论

Thermally-activated Biochemically-sustained Reactor for Soft Fluidic Actuation

Thermally-activated Biochemically-sustained Reactor for Soft...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Jialun Liu MennaAllah Soliman Dana D. Damian Automatic Control and Systems Engineering Department Sheffield Robotics University of Sheffield Sheffield UK Insigneo Institute for in Silico Medicine University of Sheffield UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Soft robots have shown remarkable distinct capabilities due to their high deformation. Recently increasing attention has been dedicated to developing fully soft robots to exploit their full potential, with a recognition that electronic powering may limit this achievement. Alternative powering sources compatible with soft robots have been identified such as combustion and chemical reactions. A further milestone to such systems would be to increase the controllability and responsiveness of their underlying reactions in order to achieve more complex behaviors for soft robots. In this paper, we present a thermally-activated reactor incorporating a biocompatible hydrogel valve that enables control of the biochemical reaction of sugar and yeast. The biochemical reaction is utilized to generate contained pressure, which in turn powers a fluidic soft actuator. Experiments were conducted to evaluate the response time of the hydrogel valves with three different crosslinker concentrations. Among the tested concentrations, we found that the lowest crosslinker concentration yielded the fastest response time of the valve at an ambient temperature of 50°C. We also evaluated the pressure generation capacity of the reactor, which can reach up to 0.22 bar, and demonstrated the thermoresponsive behavior of the reactor to trigger a biochemical reaction for powering a fluidic soft actuator. This work opens up the possibility to power and control tetherless and fully soft robots.

关键词： Actuators Electric potential Deformation Hydrogels Soft robotics Valves Time factors

来源：评论

学校读者我要写书评

暂无评论

Graph Neural Networks for Natural Language Processing in Human-Robot Interaction

Graph Neural Networks for Natural Language Processing in Hum...

引用

Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Aleksandra Świetlicka Dagmara Haczyk Marcel Haczyk Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland Poznan University of Technology Poznań Poland

Human-robot interaction (HRI) has become a promising field that focuses on developing intelligent systems that are capable of understanding human language. Natural Language Processing (NLP) plays a huge role in enabling robots to interpret and generate natural language, making it easier to effectively communicate. However, traditional NLP approaches sometimes struggle to capture the right structural dependencies and contextual *** overcome these limitations, Graph Neural Networks (GNNs) have emerged as a powerful model for NLP tasks in the context of human-robot interaction. GNNs extend traditional neural network architectures to effectively model and reason about structured data, such as graphs. In the context of NLP, these graphs can represent semantic relationships between words or *** this study, we model human-robot conversations as graphs. The aim of the research is to conduct a test using GNNs to predict personality traits based on conversations between human and robot. Presented results, despite a very small training set, show that GNNs can be effective in capturing the dynamics and context of conversations. GNNs lead then to improved performance in tasks such as predicting personality and estimating engagement levels. These findings suggest that GNNs have the potential to enhance the quality of HRI and improve the overall user experience.

关键词：

来源：评论

学校读者我要写书评

暂无评论

THE CONSTRUCTION OF A SOFT GRIPPER BASED ON MAGNETORHEOLOGICAL ELASTOMER WITH PERMANENT MAGNET

arXiv

引用

arXiv 2024年

作者： Bernat, Jakub Czopek, Pawel Superczynska, Paulina Gajewski, Piotr Marcinkowska, Agnieszka Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland Institute of Chemical Technology and Engineering Poznan University of Technology Poznan Poland

Recently, magnetorheological elastomers have become an interesting smart material with many new designs for robotics. A variety of applications have been built with magnetorheological elastomers, such as vibration absorbers, actuators, or grippers, showing that this material is promising for soft robotics. In this work, the novel concept of a gripper is proposed, exploring the features of a magnetorheological elastomer and permanent magnet. The gripper uses the energy of a permanent magnet to provide a self-closing gripping mechanism. The usage of flexible material enables one to hold delicate objects of various shapes. This paper presents the rolling effect of magnetorheological elastomer and permanent magnet, the design process, and the features of the soft gripper. The effectiveness of the soft gripper was validated in a series of experiments that involved lifting different objects. Copyright © 2024, The Authors. All rights reserved.

关键词： Permanent magnets

来源：评论

学校读者我要写书评

暂无评论

Optimal control of unmanned robotic platform

Optimal control of unmanned robotic platform

引用

International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Sławomir Stępień Marcin Chodnicki Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland Airplanes and helicopters division Air Force Institute of Technology Warsaw Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

This paper proposes an infinite-time horizon suboptimal control strategy based on state-dependent Riccati equation (SDRE) to control of unmanned ground vehicle (UGV). Cruise control of unmanned robotic platform is modelled and simulated. For vehicle modelling purpose a full 6 DOF model is considered and described by nonlinear state-space approach. Also a stable state-dependent parametrization (SDP) necessary for solution of the SDRE control problem is proposed and presented. Solution of the SDRE control problem with adequate defined weighting matrices in performance index shows possibility of fast and optimal vehicle control in infinite-time horizon. The method in this form can be used for mission planning of each ground vehicle tracking and dynamics control.

关键词： Riccati equations Optimal control Mathematical models Land vehicles Planning Performance analysis Numerical models

来源：评论

学校读者我要写书评

暂无评论

Robustness of Fault Isolation – an Underestimated Feature of Diagnostic Systems

引用

IFAC-PapersOnLine 2022年第6期55卷 133-138页

作者： Jan M. Kościelny Michał Z. Bartyś Institute of Automatic Control and Robotics Warsaw University of Technology Boboli 8 02-525 Warsaw Poland

The paper is aimed to discuss the problem of fault isolation robustness. According to the authors, this problem has been so far underestimated and poorly discussed in the community of process diagnostics. It was pointed out that the lack of robustness of fault isolation maybe one of the main reasons limiting the broader application of advanced diagnostic systems. This was a strong motivation to undertake the research and evaluation of the robustness of fault isolation approaches. Therefore, a significant part of the paper was devoted to identifying and discussing the main reasons for the lack of fault isolation robustness. Also, for research and comparative purposes, the term robustness of fault isolation was defined together with a preliminary proposal for its estimation which supposedly may find industrial acceptance. Finally, a heuristic qualitative metric of fault isolation robustness has been proposed. It allows for a quick and straightforward assessment of the fault isolation robustness, which promises its practical usability.

关键词： fault isolation isolability robustness of isolability metric of isolability robustness

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：