检索结果-内蒙古大学图书馆

Smooth Surface-to-Surface Contact Control for Rope-Base Soft-Tip Manipulator

IEEE Transactions on automation Science and Engineering 2025年 22卷 16297-16308页

作者： Guangli Sun Fangxun Zhong Peng Li Linzhu Yue Zhi Chen Xiang Li Yun-Hui Liu Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Shatin SAR Hong Kong School of Science and Engineering The Chinese University of Hong Kong Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology at Shenzhen Shenzhen China Hong Kong Centre for Logistics Robotics SAR Hong Kong Department of Automation Tsinghua University Beijing China

A new control pipeline has been proposed for the Rope-Base Soft-tip Manipulator (RBSM) to execute the surface contact task to prevent the jamming and slipping problems. The control pipeline enables smooth surface-to-surface contact for the RBSM using only force sensors, eliminating the dependence on additional pose measurement of the window surface plane and soft-tip deformation information. The pipeline consists of three steps: free contact step implemented by an exponential force shape controller to avoid force overshoot to the window surface; orientation refinement step implemented by a force and torque combined controller to make the RBSM cleaning head surface stable adapt to the smooth window surface; and finally, a release normal force step to reduce head jamming and region covering with a pre-defined vibration-less cleaning trajectory for smooth cleaning on the slippery window surface. The proposed pipeline has been validated in a Rope base Cleaning Manipulator prototype to clean a common window surface. The force and velocity curves during the cleaning experiment show that the proposed method achieves smooth scraping and cleaning under unknown initial significant errors in surface orientation. Note to Practitioners—The current robotic rope base high-rise exterior work, especially cleaning, is not efficient due to the instability of the base and the influence of the soft-tip on the window and end-effector contact. A new control pipeline has been proposed for the Rope-Base Soft-tip Manipulator (RBSM) to clean the window surface smoothly to avoid jamming, slipping, and leaving problems in the contact process. The control pipeline realizes smooth surface-to-surface contact of RBSM with only force sensors without additional pose measurement of the window surface plane. The pipeline consists of three steps: free contact step implemented by an exponential force shape controller to avoid force overshoot to the window surface; orientation refinement step implemented

关键词： Surface cleaning Force Manipulators Robots Jamming Pipelines End effectors Trajectory Surface impedance Force sensors

来源：评论

学校读者我要写书评

暂无评论

Ternary SRAM Cell Designs for Next-Generation: A Comprehensive Investigation of 6T, 8T, and 10T Designs 7

Ternary SRAM Cell Designs for Next-Generation: A Comprehensi...

引用

7th International Conference on Circuit Power and Computing Technologies, ICCPCT 2024

作者： Bale, Ajay Sudhir Vura, Swetha Arulananth, T.S. Sai Nithin Reddy, Daggula Reddy, B. Rithvik Nithin Kumar Reddy, Nalobannagari New Horizon College of Engineering Department of Electronics and Communication Engineering Bengaluru India Impact College of Engineering and Applied Sciences Department of Automation and Robotics Bengaluru India MLR Institute of Technology Department of Electronics and Communication Engineering Telangana Hyderabad500043 India

ISBN: (纸本)9798350372816

Ternary logic is popular where it uses logic levels of 0, 1 and 2 instead of using the old binary logic structure. Due to this, it has grown to be very popular method in many applications. It is used in applications which focuses on high density data processing and also to obtain lower power consumption. The design of this SRAMs poses lot of challenges and there is a high demand for robust and optimized memory units. This work concentrates on overcoming the problems of higher power consumption that is found in traditional SRAM cells. It focusses on the comprehensive study if 6T, 8T and 10T SRAM cells. Through this study, the performance metrics are analyzed for power consumption and R/W efficiency. The results obtained shows the lower consumption of power and improved R/W efficiency. © 2024 IEEE.

关键词： Static random access storage

来源：评论

学校读者我要写书评

暂无评论

1U-Sized Deployable Space Manipulator for Future On-Orbit Servicing,Assembly,and Manufacturing

引用

Space(Science & technology) 2022年第1期2022卷 500-513页

作者： Jinguo Liu Pengyuan Zhao Keli Chen Xin Zhang Xiang Zhang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China National Innovation Institute of Defense Technology Academy of Military SciencesBeijingChina

Miniaturized,multifunctional,and economical on-orbit service satellites have been increasingly used with the continuous increase of space exploration *** this paper,an innovative deployable manipulator is designed,named Cubot,which can be stowed in 1 U-sized(10 cm×10 cm×10 cm)*** CubeSat as the carrier,the deployable Cubot aims to achieve a variety of on-orbit operation tasks including space debris removal and space station on-orbit maintenance,for future on-orbit servicing,assembly,and manufacturing(OSAM).A kinematics modeling method of a space manipulator with passive joints is proposed,and the motion equation of the manipulator is *** the elastic potential energy stored in the passive joint during deployment,the momentum change of Cubot is simulated and *** the main forced element,the end effector is analyzed using *** stress response with respect to the force distribution and the clamping angle is analyzed to evaluate mechanical performances of the end-effector *** tests are conducted to verify the feasibility of Cubot based on a principled prototype,which aims to provide engineering and practical experience for the development of this field.

