检索结果-内蒙古大学图书馆

SAD-TIME: a Spatiotemporal-fused network for depression detection with Automated multi-scale Depth-wise and TIME-interval-related common feature extractor

arXiv

引用

arXiv 2024年

作者： Wang, Han-Guang Hou, Hui-Rang Jin, Li-Cheng Xu, Chen-Yang Zhang, Zhong-Yi Meng, Qing-Hao Zhang, Yong-Hui Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin300072 China Department of Psychiatry Tianjin Anding Hospital Mental Health Center Tianjin Medical University China

Background and Objective: Depression is a severe mental disorder, and accurate diagnosis is pivotal to the cure and rehabilitation of people with depression. However, the current questionnaire-based diagnostic methods could bring subjective biases and may be denied by subjects. In search of a more objective means of diagnosis, researchers have begun to experiment with deep learning-based methods for identifying depressive disorders in recent years. Methods: In this study, a novel Spatiotemporal-fused network with Automated multi-scale Depth-wise and TIME-interval-related common feature extractor (SAD-TIME) is proposed. SAD-TIME incorporates an automated nodes’ common features extractor (CFE), a spatial sector (SpS), a modified temporal sector (TeS), and a domain adversarial learner (DAL). The CFE includes a multiscale depth-wise 1D-convolutional neural network and a time-interval embedding generator, where the unique information of each channel is preserved. The SpS fuses the functional connectivity with the distance-based connectivity containing spatial position of EEG electrodes. A multi-head-attention graph convolutional network is also applied in the SpS to fuse the features from different EEG channels. The TeS is based on long short-term memory and graph transformer networks, where the temporal information of different time-windows is fused. Moreover, the DAL is used after the SpS to obtain the domain-invariant feature. Results: Experimental results under tenfold cross-validation show that the proposed SAD-TIME method achieves 92.00% and 94.00% depression classification accuracies on two datasets, respectively, in cross-subject mode. Conclusion: SAD-TIME is a robust depression detection model, where the automatedly-generated features, the SpS and the TeS assist the classification performance with the fusion of the innate spatiotemporal information in the EEG signals. Copyright © 2024, The Authors. All rights reserved.

关键词： Convolutional neural networks

来源：评论

学校读者我要写书评

暂无评论

Modeling and hierarchical fuzzy control for locomotion control of the quadruped robot

Modeling and hierarchical fuzzy control for locomotion contr...

引用

IEEE International Conference on robotics and Biomimetics

作者： Jingyu Sun Lelai Zhou Yibin Li Honglin Xu Binghou Geng Center for Robotics School of Control Science and Engineering Shandong University Jinan Shandong China Ministry of Education Engineering Research Center of Intelligent Unmanned System Jinan Shandong China

ISBN: (纸本)9781665481106

In this paper, a stabilised motion method is proposed to control the different motions of a quadruped robot under different commands. By simplifying the motion model of the quadruped robot to a virtual spring damping driven model and analysing the variables affecting the change of the pitch angle of the body attitude in the motion state, the stable motion capability of the quadruped robot in different states is achieved by extracting and changing the variables to be controlled according to the given rules based on the concept of hierarchical fuzzy control. Several experiments are carried out in the simulation software to verify the feasibility of the proposed control method for stable control of the robot motion.

关键词： Robot motion Fuzzy control Analytical models Attitude control Dynamics Prototypes Software

来源：评论

学校读者我要写书评

暂无评论

A Continuous Off-Policy Reinforcement Learning Scheme for Optimal Motion Planning in Simply-Connected Workspaces

A Continuous Off-Policy Reinforcement Learning Scheme for Op...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos School of Mechanical Engineering Control Systems Laboratory National Technical University of Athens Greece Department of Electrical and Computer Engineering University of Patras Center of AI & Robotics (CAIR) New York University Abu Dhabi

In this work, an Integral Reinforcement Learning (RL) framework is employed to provide provably safe, convergent and almost globally optimal policies in a novel Off-Policy Iterative method for simply-connected workspaces. This restriction stems from the impossibility of strictly global navigation in multiply connected manifolds, and is necessary for formulating continuous solutions. The current method generalizes and improves upon previous results, where parametrized controllers hindered the method in scope and results. Through enhancing the traditional reactive paradigm with RL, the proposed scheme is demonstrated to outperform both previous reactive methods as well as an RRT* method in path length, cost function values and execution times, indicating almost global optimality.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design and control of an Omnidirectional Aerial Robot with a Miniaturized Haptic Joystick for Physical Interaction

arXiv

引用

arXiv 2024年

作者： Mellet, Julien Berra, Andrea Marcellini, Salvatore Soto, Miguel Ángel Trujillo Heredia, Guillermo Ruggiero, Fabio Lippiello, Vincenzo PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain GRVC Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

