检索结果-内蒙古大学图书馆

3rd International Conference on Artificial Intelligence and advanced Manufacture, AIAM 2021

作者： Huang, Tao Tang, Xiaoteng Cao, Rundong Gao, Hong Modern Engineering Training Center Xiamen University of Technology Xiamen361024 China Fujian Provincial Education Department Key Laboratory of Advanced Motion Control Minjiang University Fuzhou350108 China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen361024 China

ISBN: (纸本)9781450385046

The design of a voltage and frequency collecting system for high voltage installation which uses PIC16F877A as the core chip is introduced. Designs voltage and frequency detection circuit, the program of host-computer according to the selected data transmission interface. Uses Proteus to prove the correctness of the designed detection circuit;finally, compares the system's different measurement results when the sensor chip and bus are direct contacted and indirect contacted. The obtained data in this paper can be used as the input data of artificial intelligence algorithm through field cooperation such as smart grid. © 2021 ACM.

关键词： Installation

来源：评论

学校读者我要写书评

暂无评论

Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation

arXiv

引用

arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

来源：评论

学校读者我要写书评

暂无评论

Gesture Control Method for Oral Blood Mixed Liquid Removal Robot∗ 5

Gesture Control Method for Oral Blood Mixed Liquid Removal R...

引用

5th World Robot Conference Symposium on advanced robotics and automation, WRC SARA 2023

作者： Ma, Xudong Kuang, Ziao Li, Han Chen, Anqi Li, Changsheng Liu, Wenyong Wang, Junchen Hu, Yida David Gao, Li Su, Bai-Quan Beijing University of Posts and Tele-communications Medical Robotics Laboratory School of Automation Beijing100876 China Beijing University of Posts and Tele-communications School of Computer Beijing100876 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States Peking University School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Stomatological Center Department of Periodontology Beijing China

ISBN: (纸本)9798350307320

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it's demonstrated that an oral surgeon controls the robot's motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal. © 2023 IEEE.

关键词： Blood

来源：评论

学校读者我要写书评

暂无评论

Impedance control for a novel composite modular lower-limb hemiplegic exoskeleton

Impedance control for a novel composite modular lower-limb h...

引用

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Bao, Ruoyu Li, Pengbo He, Bailin Wang, Can Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical and Automation Engineering Chinese University of Hong Kong College of Mechanical and Electrical Engineering Shaanxi University of Science and Technology Shaanxi Xi'an710021 China

ISBN: (纸本)9781665436786

This paper proposes a control scheme based on impedance control for the smoothing control of the operating movements of a lower-limb hemiplegic exoskeleton robot on the basis of a new composite modular lower-limb hemiplegic ex-oskeleton(CMLHE) structure. The CMLHE has good structural performance and can be used in the rehabilitation of patients with hemiplegia caused by stroke and other diseases. At the same time, the smoothing control by means of impedance control ensures that patients with lower limb hemiplegia can use the CMLHE to achieve smooth walking movements without additional injuries caused by the CMLHE during the rehabilitation training. This paper analyses the performance of this CMLHE robot based on walking movements and demonstrates through kinematic and kinetic modelling and simulation that the impedance control scheme of this CMLHE robot is feasible and effective and can be more widely used in the rehabilitation training of patients with lower limb hemiplegia. © 2021 IEEE.

关键词： Exoskeleton (robotics)

来源：评论

学校读者我要写书评

暂无评论

Survey on Large Language Model-Enhanced Reinforcement Learning: Concept, Taxonomy, and Methods

引用

IEEE Transactions on Neural Networks and Learning Systems 2024年第6期36卷 9737-9757页

作者： Yuji Cao Huan Zhao Yuheng Cheng Ting Shu Yue Chen Guolong Liu Gaoqi Liang Junhua Zhao Jinyue Yan Yun Li Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR China Department of Building Environment and Energy Engineering The Hong Kong Polytechnic University Hong Kong China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Center for Crowd Intelligence Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS) Shenzhen China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China School of Electrical and Electronic Engineering Nanyang Technological University Jurong West Singapore School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Shenzhen Institute for Advanced Study University of Electronic Science and Technology of China Shenzhen China i4AI Ltd. London U.K.

