检索结果-内蒙古大学图书馆

arXiv 2024年

作者： Rao, Priyanka Salzman, Oren Burgner-Kahrs, Jessica Continuum Robotics Laboratory Department of Mathematical & Computational Sciences University of Toronto ON Canada Department of Computer Science Technion Haifa3200003 Israel

Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex actuation and control challenges. To this end, we propose a novel approach to navigate cluttered spaces effectively for a single-segment long TDCR which is the simplest topology from a mechanical point of view. Our key insight is that by leveraging contact with the environment we can achieve multiple curvatures without mechanical alterations to the robot. Specifically, we propose a search-based motion planner for a single-segment TDCR. This planner, guided by a specially designed heuristic, discretizes the configuration space and employs a best-first search. The heuristic, crucial for efficient navigation, provides an effective cost-to-go estimation while respecting the kinematic constraints of the TDCR and environmental interactions. We empirically demonstrate the efficiency of our planner—testing over 525 queries in environments with both convex and non-convex obstacles, our planner is demonstrated to have a success rate of about 80% while baselines were not able to obtain a success rate higher than 30%. The difference is attributed to our novel heuristic which is shown to significantly reduce the required search space. © 2024, CC BY-SA.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Comparative analysis of navigation algorithms for mobile robot

引用

Journal of Ambient Intelligence and Humanized Computing 2024年第12期15卷 3861-3871页

作者： Heng, Han Ghazali, Mohamad Hazwan Mohd Rahiman, Wan School of Electrical and Electronic Engineering Universiti Sains Malaysia Engineering Campus Penang Nibong Tebal14300 Malaysia Universiti Sains Malaysia Engineering Campus Penang Nibong Tebal14300 Malaysia Daffodil Robotics Lab Department of Computer Science and Engineering Daffodil International University Dhaka1216 Bangladesh

Various applications, including space exploration, transportation, factories, and the military, demand the presence of mobile robots. In those applications, navigation algorithms are essential for enabling mobile robots to operate efficiently and safely in static and dynamic environments. Due to the numerous navigation algorithms available, choosing a suitable and robust one for a specific mobile robot application can be challenging. Therefore, there is a pressing need to conduct a comparative analysis to evaluate the performance and adaptability of different navigation algorithms. This article presents a comparative study of five distinct algorithms in the domain of path planning, which are rapidly random tree (RRT), A*, genetic algorithm (GA), ant colony optimization (ACO), and particle swarm optimization (PSO). The investigation was conducted on three distinct maps, and the strengths and weaknesses of each algorithm are demonstrated. Findings show that increasing the step distance and number of iteration parameters will result in an increase in the planning time. Consequently, the obtained path lengths are also reduced except for the PSO algorithm. Findings show that in the three different environments considered in this paper, the GA exhibits better performance, where a 90% reduction in the planning time is achieved while obtaining the same path length as the A* algorithm, which is the shortest path. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Particle swarm optimization (PSO)

来源：评论

学校读者我要写书评

暂无评论

A Hybrid EEG-EMG Framework for Humanoid Control using Deep Learning Transformers

A Hybrid EEG-EMG Framework for Humanoid Control using Deep L...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Olikkal, Parthan Pillai, Branesh M. Suthakorn, Jackrit Ali, Habib Vinjamuri, Ramana University of Maryland Baltimore County Vinjamuri lab Department of Computer Science and Electrical Engineering BaltimoreMD21220 United States Mahidol University Center for Biomedical and Robotics Technology Nakorm Pathom Salaya Thailand

