检索结果-内蒙古大学图书馆

EEG-based self-paced decoding of upper limb movement intention in healthy subjects 2

EEG-based self-paced decoding of upper limb movement intenti...

2nd Edition IEEE International Conference on Metrology for eXtended Reality, Artificial Intelligence and Neural engineering, MetroXRaiNE 2023

作者： Ceradini, Matteo Tortora, Stefano Tonin, Luca Micera, Silvestro Scuola Superiore Sant 'Anna The BioRobotics Institute Department of Excellence in Robotics and Ai Pisa Italy University of Padova Department of Information Engineering Padova Italy Padua Neuroscience Center University of Padova Padova Italy Bertarelli Foundation in Translational Neuroengineering Epfl Geneva Switzerland

ISBN: (纸本)9798350300802

EEG-based brain-machine interfaces (BMIs) offer an intuitive approach for individuals with motor impairments to control prosthetic or rehabilitation devices. Decoding movement intentions plays a vital role in accurately translating the motor execution plans of subjects, such as identifying the desired grasp type or target position. In this study, EEG signals were recorded from seven healthy subjects during self-paced reaching and grasping tasks. Power Spectral Density (PSD) and Entropy were extracted as features to assess their efficacy in discrimination between different brain states related to movement planning. Classification between anticipation of movement and resting-state periods were evaluated using machine-learning methods (Linear Discriminant Analysis, Quadratic Discriminant Analysis, and Support Vector Machines). The achieved results provide strong evidence for the feasibility of decoding movement intention, laying the foundation for future applications and advancements in the field. Attaining high accuracy in decoding movement intention holds significant potential for the translational applications of BMIs in the fields of biomedical engineering and rehabilitation. © 2023 IEEE.

关键词： brain signal processing brain-machine interface (BMI) electroencephalography movement intention decoding

来源：评论

学校读者我要写书评

暂无评论

ADAPT: Efficient Multi-Agent Trajectory Prediction with Adaptation

arXiv

引用

arXiv 2023年

作者： Aydemir, Görkay Akan, Adil Kaan Güney, Fatma KUIS AI Center Turkey Department of Computer Engineering Koç University Turkey

Forecasting future trajectories of agents in complex traffic scenes requires reliable and efficient predictions for all agents in the scene. However, existing methods for trajectory prediction are either inefficient or sacrifice accuracy. To address this challenge, we propose ADAPT, a novel approach for jointly predicting the trajectories of all agents in the scene with dynamic weight learning. Our approach outperforms state-of-the-art methods in both single-agent and multi-agent settings on the Argoverse and Interaction datasets, with a fraction of their computational overhead. We attribute the improvement in our performance: first, to the adaptive head augmenting the model capacity without increasing the model size;second, to our design choices in the endpoint-conditioned prediction, reinforced by gradient stopping. Our analyses show that ADAPT can focus on each agent with adaptive prediction, allowing for accurate predictions efficiently. https://***/adapt © 2023, CC BY.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

Grid-Fast: A Grid-Based Robust Intersection Detection for Fast Semantic Topometric Mapping

SSRN

引用

SSRN 2023年

作者： Fredriksson, Scott Saradagi, Akshit Nikolakopoulos, George Robotics & AI Team Department of Computer Electrical and Space Engineering Luleå University of Technolog LuleåSE-97187 Sweden

This article presents a novel approach to topometric and topological mapping through the detection and classification of intersections in a 2D grid-based map. Unlike existing methods for semantic and topometric mapping, where semantic traits are derived from Voronoi graphs or environment-specific traits, the proposed approach uses a novel approach to detect and classify intersections in a map, which is then used to derive a topometric map containing intersections, pathways, dead ends, and additional pathways leading to unexplored frontiers. Furthermore, the resulting topometric map is used to generate a sparse topological map in the form of a skeleton map. The proposed solution introduces several layers of pre-filtering to handle noises in the environment, to remove openings in the map that the robot cannot pass, and to remove small objects, in order to optimize and simplify the overall mapping results. The semantically meaningful information and the sparsity of the topological map can be used by robots with low computation and memory capabilities for global navigation. The efficacy of the proposed method is demonstrated through validation on real maps gathered from robotic experiments: 1) a structured indoor environment, 2) an unstructured cave-like subterranean environment, and 3) an outdoor environment which comprises of pathways, buildings, and scattered objects. Additionally, the proposed framework has been compared with state-of-the-art topological mapping solutions and is able to produce a topometric and topological map with up to 93% fewer nodes than the next best solution. © 2023, The Authors. All rights reserved.

