检索结果-内蒙古大学图书馆

2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Data Cleaning Based on Multi-sensor Spatiotemporal Correlation 4th

Data Cleaning Based on Multi-sensor Spatiotemporal Correlati...

引用

4th International Conference on Machine Learning and Intelligent Communications, MLICOM 2019

作者： Shao, Baozhu Song, Chunhe Wang, Zhongfeng Li, Zhexi Yu, Shimao Zeng, Peng Liaoning Electric Power Research Institute State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Shenyang Power Supply Company State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China

ISBN: (纸本)9783030323875

Sensor-based condition monitoring systems are becoming an important part of modern industry. However, the data collected from sensor nodes are usually unreliable and inaccurate. It is very critical to clean the sensor data before using them to detect actual events occurred in the physical world. Popular data cleaning methods, such as moving average and stacked denoise autoencoder, cannot meet the requirements of accuracy, energy efficiency or computation limitation in many sensor related applications. In this paper, we propose a data cleaning method based on multi-sensor spatiotemporal correlation. Specifically, we find out and repair the abnormal data according to the correlation of sensor data in adjacent time and adjacent space. Real data based simulation shows the effectiveness of our proposed method. © 2019, ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.

关键词： Sensor nodes

来源：评论

学校读者我要写书评

暂无评论

Secure resource allocation for green and cognitive device-to-device communication

引用

Science China(Information Sciences) 2018年第2期61卷 296-298页

作者： Chi XU Peng ZENG Wei LIANG Haibin YU Key Laboratory of Networked Control Systems Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

Dear editor,Spectrum efficiency,energy efficiency and communication security are the most significant concerns in the 5G era[1].Cognitive radio which employs dynamic spectrum sharing,energy harvest-

关键词： CDR CDT

来源：评论

学校读者我要写书评

暂无评论

Adaptive Neural Admittance control for Collision Avoidance in Human-Robot Collaborative Tasks

Adaptive Neural Admittance Control for Collision Avoidance i...

引用

2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Xinbo Yu Wei He Chengqian Xue Bin Li Long Cheng Chenguang Yang School of Automation and Electrical Engineering Institute of Artificial Intelligence University of Science and Technology Beijing Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Bristol Robotics Laboratory University of the West of England Bristol U.K

This paper proposed an adaptive neural admittance control strategy for collision avoidance in human-robot collaborative tasks. In order to ensure that the robot end-effector can avoid collisions with surroundings, robot should be operated compliantly by human within a constrained task space. An impedance model and a soft saturation function are employed to generate a differentiable reference trajectory. Then, adaptive neural network control with position constraint, based on integral barrier Lyapunov function (IBLF), is designed to achieve precise tracking while guaranteeing constrained satisfaction. Utilizing Lyapunov stability principles, we prove that semi-globally uniformly bounded stability is guaranteed for all states of the closed-loop system. At last, the effectiveness of the proposed algorithm is verified on a Baxter robot experimental platform. Collisions with surroundings can be avoided in human-robot collaborative tasks.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Temporal-spatial cross-correlation analysis of non-stationary near-surface wind speed time series

引用

Journal of Central South University 2017年第3期24卷 692-698页

作者： ZENG Ming LI Jing-hai MENG Qing-hao ZHANG Xiao-nei Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control （School of Electrical Automation and Information Engineering Tianjin University） Tianjin 300072 China

Temporal-spatial cross-correlation analysis of non-stationary wind speed time series plays a crucial role in wind field reconstruction as well as in wind pattern ***,the near-surface wind speed time series recorded at different locations are studied using the detrended fluctuation analysis(DFA),and the corresponding scaling exponents are larger than *** indicates that all these wind speed time series have non-stationary ***,concerning this special feature( i.e.,non-stationarity)of wind signals,a cross-correlation analysis method,namely detrended cross-correlation analysis(DCCA) coefficient,is employed to evaluate the temporal-spatial cross-correlations between non-stationary time series of different anemometer ***,experiments on ten wind speed data synchronously collected by the ten anemometers with equidistant arrangement illustrate that the method of DCCA cross-correlation coefficient can accurately analyze full-scale temporal-spatial cross-correlation between non-stationary time series and also can easily identify the seasonal component,while three traditional cross-correlation techniques(i.e.,Pearson coefficient,cross-correlation function,and DCCA method) cannot give us these information directly.

关键词： temporal-spatial cross-correlation near-surface wind speed time series detrended cross-correlation analysis （DCCA） cross-correlation coefficient Pearson coefficient cross-correlation function

来源：评论

学校读者我要写书评

暂无评论

Hand Tracking Accuracy Enhancement by Data Fusion Using Leap Motion and Myo Armband

Hand Tracking Accuracy Enhancement by Data Fusion Using Leap...