ISBN: (纸本)9781665481090

Brain-computer interfaces (BCIs) offer promising solutions for upper limb rehabilitation. Despite advancements in deep learning, traditional models for motor rehabilitation using electroencephalography (EEG) or electromyography (EMG) to control assistive devices require enhancement. This study aims to enhance motor control capabilities by integrating EEG and EMG signals using a Transformer-based deep learning model. Ten able-bodies subjects performed center-out tasks on a low-cost upper limb rehabilitation table, capturing 2D kinematic data, EEG, and EMG signals simultaneously. The tasks varied in complexity across four levels. Preprocessed EEG and EMG signals were fused and given as input to the proposed model, which was evaluated using three performance metrics. Results showed that the EEG-EMG combined model achieved 87.27% accuracy across all the four levels. Furthermore, the model's output successfully controlled a humanoid robot to replicate similar movements. These findings highlight the efficacy of combined EEG-EMG data in improving accuracy and performance in BCI applications, advancing assistive technologies and neurorehabilitation interventions. © 2024 IEEE.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification

arXiv

引用

arXiv 2025年

作者： Zhou, Haoying Yang, Hao Deguet, Anton Fichera, Loris Wu, Jie Ying Kazanzides, Peter Department of Robotics Engineering Worcester Polytechnic Institute MA United States Laboratory for Computational Sensing and Robotics JHU MD United States Department of Computer Science Vanderbilt University TN United States Department of Computer Science Johns Hopkins University MD United States

The da Vinci Research Kit (dVRK, also known as dVRK Classic) is anopen-source teleoperated surgical robotic system whose hardware is obtainedfrom the first generation da Vinci Surgical System (Intuitive, Sunnyvale, CA,USA). The dVRK has greatly facilitated research in robot-assisted surgery overthe past decade and helped researchers address multiple major challenges inthis domain. Recently, the dVRK-Si system, a new version of the dVRK which usesmechanical components from the da Vinci Si Surgical System, became available tothe community. The major difference between the first generation da Vinci andthe da Vinci Si is in the structural upgrade of the Patient Side Manipulator(PSM). Because of this upgrade, the gravity of the dVRK-Si PSM can no longer beignored as in the dVRK Classic. The high gravity offset may lead to relativelylow control accuracy and longer response time. In addition, althoughsubstantial progress has been made in addressing the dynamic modelidentification problem for the dVRK Classic, further research is required onmodel-based control for the dVRK-Si, due to differences in mechanicalcomponents and the demand for enhanced control performance. To address theseproblems, in this work, we present (1) a novel full kinematic model of thedVRK-Si PSM, and (2) a gravity compensation approach based on the dynamic modelidentification. © 2025, CC BY.

关键词： Surgical equipment

来源：评论

学校读者我要写书评

暂无评论

Minimally Invasive Flexible Needle Manipulation Based on Finite Element Simulation and Cross Entropy Method

arXiv

引用

arXiv 2024年

作者： Wang, Yanzhou Chang, Chang Mei, Junling Leonard, Simon Iordachita, Iulian Department of Mechanical Engineering The Laboratory of Computational Sensing and Robotics Johns Hopkins University BaltimoreMD United States Laboratory of Computational Sensing and Robotics Johns Hopkins University BaltimoreMD United States Department of Computer Science The Laboratory of Computational Sensing and Robotics Johns Hopkins University BaltimoreMD United States

We present a novel approach for minimally invasive flexible needle manipulations by pairing a real-time finite element simulator with the cross-entropy method. Additionally, we demonstrate how a kinematic-driven bang-bang controller can complement the control framework for better tracking performance. We show how electromagnetic (EM) tracking can be readily incorporated into the framework to provide controller feedback. Tissue phantom experiment with EM tracking shows the average targeting error is 0.16 ± 0.29mm. © 2024, CC BY-NC-ND.

关键词： Needles

来源：评论

学校读者我要写书评

暂无评论

Analysis of Heat Transfer of the Nanofluid Al2O3/H2O Flow Across a Stretching Sheet under the Effects of Thermal Radiation

Analysis of Heat Transfer of the Nanofluid Al2O3/H2O Flow Ac...