关键词： Mapping

来源：评论

学校读者我要写书评

暂无评论

A Resilient Framework for 5G-Edge-Connected UAVs based on Switching Edge-MPC and Onboard-PID Control

A Resilient Framework for 5G-Edge-Connected UAVs based on Sw...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Gerasimos Damigos Achilleas Santi Seisa Sumeet Gajanan Satpute Tore Lindgren George Nikolakopoulos Ericsson Research Luleå Department of Computer Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå

In recent years, the need for resources for handling processes with high computational complexity for mobile robots is becoming increasingly urgent. More specifically, robots need to autonomously operate in a robust and continuous manner, while keeping high performance, a need that led to the utilization of edge computing to offload many computationally demanding and time-critical robotic procedures. However, safe mechanisms should be implemented to handle situations when it is not possible to use the offloaded procedures, such as if the communication is challenged or the edge cluster is not available. To this end, this article presents a switching strategy for safety, redundancy, and optimized behavior through an edge computing-based Model Predictive Controller (MPC) and a low level onboard-PID controller for edge-connected Unmanned Aerial Vehicles (UAVs). The switching strategy is based on communication Key Performance Indicators (KPIs) over 5G to decide whether the UAV should be controlled by the edge-based or have a safe fallback based on the onboard controller.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Cluster-Based Unbalanced Task Assignment for Multi-Robot Systems

SSRN

引用

SSRN 2023年

作者： Bai, Yifan Lindqvist, Björn Karlsson, Samuel Kanellakis, Christoforos Nikolakopoulos, George Robotics and AI Team Department of Computer Electrical and Space Engineering Luleå University of Technology LuleåSE-97187 Sweden

This article presents a complete system architecture for multi-robot coordination for unbalanced task assignments, where a limited number of robots are supposed to visit and accomplish missions at different locations. The proposed method first groups tasks into clusters according to the number of robots, then the assignment is done in the form of one-cluster-to-one-robot, followed by solving the traveling salesman problem (TSP) to determine the visiting order of tasks within each cluster. A nonlinear model predictive controller (NMPC) is designed for robots to navigate to their assigned tasks while avoiding colliding with other robots. Several simulations and physical experiments are conducted to evaluate the feasibility of the proposed architecture. A video example of the simulations can be viewed at https://***/5C7zTnv2sfo. Besides, we compare the cluster-based assignment with a simulated annealing (SA) algorithm, one of the typical solutions for the multiple traveling salesman problem (mTSP), and the result reveals that with a similar optimization effect, the cluster-based assignment is outstanding in terms of computation time, especially when the ratio of the number of tasks to agents is high. © 2023, The Authors. All rights reserved.

关键词： Traveling salesman problem

来源：评论

学校读者我要写书评

暂无评论

Evaluation of Chest CT-Scan Anomaly Detection Models Using Principal Component Analysis 25

Evaluation of Chest CT-Scan Anomaly Detection Models Using P...