With extensive pretrained knowledge and high-level general capabilities, large language models (LLMs) emerge as a promising avenue to augment reinforcement learning (RL) in aspects, such as multitask learning, sample efficiency, and high-level task planning. In this survey, we provide a comprehensive review of the existing literature in LLM-enhanced RL and summarize its characteristics compared with conventional RL methods, aiming to clarify the research scope and directions for future studies. Utilizing the classical agent-environment interaction paradigm, we propose a structured taxonomy to systematically categorize LLMs’ functionalities in RL, including four roles: information processor, reward designer, decision-maker, and generator. For each role, we summarize the methodologies, analyze the specific RL challenges that are mitigated and provide insights into future directions. Finally, the comparative analysis of each role, potential applications, prospective opportunities, and challenges of the LLM-enhanced RL are discussed. By proposing this taxonomy, we aim to provide a framework for researchers to effectively leverage LLMs in the RL field, potentially accelerating RL applications in complex applications, such as robotics, autonomous driving, and energy systems.

关键词： Taxonomy Surveys Visualization Reviews Planning Reinforcement learning Games Transformers Natural language processing Large language models

来源：评论

学校读者我要写书评

暂无评论

Distributed time-varying formation control with uncertainties based on an event-triggered mechanism

引用

Science China(Information Sciences) 2021年第3期64卷 167-176页

作者： Xiaoduo LI Yumeng BAI Xiwang DONG Qingdong LI Zhang REN Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University Department of Electrical and Computer Engineering University of Wisconsin-Madison Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University

This paper investigates the distributed time-varying formation(TVF) problems for general linear multi-agent systems(MASs) subject to matched bounded uncertainties based on an adaptive event-triggered mechanism. A TVF protocol was designed with an event-triggered mechanism by introducing adaptive weights into the formation control protocol and triggering condition, and the large chattering phenomenon was avoided by the σ-modification adaptive law. According to the Lyapunov stability theory, proof has been established that the MASs in the presence of uncertainties can realize the expected formation that satisfies the given feasible condition. Finally, an example is provided to verify the effectiveness of the proposed algorithm.

关键词： formation control multi-agent systems event-triggered adaptive control

来源：评论

学校读者我要写书评

暂无评论

A modular rehabilitation lower limb exoskeleton for stroke patients with hemiplegia

A modular rehabilitation lower limb exoskeleton for stroke p...

引用

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Li, Pengbo Wei, Wenhao Bao, Ruoyu He, Bailin Su, Zhilong Wang, Can Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical and Automation Engineering The Chinese University of Hong Kong College of Mechanical and Electrical Engineering Shaanxi University of Science and Technology Shaanxi Xi'an710021 China

ISBN: (纸本)9781665436786

A modular rehabilitation exoskeleton robot for hemiplegic patients (SIAT-H) is created in this paper. The design of the exoskeleton is based on the gait analysis of hemiplegic patients and the movement data of healthy people. Through the motion capture experiments at different speeds, the walking style of patients with hemiplegia is understood. A modular exoskeleton robot, including an independent hip joint, knee joint and ankle joint, is designed. The mechanical structure which is optimized based on the physiological characteristics of human body would not cause additional damage to the joints during walking. In order to ensure the reliability of use, the structural strength is also considered. The kinematics relationship is verified by comparison of simulation data and calculated data. In the end, we made an experimental prototype, and the wearing experiment verified the reliability of the mechanism. © 2021 IEEE.

