检索结果-内蒙古大学图书馆

3rd Annual Conference of AI, Simulation and Planning in High Autonomy systems

作者： Zhang, Jianwei Institute for Real-Time Computer Systems and Robotics Faculty of Computer Science University of Karlsruhe Germany

ISBN: (纸本)0818626755

A method for planning motions of robot arms is presented which considers not only the collision-avoidance but also robot's dynamic aspects. Based on the concept of configuration space, robot motions are planned at the topological and geometric level consecutively. At the topological level, the boundaries of the Configurationspace obstacles (C-obstacles) are computed and approximately represented while the complement of the C- obstacles, i.e. the free-space is divided into Empty Blocks (EBs). Linking all the connected EBs, we get a net called characteristic net. Given the initial and goal configuration of the robot, routes consisting of EBs (EB-routes) are searched in the characteristic net. At the geometric level, smooth trajectories are generated along EB-routes using B- splines while avoiding collisions with local C-obstacles. © 1992 IEEE.

关键词： Topology

来源：评论

学校读者我要写书评

暂无评论

QTER: QoS-Aware Three-Dimensional Efficient and Reliable Routing for LEO Satellite Networks

引用

IEEE Internet of Things Journal 2025年

作者： Zheng, Jinkai Luan, Tom H. Li, Guanjie Zhang, Yanfeng Yuan, Mingfeng Pan, Jianping Dongguan University of Technology School of Electrical Engineering and Intelligentization China Xi’an Jiaotong University China Xidian University School of Cyber Engineering China Singapore University of Technology and Design Information Systems Technology and Design Pillar Singapore University of Toronto Institute for Aerospace Studies University of Toronto Robotics Institute Canada University of Victoria Department of Computer Science Canada

Low Earth Orbit (LEO) satellite networks offer a promising approach for achieving global coverage and high-speed Internet access. However, the existing communication frameworks within these networks may result in low robustness and reliability. This paper introduces QTER, a novel and lightweight routing framework specifically designed for LEO networks, aimed at addressing these challenges. Our contributions are threefold. First, QTER establishes a cost-effective and reliable routing framework that accommodates a variety of applications with distinct Quality of Service (QoS) requirements. By enabling multi-path routing, the framework minimizes costs while ensuring end-to-end reliability, thus enhancing adaptability to diverse service demands. Second, we leverage the unique structural characteristics of LEO satellite networks by modeling the satellite constellation as a three-dimensional network, wherein higher-shell satellites serve as management satellite nodes (MSNs) to coordinate routing strategies among lower-shell satellites. This architecture significantly improves system efficiency and adaptability. Third, we propose a failure recovery mechanism that allows MSNs to relay packets when lower-orbit satellites are rendered unavailable due to environmental factors, thereby enhancing system robustness. Extensive simulations demonstrate that QTER exhibits resilience to node failures and dynamic network conditions, achieving reductions in average cost and delay by 59.4% and 38.9%, respectively, compared to baselines. © 2014 IEEE.

关键词： Resource allocation

来源：评论

学校读者我要写书评

暂无评论

Virtual cutting in medical data

Virtual cutting in medical data

引用

作者： Mazura, A. Seifert, S. Institute for Real-time Computer Systems and Robotics University of Karlsruhe Department for Computer Science 76128 Karlsruhe Germany

In this paper we present a method for virtual 3D cutting operations in 3D tomographic data. When cutting interactively the user specifies a serie of 3D cutting points and correponding cut depths on the surface of the object. Each pair of succeeding cutting points then defines a freeform shape of the incision. A 3D meshing algorithm constructs a Finite Element mesh formed by tetrahedrons, representing the surgical intervention. © 1997 The authors.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Simulation of jaw-movements for the musculoskeletal diagnoses

Simulation of jaw-movements for the musculoskeletal diagnose...

引用

作者： Weingärtner, T. Dillmann, R. Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Department for Computer Science 76128 Karlsruhe Germany

Simulations of static and dynamic aspects of the functionality of the human body are getting more important as the complexity of operations increases. The preoperative planning of maxillofacial operations like the repositioning of the jaw is an example for such operation. Here, but also in other medical fields, simulation can help to estimate the results of a procedure or can facilitate the diagnosis through a better view of the anatomy and pathology of the patient. A virtual view on the pathology and the possibility of simulating the postoperative results simplifies and improves the preoperative planning. The goal of our research is the development of a graphical simulation of the human mastication system to give the surgeon an impression on the inner anatomy of his patient. This simulation allows him to predict the aesthetic and functional outcome of his operation. The main focus of this paper is the introduction of a kinematic model of the temporomandibular joint. This kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. It is the basis for an animated simulation of the mandible movement. Through integration of the muscles and muscle forces, we come to a realistic dynamic simulation of the whole mastication system. © 1997 The authors.