引用

25th International Arab Conference on Information Technology, ACIT 2024

作者： Alyabrodi, Ala Al-Daja, Shrouq Injadat, MohammadNoor Moubayed, Abdallah Elrashidi, Ali Zarqa University Cyber Security Department Zarqa Jordan Zarqa University Data Science & Ai Department Zarqa Jordan King Fahd University of Petroleum & Minerals Research Center for Intelligent Secure Systems Computer Engineering Department and Interdisciplinary Dhahran Saudi Arabia University of Business and Technology Department of Electrical Engineering Jeddah21432 Saudi Arabia

ISBN: (纸本)9798331540012

Machine learning-based improvements in anomaly detection, visualization, and segmentation are made possible by the growing digitization of medical imaging, which reduces the workload for medical specialists. Nevertheless, trustworthy labeled data is necessary for supervised machine learning and is sometimes expensive, time-consuming, or impossible to get. Consequently, techniques that need either little labeling (unsupervised methods) or partial labeling (semi-supervised methods) have been used increasingly been used. One approach that can be used to tackle medical imaging tasks like segmentation and classification is anomaly detection, which makes use of both unsupervised and semi-supervised methods. This study investigates the anomaly detection capabilities of deep learning and machine learning models trained on chest CT scans. To adopt this approach, firstly, by evaluating several feature extraction techniques (Principal Component Analysis (PCA), Autoencoder, and variance threshold), PCA achieves the best results on the selected dataset. After that, different machine learning and deep learning models (Isolation Forest, K-means, feed-forward neural networks, and convolutional neural networks) are assessed to detect anomalies using PCA for dimensionality reduction. The experiments show that the NN-Feedforward model with PCA outperformed the other models, also attains remarkably low false alarm rate, demonstrating its effectiveness in reducing false positives and precisely detecting anomalies. © 2024 IEEE.

关键词： computerized tomography

来源：评论

学校读者我要写书评

暂无评论

Environmental Awareness Dynamic 5G QoS for Retaining Real Time Constraints in Robotic Applications

Environmental Awareness Dynamic 5G QoS for Retaining Real Ti...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Gerasimos Damigos Akshit Saradagi Sara Sandberg George Nikolakopoulos Ericsson Research Ericsson AB Luleå Sweden Department of Computer Electrical and Space Engineering Robotics and AI Group Luleå University of Technology Luleå Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The fifth generation (5G) cellular network technology is mature and increasingly utilized in many industrial and robotics applications, while an important functionality is the advanced Quality of Service (QoS) features. Despite the prevalence of 5G QoS discussions in the related literature, there is a notable absence of real-life implementations and studies concerning their application in time-critical robotics scenarios. This article considers the operation of time-critical applications for 5G-enabled unmanned aerial vehicles (UAVs) and how their operation can be improved by the possibility to dynamically switch between QoS data flows with different priorities. As such, we introduce a robotics oriented analysis on the impact of the 5G QoS functionality on the performance of 5G-enabled UAVs. Furthermore, we introduce a novel framework for the dynamic selection of distinct 5G QoS data flows that is autonomously managed by the 5G-enabled UAV. This problem is addressed in a novel feedback loop fashion utilizing a probabilistic finite state machine (PFSM). Finally, the efficacy of the proposed scheme is experimentally validated with a 5G-enabled UAV in a real-world 5G stand-alone (SA) network. https://***/watch?v=lWtMOlVMEFI&t=1s

关键词： Feedback loop 5G mobile communication Service robots Quality of service Switches Autonomous aerial vehicles Probabilistic logic

来源：评论

学校读者我要写书评

暂无评论

Enhancing Autonomous Robot Safety through Localization Performance Analysis

Enhancing Autonomous Robot Safety through Localization Perfo...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Ulaş Süreyya Bingöl Akif Hacınecipoğlu Mustafa Mert Ankaralı Department of Electrical and Electronics Engineering Middle East Technical University Ankara Turkey Milvus Robotics Ankara Turkey Center for Robotics & AI Middle East Technical University Ankara Turkey