Fully actuated aerial robot proved their superiority for Aerial Physical Interaction (APhI) over the past years. This work proposes a minimal setup for aerial telemanipulation, enhancing accessibility of these technologies. The design and the control of a 6-Degrees of Freedom (DoF) joystick with 4-DoF haptic feedback is detailed. It is the first haptic device with standard Remote controller (RC) form factor for APhI. By miniaturizing haptic device, it enhances RC with the sense of touch, increasing physical awareness. The goal is to give operators an extra sense, other than vision and sound, to help to perform safe APhI. To the best of the authors knowledge, this is the first teleoperation system able to decouple each single axis input command. On the omnidirectional quadrotor, by reducing the number of components with a new design, we aim a simplified maintenance, and improved force and thrust to weight ratio. Open-sourced physic based simulation and successful preliminary flight tests highlighted the tool as promising for future APhI applications. © 2024, CC BY-NC-ND.

关键词： Omnidirectional antennas

来源：评论

学校读者我要写书评

暂无评论

Learning Stable and Robust Linear Parameter-Varying State-Space Models

Learning Stable and Robust Linear Parameter-Varying State-Sp...

引用

IEEE Conference on Decision and control

作者： Chris Verhoek Ruigang Wang Roland Tóth Control Systems Group Eindhoven University of Technology The Netherlands Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia Vehicle Industry Research Center Szechenyi Istvan University Hungary

This paper presents two direct parameterizations of stable and robust linear parameter-varying state-space (LPV-SS) models. The model parametrizations guarantee a priori that for all parameter values during training, the allowed models are stable in the contraction sense or have their Lipschitz constant bounded by a user-defined value $\gamma$ . Furthermore, since the parametrizations are direct, the models can be trained using unconstrained optimization. The fact that the trained models are of the LPV-SS class makes them useful for, e.g., further convex analysis or controller design. The effectiveness of the approach is demonstrated on an LPV identification problem.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Logarithmic Sliding-Mode control for High-Precision Rigid-Body Attitude Tracking

Logarithmic Sliding-Mode Control for High-Precision Rigid-Bo...

引用

Annual Conference of Industrial Electronics Society

作者： Hanlin Dong Xuebo Yang Zhongbo Chen Xiyao Liu School of Automation Northwestern Polytechnical University Xi'an China Research Institute of Intelligent Control Systems Harbin Institute of Technology Harbin China College of Control Science and Engineering Bohai University Jinzhou China Research Center for Intelligent Robotics Northwestern Polytechnical University Xi'an China

The problem of high-precision attitude tracking is studied in this paper under model uncertainty and external disturbance risk. First of all, the kinematics and dynamics model of rigid body is derived based on the quaternion theory. Then, a standard logarithmic sliding-mode function is constructed using the attitude quaternion and its derivatives of the rigid spacecraft, and the corresponding logarithmic sliding-mode controller is also derived. Finally, the stability of the controlled closed-loop system is demonstrated. Consistenting with theoretical proof, the numerical simulation results showed that the controlled rigid body can quickly track its desired attitude command, even if there are model uncertainty and external disturbance risks.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A New Robust control for Mobile Robots with Differential Wheels: Output- and State- Dependent Riccati Equation Approach

A New Robust Control for Mobile Robots with Differential Whe...

引用

International Conference on control, Instrumentation, and Automation

作者： Neda Nasiri Ahmad Fakharian Mohammad Bagher Menhaj Dept. of Electrical Engineering Qazvin Branch Islamic Azad University Qazvin Iran Dept. of Electrical Engineering The Center of Excellence on Control and Robotics Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran

A new application of Output- and State- Dependent Riccati Equation (OSDRE) framework for robust control of over-actuated uncertain systems with constraints is addressed in this paper. Towards this aim, an equivalent optimal problem is introduced using OSDRE. The performance index for an auxiliary output- and state- dependent system is modified through inclusion uncertainty upper bounds and then minimized. The proposed method is employed for controller design of a mobile robot with differential wheels. Uncontrollability condition put on SDRE due to differential constraints of wheels. This problem leads to SDRE to be hardly solved. One could overcome this problem by a proper coordinate transformation. In this paper considering the capability of output feedback to remove outer layer of kinematic and direct control the output dynamics, this problem is handled. Simulation results for a mathematical model and a wheeled mobile robot easily demonstrate the efficiency and satisfactory performance of the proposed robust control scheme.