引用

2024 International Conference on Thermofluids and Manufacturing science, ICTMS 2024

作者： Krishnendu, S. Nagaraja, K.V. Shali, S. Department of Computer Science Amrita School of Computing Amrita Vishwa Vidyapeetham Bengaluru India Computational Science Lab Amrita School of Engineering Amrita Vishwa Vidyapeetham Bengaluru India Department of Mechanical Engineering Amrita School of Engineering Amrita Vishwa Vidyapeetham Bengaluru India

Efficient heat transfer is very crucial for the various industries in electrical, nuclear power, aerospace and automobile fields. By exhibiting improved thermal conductivity, nanofluids have emerged as an alternative for enhanced thermal and energy efficiency applications. The present study examines the movement of nano fluid across a surface that extend when heat radiation and magnetic fields are present. Using appropriate similarity variables, governing partial differential equations are converted to nonlinear ordinary differential equations. Engineering factors which are discussed include Nusselt number and skin friction coefficient. Numerical analysis is optimized using the response surface methodology. The Response Surface Methodology (RSM) with face-centred Central Composite Design is utilized to calculate heat flux transfer at the stretched sheet. The interaction of heat radiation, magnetic field parameter, and solid volume fraction are investigated in the present work. It is worth noting that the local Nusselt number responds positively to the magnetic field parameter and the solid volume fraction, whereas the skin friction coefficient responds negatively. © Published under licence by IOP Publishing Ltd.

关键词： Skin friction

来源：评论

学校读者我要写书评

暂无评论

Revolutionizing Air Quality Forecasting in Bengaluru with Advanced Machine Learning Techniques 1

Revolutionizing Air Quality Forecasting in Bengaluru with Ad...

引用

1st International Conference on Innovations in Communications, Electrical and computer Engineering, ICICEC 2024

作者： Neeraja, A. Begum, Ch. Mounika Reddy, K. Vigneswara Smitha, T.V. Neelima, N. Amrita Vishwa Vidyapeetham Amrita School of Engineering Department of Computer Science Bengaluru India Amrita Vishwa Vidyapeetham Computational Science Lab Amrita School of Engineering Bengaluru India Amrita Vishwa Vidyapeetham Amrita School of Engineering Department of Electronics and Communication Bengaluru India

ISBN: (纸本)9798350376517

Exposure to air pollution can significantly affect one's health, which can lead to itchy eyes, breathing issues, and hospitalisation. There are a variety of pollutants such as indoor, biological, and outdoor pollutants. This paper emphasizes estimating the quality of air concerning outdoor pollutants. This model aims to effectively predict the Air Quality Index (AQI) in major populated stations in Bengaluru city. Using data from five monitoring stations - Peenya, Bapuji Nagar, Silk Board, Hombegowda, and BTM Layout- collected between 2021 and 2023, machine learning models are developed to forecast AQI for 2024. The research involved data pre-processing, AQI calculation from key pollutants, and training of models for AQI prediction. Our findings indicate that the Random Forest algorithm outperformed the Decision Tree in both regression and classification tasks, providing more accurate predictions. Additionally, the study included a visual mapping of AQI categories using colour codes, revealing trends in air quality across different regions. This research serves as a foundation for future work, including expanding the model to predict AQI across India and integrating it with real-time data collection hardware to enhance prediction accuracy. © 2024 IEEE.

关键词： Indoor air pollution

来源：评论

学校读者我要写书评

暂无评论

Semi-Autonomous Assistance for Telesurgery Under Communication Loss

Semi-Autonomous Assistance for Telesurgery Under Communicati...

引用

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

作者： Hisashi Ishida Adnan Munawar Russell H. Taylor Peter Kazanzides Computer Science department Laboratory for Computational Sensing and Robotics Johns Hopkins University Baltimore Maryland USA

Telesurgery has a clear potential for providing high-quality surgery to medically underserved areas like rural areas, battlefields, and spacecraft; nevertheless, effective methods to overcome unreliable communication systems are still lacking. Furthermore, it is not well understood how users react at the moment of communication loss and also during the loss. In this paper, we aim to analyze human response by proposing a telesurgery simulation framework that models an environment incorporating local and remote sites. Furthermore, this framework generates structural data for human behavior analysis and can provide different forms of assistance during the communication failure and at the communication recovery. We investigated three different types of assistance: User-centered, Robot-centered and Hybrid. A 12-person user-study was carried out using the proposed telesurgery simulation where participants completed a peg transfer task with random communication loss. The collected data was used to analyze the human response to a communication failure. The proposed Hybrid method reduced temporal demand with no increase in completion time compared to the baseline control method where users were unable to move the input device during the communication loss. The Hybrid method also significantly reduced both the task completion time and workload compared to the other two proposed methods (User-centered and Robot-centered).