关键词： passive sized Cube

来源：评论

学校读者我要写书评

暂无评论

Exploiting Hybrid Policy in Reinforcement Learning for Interpretable Temporal Logic Manipulation

Exploiting Hybrid Policy in Reinforcement Learning for Inter...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Hao Zhang Hao Wang Xiucai Huang Wenrui Chen Zhen Kan Department of Automation University of Science and Technology of China Hefei China School of Automation Chongqing University Chongqing China School of Robotics Hunan University Changsha China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration phase, especially for long-horizon manipulation tasks, and generally neglect the semantic information from the task level, resulted in a delayed convergence or even tasks failure. To tackle these challenges, we propose a Temporal-Logic-guided Hybrid policy framework (HyTL) which leverages three-level decision layers to improve the agent’s performance. Specifically, the task specifications are encoded via linear temporal logic (LTL) to improve performance and offer interpretability. And a waypoints planning module is designed with the feedback from the LTL-encoded task level as a high-level policy to improve the exploration efficiency. The middle-level policy selects which behavior primitives to execute, and the low-level policy specifies the corresponding parameters to interact with the environment. We evaluate HyTL on four challenging manipulation tasks, which demonstrate its effectiveness and interpretability. Our project is available at: https://***/view/hytl-0257/.

关键词： Decision making Semantics Reinforcement learning Robot learning Planning Logic Intelligent robots Convergence

来源：评论

学校读者我要写书评

暂无评论

A Robotic System with Robust Remote Center of Motion Constraint for Endometrial Regeneration Surgery

引用

Chinese Journal of Mechanical Engineering 2022年第4期35卷 169-181页

作者： Jianhua Li Chongyang Wang Zhenxing Wang Xiong Zheng Zhidong Wang Jichun Tan Hao Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Shenyang Jianzhu University Shenyang 110168China Chiba Institute of Technology Chiba 275-0016Japan Shengjing Hospital of China Medical University Shenyang 110016China

Surgical robots have been widely used in diferent procedures to improve and facilitate the ***,there is no robot designed for endometrial regeneration surgery,which is a new therapy for restoring fertility in women using stem *** regeneration surgery requires processing of the endometrium and transplantation of stem cells with minimal trauma to the *** this paper,we introduce a surgical robotic system that consists of a dexterous hysteroscope,supporting arm,and additional novel instruments to facilitate the operation and decrease trauma to the *** center of motion(RCM)constraint is required to protect the cervix of the ***,the supporting arm and hysteroscope are controlled separately in kinematics to ensure that the RCM constraint and hysteroscope’s shape and posture are ***,a task-decoupled method is used to improve the robustness of the RCM *** confrm that the proposed method is more robust and achieves higher RCM *** addition,the master-slave control of a robot with RCM constraint is also *** study proposes the realization of a robot with robust RCM control for endometrial regeneration surgery.

关键词： Endometrial regeneration Surgical robot Remote center of motion Task decoupled

来源：评论

学校读者我要写书评

暂无评论

Denoising of Speech Signal using Deep Learning

Denoising of Speech Signal using Deep Learning

引用

2024 IEEE International Conference on Intelligent Systems and Advanced Applications, ICISAA 2024

作者： Wani, Priyanka Uttarwar, Sudhanshu Mote, Abhijeet Dada Chandan, M.N. Katarwar, Vandana Dr. D. Y. Patil Institute of Technology SPPU Department of Electronics and Telecommunication Pune India Mountain Digital TX United States JSPM's Rajashri Shahu College of Engineering Department of Automation and Robotics Pune India

ISBN: (纸本)9798331539948

Speech is the primary vocalized form of natural speech. Speaking is simple, hands-free, quick, and doesn't require any technological expertise. Speech recognition software makes it easy and comfortable for people to communicate with computers. A speech recognition system enabled this. Speech denoising using deep learning involves using neural networks to eliminate destortion from input signals, preserving the clarity of the speech. For this task, deep learning models such as CNNs or RNNs are commonly used. © 2024 IEEE.

关键词： Signal denoising

来源：评论

学校读者我要写书评

暂无评论

Multi-Class Machine Learning Based Approach for SleepDisorder Identification Using EEG Signals 7

Multi-Class Machine Learning Based Approach for SleepDisorde...