关键词： Exoskeleton (robotics)

来源：评论

学校读者我要写书评

暂无评论

An Untethered Soft Robotic Gripper with Adjustable Grasping Modes and Force Feedback

An Untethered Soft Robotic Gripper with Adjustable Grasping ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yang Yang Honghui Zhu Jia Liu Yingtian Li Jianshu Zhou Tao Ren Yi Ren School of Automation Nanjing University of Information Science and Technology Nanjing Jiangsu China Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Hong Kong Center for Logistics Robotics Hong Kong School of Mechanical and Electrical Engineering Chengdu University of Technology Chengdu China Advanced Manufacturing Lab Huawei Technologies Shenzhen China

ISBN: (纸本)9781665481106

In this paper, we propose a three-finger soft robotic gripper, which adopts an untethered and under-actuated design with simple structure and easy operation. The rotation of two servomotors is used to control the positions of the fingers, which provides the fingers with adjustable grasping modes and improves the adaptation of the gripper to objects with different shapes. A pressure sensor is integrated at the end of the finger to provide force feedback, which is used to detect the contact force when grasping the object and enables the gripper to provide the proper grasping force. The experimental section characterizes the bending of the soft robotic finger, and the gripper is integrated at the end of a collaborative robotic arm to demonstrate its adjustable grasping posture and force feedback function. The soft robotic gripper is expected to be used in a variety of scenarios, such as service robot, food industry or garbage sorting.

关键词： Service robots Shape Fingers Force feedback Force Grasping Soft robotics

来源：评论

学校读者我要写书评

暂无评论

Broad-Deep Network-Based Fuzzy Emotional Inference Model with Personal Information for Intention Understanding

引用

IFAC-PapersOnLine 2023年第2期56卷 7071-7076页

作者： Min Li Luefeng Chen Min Wu Min Ding Kaoru Hirota Witold Pedrycz School of Automation China University of Geosciences Wuhan 430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan 430074 China Tokyo Institute of Technology Yokohama 226-8502 Japan Department of Electrical and Computer Engineering University of Alberta Edmonton AB T6R 2G7 Canada

A broad-deep fusion network-based fuzzy emotional inference model with personal information (BDFEI) is proposed for emotional intention understanding in human-robot interaction. It aims to understand students’ intentions in the university teaching scene. Specifically, feature extraction is carried out by convolution and maximum pooling, and then the ridge regression algorithm is used for emotional behavior recognition, which reduce the influence of the complex structure and slow network updates in deep learning. Multivariate analysis of variance is used to select the key personal information affecting the intention and obtain the coefficient of influence degree. Finally, fuzzy inference is used to understand the intention. According to the recognition results, the accuracy on FABO database of our proposal is 1.89%, 12.21% and 0.78% higher than those of the Residual Network combined with geodesic flow kernel (ResNet-101+GFK), a fuzzy deep neural network with sparse autoencoder (FDNNSA), and an affect recognition on a video-skeleton of bimodal information with a hierarchical classification fusion strategy (HCFS), respectively, indicating that our proposal can effectively capture the emotional intention of students in the teaching scene.

关键词： Convolution Neural Networks Broad Learning Emotional Intention Human-Robot Interaction

来源：评论

学校读者我要写书评

暂无评论

Liquid metal universal micro-gripper

Liquid metal universal micro-gripper

引用

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhou, J. Wang, K. Li, S. Hu, J. Yang, J. Huan, Z. Ma, W. Yang, H. Zhang, S. Li, X. Sun, L. Soochow University Robotics and Microsystems Center School of Mechanical and Electric Engineering Jiangsu Province Suzhou City China University of Science and Technology of China Department of Precision Machinery and Precision Instrumentation Anhui province Hefei230026 China Xiamen University of Technology School of Electrical Engineering and Automation Fujian province Xiamen China

ISBN: (纸本)9781665436786

Magnetic liquid metal (MLM) is a mixture of ferromagnetic powder and liquid metal. It not only displays the unique properties of liquid metal such as high conductivity, good fluidity, high surface tension and nontoxicity compared with mercury, but also can respond to magnetic fields in a rapid speed. It can be controlled accurately by electric and magnetic field, so it has a wide application prospect in solution environment. In this paper, we report a liquid metal universal micro-gripper (LMUMG), which can grasp and release small objects under the integration of magnetic and electric field. Compared with previous studies, this new LMUMG can quickly respond to electric and magnetic field, achieve the clamping of microstructure in a few seconds, and can automatically adapt to the shape of any clamped object to wrap objects, including flat organization, soft and deformable structure. The micro-gripper above is likely to be applied in many fields. © 2021 IEEE.

关键词： Liquid metals

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：