关键词：

来源：评论

学校读者我要写书评

暂无评论

MMX Rover Locomotion Subsystem - Development and Testing towards the Flight Model

MMX Rover Locomotion Subsystem - Development and Testing tow...

引用

IEEE Conference on Aerospace

作者： Stefan Barthelmes Thomas Bahls Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Franz Hacker Roman Holderried Viktor Langofer Roy Lichtenheldt Sascha Moser Kaname Sasaki Hans-Jü rgen Sedlmayr Juliane Skibbe Leon Stubbig Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control WeBling German Aerospace Center (DLR) Institute of Robotics and Mechatronics WeBling German Aerospace Center (DLR) Institute of Space Systems Bremen

ISBN: (数字)9781665437608

ISBN: (纸本)9781665437615

Wheeled rovers have been successfully used as mobile landers on Mars and Moon and more such missions are in the planning. For the Martian Moon eXploration (MMX) mission of the Japan Aerospace Exploration Agency (JAXA), such a wheeled rover will be used on the Marsian Moon Phobos. This is the first rover that will be used under such low gravity, called milli-g, which imposes many challenges to the design of the locomotion subsystem (LSS). The LSS is used for unfolding, standing up, driving, aligning and lowering the rover on Phobos. It is a entirely new developed highly-integrated mechatronic system that is specifically designed for Phobos. Since the Phase A concept of the LSS, which was presented two years ago [1], a lot of testing, optimization and design improvements have been done. Following the tight mission schedule, the LSS qualification and flight models (QM and FM) assembly has started in Summer 2021. In this work, the final FM design is presented together with selected test and optimization results that led to the final state. More specifically, advances in the mechanics, electronics, thermal, sensor, firmware and software design are presented. The LSS QM and FM will undergo a comprehensive qualification and acceptance testing campaign, respectively, in the first half of 2022 before the FM will be integrated into the rover.

关键词： Space vehicles Mars Frequency modulation Mechatronics Moon Writing Thermal sensors

来源：评论

学校读者我要写书评

暂无评论

A Trot and Flying Trot control Method for Quadruped Robot Based on Optimal Foot Force Distribution

引用

Journal of Bionic Engineering 2019年第4期16卷 621-632页

作者： Teng Chen Xiaobo Sun Ze Xu Yibin Li Xuewen Rong Lelai Zhou Center for Robotics School of Control Science and EngineeringShandong UniversityJinan 250061China

In order to enhance the dynamic motion capability of the bionic quadruped robot,a flying trot gait control method based on full-scale virtual model and optimal plantar force distribution is proposed.A stable flying trot gait is accomplished by mapping the robot torso motion to the foot *** force distribution calculated by the torso virtual model is converted into a quadratic optimization problem and solved in real time by the open source library *** transition between the trot gait and the flying trot gait is achieved by coordinating leg motion *** results of the dynamic simulation verify that the proposed method can realize the 3D stable flying trot *** against the trot gait,the flying trot gait can improve the speed of the quadruped *** the trot gait and the flying trot gait,the quadruped robot can move efficiently and adapt to complex terrains.

关键词： quadruped robot flying trot virtual model control quadratic optimization

来源：评论

学校读者我要写书评

暂无评论

Spatial Pyramid Attention Based Two-Stream Network for Fish Behavior Recognition

Spatial Pyramid Attention Based Two-Stream Network for Fish ...

引用

Chinese Automation Congress (CAC)

作者： Hao Zhang Xin Ma Yining Yu Liang Wang Lin Hao Center for Robotics School of Control Science and Engineering Shandong University Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Marine Group Ltd Jinan China Shandong Deep Sea Green Farming Ltd Qingdao China

In intensive aquaculture, achieving accurate monitoring of fish behavior is crucial for improving efficiency. Previous studies on fish behavior recognition have been limited to recognizing fish school behavior from a global perspective, disregarding the importance of recognizing behaviors that occur in local regions. In this study, a spatial pyramid attention based two-stream network (SPA-TSN) is proposed to recognize fish behavior from both global and local perspective. SPA-TSN is comprised of a spatial stream and a motion stream, both of which use a spatial pyramid attention module to obtain the spatial and temporal features of fish behavior respectively. Specifically, the spatial pyramid attention module aggregates the features from different levels of the baseline to capture the correlation between local and global information. Then, a fusion feature is obtained by adding the temporal feature to the spatial feature. The three features are assigned different weights through a learnable multiplier $M$ for behavior recognition. To validate the effectiveness of the proposed method, experiments are conducted on our established fish behavior dataset which consists four common fish behaviors. The results demonstrate that the proposed method has the best performance with an accuracy of 95.904%, performing better than state-of-the-art methods.

关键词：

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：