引用

International Conference on Unmanned systems and Artificial Intelligence

作者： Jingxiang Chen Chao Liu Rongxin Cui Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China LIRMM CNRS-University of Montpellier France School of Marine Engineering Northwestern Polytechnical University Xi'an China Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

In this paper, by using the combination of Leap Motion and Myo armband, two methods for hand tracking and online hand gesture identification are proposed. With the proposed methods, We have improved the measurement accuracy of the palm direction and solved the problem of insufficient accuracy when the palm is at the limit of the measurement range. We use the Kalman filter algorithm and the neural network classification method to process the data measured by Leap Motion and Myo, so that the tracking of the operator's hand gesture is more accurate and robust even when the hand is at positions close to the measurement limit of one single sensor. The methods, which improve the hand tracking accuracy, can be used for robotic control, demonstration or teleoperation. The effectiveness of the proposed methods has been demonstrated through comparative experiments.

关键词： Leap Motion Myo sensor fusion hand tracking hand guesture identification Sensor fusion Hand arm band Data fusion tracking accuracy distance measurement improving precision accuracy of measurement Classification Methods Gestures data integration

来源：评论

学校读者我要写书评

暂无评论

Development of a Tetris playing robot controlled by KNR 15

Development of a Tetris playing robot controlled by KNR

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Ming Zhang, Yanlu Dong, Huifang Li, Xu Yu, Junzhi Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan250100 China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781538660720

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system. © 2018 IEEE.

关键词： controllers

来源：评论

学校读者我要写书评

暂无评论

Study and modeling of a hull cleaning station with an arm manipulator

Study and modeling of a hull cleaning station with an arm ma...

引用

International Conference on Advanced systems and Electric Technologies (IC_ASET)

作者： Saber Hachicha Samir Nejim Chiheb Zaoui Aref Maalej Habib Dallagi Automatic Control & Marine Robotics Naval Academy Tunisia Laboratory of Electromechanical Systems of the University of Sfax Tunisia

The underwater hull cleaning is a center of interest of a big number of researchers from the fifties. Here we aim to facilitate the cleaning of the hull using a new robotic system with an arm manipulator. We developed the geometric and the dynamic modeling of the station components. In fact, the station has seven degrees of freedom four rotations and three translations. Besides, we used the SimMechanics software for the dynamic simulation of the station. In conclusion, our study shows that the underwater station with arm manipulator can be important for the hull cleaning ***.

关键词： Cleaning Solid modeling Marine vehicles End effectors Joints

来源：评论

学校读者我要写书评

暂无评论

Research and Optimization of Conflict Search Algorithm for Multi-Agent Path Planning Based on Incremental Heuristic

引用

Journal of Physics: Conference Series 2021年第1期2024卷

作者： Yang Li Jun Wang Hualiang Zhang School of Computer Science Shenyang University of Chemical Technology Shenyang 110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China.

Conflict Based Search(CBS) is used for multi-agent Pathfinding (MAPF) to enable each Agent to reach the target node. The CBS algorithm uses the heuristic algorithm A* search to calculate the MAPF solution, and the path planning uses forward search, which cannot explore the path of the unknown region. On this basis, this paper proposes that, in the case of unknown map and changing environment at any time, when encountering new obstacles, the information obtained from previous search should be used without completely replanning the path. Because of the idea of incremental programming, the number of reprogramming times and the number of affected nodes can be reduced. The optimized algorithm consumes less time and memory, and improves the efficiency of path planning.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Incremental Learning Framework for Skeletal-based Hand Gesture Recognition with Leap Motion

An Incremental Learning Framework for Skeletal-based Hand Ge...

引用

IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Jie Li Junpei Zhong Fei Chen Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control School of Automation Science and Engineering South China University of Technology Guangzhou China School of Science and Technology Nottingham Trent University Nottingham UK Istituto Italiano di Tecnologia via Morego 30 Genova Italy Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Hand gesture recognition has become the focus of researchers lately because of its manifold applications in various fields. Leap Motion (LM) is a device to obtain useful and accurate information of the hand action, which is suitable for collecting the three-dimensional (3D) human hand gesture. In this paper, a novel framework which consists of an incremental learning (IL) algorithm without deep structure is proposed and applied to hand gestures classification that explicitly aimed to the LM data. The same datasets are used to train the proposed framework and the conventional Long Short Term Memory Recurrent Neural Network (LSTM-RNN). Due to the structural advantage of the proposed model, the recognition performance is improved distinctly in robustness and training time than the LSTM network. Moreover, convincing experiment results are given to illustrate that the solution is more efficient in static gesture classification.

关键词： Logic gates Computer architecture Gesture recognition Training Feature extraction Microprocessors Three-dimensional displays

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：