关键词：

来源：评论

学校读者我要写书评

暂无评论

Progress Estimation of an Excavation Pit 39

Progress Estimation of an Excavation Pit

引用

39th International Symposium on Automation and robotics in Construction, ISARC 2022

作者： Vierling, A. Groll, T. Meckel, D. Heim, K. Walter, D. Scheidhauer, L. Körkemeyer, K. Berns, K. Department of Computer Science Robotics Research Lab University of Kaiserslautern Germany Department of Civil Engineering Construction Management University of Kaiserslautern Germany

ISBN: (纸本)9789526952420

This paper presents a method for automated excavation speed and progress estimation. First, a measure for the progress speed of an excavation pit is taken from the literature and evaluated regarding the possibility for automation. For each possible parameter, an automated extraction algorithm is presented. The used system is an autonomous excavator arm of a backhoe loader where the used hardware and software system is described. Experimental evaluation of the presented approach has been done with the autonomous system for a small trench, including multiple digging cycles. The resulting measurements seem to include some systematic errors which could be identified and suitable sanity checks could be implemented, removing the erroneous measurements. The remaining measurements were used to determine the excavation speed of the autonomous excavator arm and compared to the values of experienced and amateur operators. © 2022 International Association on Automation and robotics in Construction.

关键词： Excavation

来源：评论

学校读者我要写书评

暂无评论

Incomplete intuitionistic fuzzy behavioral group decision-making based on multigranulation probabilistic rough sets and MULTIMOORA for water quality inspection

引用

Journal of Intelligent and Fuzzy Systems 2023年第3期44卷 4537-4556页

作者： Bai, Wenhui Zhang, Chao Zhai, Yanhui Sangaiah, Arun Kumar School of Computer and Information Technology Key Lab. of Computational Intelligence and Chinese Information Processing of Ministry of Education Shanxi University Shanxi Taiyuan China International Graduate Institute of Artificial Intelligence National Yunlin University of Science and Technology Taiwan Department of Electrical and Computer Engineering Lebanese American University Byblos Lebanon

Water quality inspection (WQI) is one of the primary ways to ensure the safe utilization of water resources, and complicated data modeling, fusion and analysis play a significant role in seeking the resource with the best water quality. Nevertheless, the challenges of missing data, relatively large differences in decision results and bounded rationality owned by decision-makers (DMs) in terms of WQI still exist nowadays. Thus, from the aspect of stable and behavioral decision-making in multi-granularity incomplete intuitionistic fuzzy information systems (MG-IIFISs), the paper investigates a comprehensive multi-attribute group decision-making (MAGDM) approach for the application of WQI. First, the concept of MG-IIFISs is built by modeling MAGDM problems with intuitionistic fuzzy numbers (IFNs), then a new transformation scheme is constructed for transforming MG-IIFISs into multi-granularity intuitionistic fuzzy information systems (MG-IFISs) based on the similarity principle. Second, three types of multigranulation intuitionistic fuzzy probabilistic rough sets (MG IF PRSs) are developed by referring to the MULTIMOORA (Multi-Objective Optimization by Ratio Analysis plus the full MULTIplicative form) method. Afterwards, attribute weights are objectively calculated based on the best-worst method (BWM), and a new stable and behavioral MAGDM approach is constructed by means of the TODIM (an acronym in Portuguese for interactive multi-criteria decision-making) method. At last, a case study in the setting of WQI is conducted with the support of a UCI data set, and sensitivity analysis, comparative analysis and experimental analysis are investigated to display the validity of the proposed approach. In general, the proposed approach improves the stability of decision results via MULTIMOORA and BWM, and also fully considers the bounded rationality of DMs' psychological behaviors from the aspect of the TODIM method, which has certain advantages in the community of MAGDM studie

关键词： Water quality

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：