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Autonomous robots play a vital role in various applications, including industrial automation and logistics. Guaranteeing their safe and dependable operation is of utmost importance, particularly in human-robot collaborative scenarios. While existing safety standards address numerous aspects of autonomous systems, the persisting challenges linked to localization issues demand attention. Accurate localization is paramount for safety in autonomous robotic systems due to its direct impact on preventing accidents, mitigating risks, and ensuring human well-being. In scenarios where robots operate alongside humans, such as collaborative workspaces or shared environments, precise localization is crucial to avoid collisions and potential harm to individuals. Furthermore, robust localization enhances system dependability by minimizing errors and ensuring consistent performance, vital for industrial automation and logistics where disruptions can lead to costly downtime. To proactively manage these risks and ensure uninterrupted operations, this paper introduces a novel solution: the Localization Performance Analyzer (LPA). We present an architecture for estimating localization performance and a set of innovative features that serve as predictors of localization quality. Our findings indicate that implementing the LPA algorithm in a fleet of robots leads to more accurate estimations of localization performance. Our results from ablation studies demonstrate that integrating the LPA algorithm into a fleet of robots significantly enhances the accuracy of localization performance estimation. The predictor model and trainer is available at https://***/ulassbin/localization_performance_analyser.

关键词： Location awareness Measurement Automation Accuracy Service robots Predictive models Feature extraction Prediction algorithms Safety Logistics

来源：评论

学校读者我要写书评

暂无评论

RbA: Segmenting Unknown Regions Rejected by All

RbA: Segmenting Unknown Regions Rejected by All

引用

International Conference on computer Vision (ICCV)

作者： Nazir Nayal Mısra Yavuz João F. Henriques Fatma Güney KUIS AI Center and Department of Computer Engineering Koç University University of Oxford

Standard semantic segmentation models owe their success to curated datasets with a fixed set of semantic categories, without contemplating the possibility of identifying unknown objects from novel categories. Existing methods in outlier detection suffer from a lack of smoothness and objectness in their predictions, due to limitations of the per-pixel classification paradigm. Furthermore, additional training for detecting outliers harms the performance of known classes. In this paper, we explore another paradigm with region-level classification to better segment unknown objects. We show that the object queries in mask classification tend to behave like one vs. all classifiers. Based on this finding, we propose a novel outlier scoring function called RbA by defining the event of being an outlier as being rejected by all known classes. Our extensive experiments show that mask classification improves the performance of the existing outlier detection methods, and the best results are achieved with the proposed RbA. We also propose an objective to optimize RbA using minimal outlier supervision. Further fine-tuning with outliers improves the unknown performance, and unlike previous methods, it does not degrade the inlier performance. Project page: https://***/RbA

关键词：

来源：评论

学校读者我要写书评

暂无评论

Sim-to-Real of Soft Robots with Learned Residual Physics

arXiv

引用

arXiv 2024年

作者： Gao, Junpeng Michelis, Mike Y. Spielberg, Andrew Katzschmann, Robert K. The Soft Robotics Lab Department of Mechanical and Process Engineering ETH Zurich Switzerland The Soft Robotics Lab ETH AI Center ETH Zurich Switzerland Harvard University United States

Accurately modeling soft robots in simulation is computationally expensive and commonly falls short of representing the real world. This well-known discrepancy, known as the sim-to-real gap, can have several causes, such as coarsely approximated geometry and material models, manufacturing defects, viscoelasticity and plasticity, and hysteresis effects. Residual physics networks learn from real-world data to augment a discrepant model and bring it closer to reality. Here, we present a residual physics method for modeling soft robots with large degrees of freedom. We train neural networks to learn a residual term - the modeling error between simulated and physical systems. Concretely, the residual term is a force applied on the whole simulated mesh, while real position data is collected with only sparse motion markers. The physical prior of the analytical simulation provides a starting point for the residual network, and the combined model is more informed than if physics were learned tabula rasa. We demonstrate our method on 1) a silicone elastomeric beam and 2) a soft pneumatic arm with hard-to-model, anisotropic fiber reinforcements. Our method outperforms traditional system identification up to 60 %. We show that residual physics need not be limited to low degrees of freedom but can effectively bridge the sim-to-real gap for high dimensional systems. © 2024, CC BY.

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：