Unexpected nonlinear backlash performances of two degrees of freedom (DoFs) tendon sheath mechanism (TSM) have serious impacts on the precise cannulation in ERCP (Endoscopic Retrograde Cholangio-Pancreatography) surge...
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Water pollution is always the worldwide key problem. For the problem of complex, frequent and dangerous water sampling and monitoring missions in the various water areas, this paper designs an autonomous water samplin...
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In incremental learning, replaying stored samples from previous tasks together with current task samples is one of the most efficient approaches to address catastrophic forgetting. However, unlike incremental classifi...
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During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against...
During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winch-based actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies.
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 ...
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The safety of forest resources is of great im-portance to natural and public safety, and the efficient and accurate detection of forest fires is an issue of close concern. Considering the limitations of traditional fo...
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ISBN:
(纸本)9781665481106
The safety of forest resources is of great im-portance to natural and public safety, and the efficient and accurate detection of forest fires is an issue of close concern. Considering the limitations of traditional forest fire detection methods, such as the limited range of view from watchtowers and insufficient resolution of satellite images, a deep learning-based Unmanned Aerial Vehicle (UAV) fire detection system has been proposed. With its high mobility, images of forest fires can be captured by camera-equipped UAV and transmitted to the ground station in real time. The ground station uses a deep learning object detection algorithm to achieve the recognition of fire. In this paper, we choose the state-of-the-art object detection algorithm YOLOv5 for the UAV forest fire detection scenario, and to further improve the detection performance of YOLOv5, we propose RepVGG-YOLOv5 by drawing on the RepVGG network, a training-time multi-branch topology with an inference-time plain architecture. Then we test the models on a self-built dataset, and the experimental results show that the improved RepVGG-YOLOv5 model outperforms the YOLOv5 model in terms of detection performance and detection speed, which proves the feasibility of this paper's model in the UAV forest fire detection systems and the effectiveness of the model improvement. Furthermore, the great potential of this paper's object detection model for real-time applications of accurate forest fire detection has also been demonstrated.
Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to navigate unknown, continuous spaces based on natural language instructions. Compared to discrete settings, VLN-CE poses two core pe...
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Simulation has become an essential way and sometimes the only way to study complex systems(e.g.,system of systems,SoS).Simulation is the model-based *** to build a high-quality model is the first consideration in *** ...
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Simulation has become an essential way and sometimes the only way to study complex systems(e.g.,system of systems,SoS).Simulation is the model-based *** to build a high-quality model is the first consideration in *** and credibility are the two mostly used metrics to evaluate the quality of a ***,the definitions and evaluation methods of fidelity and credibility vary from one research to another and it’s hard to evaluate the metrics *** importantly,the evolution process of a model in use cannot be directly reflected by the two ***,this paper introduces the model maturity to track the status of a model during its life cycle,especially in the use and management phases,which will be an important supplement to the quality evaluation system of *** concept of model maturity is given and a framework of index system for model maturity evaluation is ***,a hierarchical evaluation method based on qualitative and quantitative analysis(HEQQ)for model maturity is ***,a case study is used to validate the feasibility and effectiveness of the proposed method.
In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale ***,as one of the fundame...
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In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale ***,as one of the fundamental approaches for material analytics,torsion tests at a small scale remain a major challenge due to the lack of an ultrahigh precise torque sensor and the delicate sample assembly ***,we present a microelectromechanical resonant torque sensor with an ultrahigh resolution of up to 4.78 fN∙m within an ultrawide dynamic range of 123 ***,we propose a nanorobotic system to realize the precise assembly of microscale specimens with nanoscale positioning accuracy and to conduct repeatable in situ pure torsion tests for the first *** a demonstration,we characterized the mechanical properties of Si microbeams through torsion tests and found that these microbeams were five-fold stronger than their bulk *** proposed torsion characterization system pushes the limit of mechanical torsion tests,overcomes the deficiencies in current in situ characterization techniques,and expands our knowledge regarding the behavior of micro/nanomaterials at various loads,which is expected to have significant implications for the eventual development and implementation of materials science.
Dielectric polymers serve as integral materials in both 5G (up to GHz, 109 Hz) and 6G (up to THz, 1012 Hz) technologies. Despite their significance, the mechanisms governing the absorption properties and dielectric re...
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