引用

7th IET Smart Cities Symposium, SCS 2023

作者： Murugesan, Rajalakshmi Chandran, Karthik Dutta, P.K. Department of Mechatronics Thiagarajar College of Engineering Tamilnadu Madurai India Department of Robotics & Automation Jyothi Engineering College Kerala India Department of Electronics and Communication School of Engineering and Technology Amity University Kolkata India

ISBN: (纸本)9781839539831

Accurately identifying sleep stages is crucial for the analysis and management of sleep disorders. Electroencephalogram (EEG) signals have shown promise in sleep stage identification. This research presents a novel method for classifying different sleep stages using EEG data based on a multi-class support vector machine (SVM) approach. The proposed method involves preprocessing the EEG signals to remove noise and artifacts, followed by feature extraction using wavelet transform and statistical methods. A multi-class SVM classifier is then trained to identify four sleep stages: waking, non-rapid eye movement (NREM) stage 1, non-rapid eye movement (NREM) stage 2, and rapid eye movement (REM) stage. The method is evaluated on a dataset comprising EEG signals collected from 20 healthy individuals during a full-night sleep study. The results demonstrate that the proposed technique outperforms existing EEG-based approaches, achieving anaverage classification accuracy of 86.2 for sleep stage identification. The suggested method has potential applications in clinical settings for sleep disorder evaluation and management. Additionally, it can be extended to other applications requiring the identification of various classes from EEG data. © The Institution of Engineering & technology 2023.

关键词： Support vector machines

来源：评论

学校读者我要写书评

暂无评论

Trajectory Tracking Using Linear State Feedback Controller for a Mecanum Wheel Omnidirectional 6th

Trajectory Tracking Using Linear State Feedback Controller f...

引用

6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021

作者： Thai, Nguyen Hong Ly, Trinh Thi Khanh Long, Nguyen Thanh Dzung, Le Quoc Department of Mechanical Design and Robotics School of Mechanical Engineering HanoiUniversity of Science and Technology Hanoi Viet Nam Faculty of Automation Technology Electric Power University Hanoi Viet Nam

ISBN: (纸本)9783030918910

This paper presents a method to design a linear state feedback controller for the mecanum wheel omnidirectional to track a NURBS curve trajectory. Firstly, the robot's kinematic model and kinematic error were established to design a linear state feedback controller. Then, determine the parameters of the controller according to the varying angular velocity for the desired trajectory. An omnidirectional robot platform has been experimental designed and manufactured for experimental verification of the proposed controller. The simulation and experimental results show that the kinematic controller devel-oped by this study has high-performance trajectory tracking with minor tracking errors. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Controllers

来源：评论

学校读者我要写书评

暂无评论

GroupTrack: Multi-Object Tracking by Using Group Motion Patterns

GroupTrack: Multi-Object Tracking by Using Group Motion Patt...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Xinglong Xu Weihong Ren Gan Sun Haoyu Ji Yu Gao Honghai Liu State Key Lab of Robotics and Systems School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The main challenge of Multi-Object Tracking (MOT) lies in maintaining a distinctive identity for each target in dense crowds or occluded scenarios. Although the existing methods have achieved significantly progress by using robust object detectors or complex association strategies, they cannot effectively solve long-term tracking due to individually motion or appearance modeling for each single target. In this paper, we propose a novel 2D MOT tracker GroupTrack, to learn reliable motion state for each target using group motion patterns. Specifically, for each tracklet, we first choose its neighboring ones to form a group of motion patterns, which can provide informative clues for the motion estimation of the current tracklet. Then, we apply the group motion patterns to perform tracklet prediction and data association. By integrating prior from neighboring motion patterns into the data association process, GroupTrack provides a new paradigm for target motion modeling in extremely crowded and occluded scenarios. Through extensive experiments on the public MOT17 and MOT20 datasets, we demonstrate the effectiveness of our approach in challenging scenarios and show state-of-the-art performance at various MOT metrics.

关键词： Measurement Target tracking Three-dimensional displays Tracking Motion estimation Detectors Reliability Object tracking Pattern matching Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Adaptive Climbing Gait Design of Snake Robot Based on Extended Kalman Filter

Adaptive Climbing Gait Design of Snake Robot Based on Extend...

引用

2021 International Conference on Mechatronics, automation and Intelligent Control, MAIC 2021

作者： Han, Siwei W., Xiao Z.-H., Yu W., Wei School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510000 China College of Robotics Guangdong Polytechnic of Science and Technology Guangdong Zhuhai519090 China

We propose a method of climbing pipe with different diameter, which enables snake robot to divide itself into 3 parts to complete transition on the pipe according to the joints' state for now. To avoid controlling the robot from building dynamic model, a gait-based open-loop control framework is adopted. An extended kalman filter (EKF) is applied here to estimate the adaptive parameter of gait-based function for different 3 parts and corresponding joints. The adaptive parameter will help snake robot perceive the environment better and climb the pipe more steadily. © Published under licence by IOP Publishing Ltd.

关键词： Extended Kalman filters

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：