关键词： Pathology

来源：评论

学校读者我要写书评

暂无评论

Decision-Making Framework For AMR Fleet Size In Manufacturing Environments

Decision-Making Framework For AMR Fleet Size In Manufacturin...

引用

IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Catarina Rema Romão Santos Henrique Piqueiro Diogo Miguel Matos Paulo Moura Oliveirat Pedro Costa Manuel F. Silva Fillipe L. Ribeiro CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Department of Engineering University of Trás-os-Montes and Alto Douro (UTAD) Vila Real Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal ISEP Polytechnic of Porto rua Dr. António Bernardino de Almeida Porto Portugal JPM Industry Vale de Cambra Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Industry 4.0 is transforming manufacturing environments, with robotics being a key technology that enhances various capabilities. The flexibility of Autonomous Mobile Robots has led to the rise of multi-robot systems in industrial settings. Considering the high cost of these robots, it is essential to determine the best fit of number and type before making any major investments. Simulation and modeling are valuable decision-support tools, allowing the simulation of different setups to address robot fleet sizing issues. This paper introduces a decision-support framework that combines a fleet manager software stack with the FlexSim simulator, helping decision-makers determine the most suitable mobile robots fleet size tailored to their needs. Unlike previous approaches, the developed solution integrates the same real robot coordination software in both simulation and actual deployment, ensuring that tested scenarios accurately reflect real-world conditions. A case study was conducted to evaluate the framework, involving multiple tasks of loading and unloading materials within a warehouse. Five different scenarios with varying fleet sizes were simulated, and their performances assessed. The analysis concluded that, for the case study under consideration, a fleet of three robots was the most suitable, considering relevant key performance indicators. The results confirmed that the developed solution is an effective alternative for addressing the problem and represents a novel technology with no prior state-of-the-art equivalents.

关键词： Service robots Robot kinematics Decision making Dynamic scheduling Software Batteries Software reliability Resource management Mobile robots Autonomous robots

来源：评论

学校读者我要写书评

暂无评论

AR/VR Digital Twin for Simulation and Data Collection of Robotic Environments

AR/VR Digital Twin for Simulation and Data Collection of Rob...

引用

IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： João G. Martins Karle Nutonen Paulo Costa Vladimir Kuts Tauno Otto Armando Sousa Marcelo R. Petry CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Faculty of Engineering University of Porto (FEUP) Porto Portugal ViruTech - Virumaa innovation center of digitalization and green technologies Taltech Virumaa College Kohtla-Jarve Estonia Department of Mechanical and Indusrial Taltech Tallinn Estonia

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Digital twins enable real-time modeling, simulation, and monitoring of complex systems, driving advancements in automation, robotics, and industrial applications. This study presents a large-scale digital twin-testing facility for evaluating mobile robots and pilot robotic systems in a research laboratory environment. The platform integrates high-fidelity physical and environmental models, providing a controlled yet dynamic setting for analyzing robotic behavior. A key feature of the system is its comprehensive data collection framework, capturing critical parameters such as position, orientation, and velocity, which can be leveraged for machine learning, performance optimization, and decision-making. The facility also supports the simulation of discrete operational systems, using predictive modeling to bridge informational gaps when real-time data updates are unavailable. The digital twin was validated through a matrix manufacturing system simulation, with an Augmented reality (AR) interface on the HoloLens 2 to overlay digital information onto mobile platform controllers, enhancing situational awareness. The main contributions include a digital twin framework for deploying data-driven robotic systems and three key AR/VR integration optimization methods. Demonstrated in a laboratory setting, the system is a versatile tool for research and industrial applications, fostering insights into robotic automation and digital twin scalability while reducing costs and risks associated with real-world testing.

关键词： Service robots Navigation Metaverse Databases Scalability Digital representation real-time systems Digital twins Mobile robots Robots

来源：评论

学校读者我要写书评

暂无评论

ST-Booster: An Iterative SpatioTemporal Perception Booster for Vision-and-Language Navigation in Continuous Environments

arXiv

引用

arXiv 2025年

作者： Yue, Lu Zhou, Dongliang Xie, Liang Yin, Erwei Zhang, Feitian Department of Advanced Manufacturing and Robotics the State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China Defense Innovation Institute Academy of Military Sciences Beijing100071 China Tianjin Artificial Intelligence Innovation Center Tianjin300450 China Department of Computer Science Harbin Institute of Technology Shenzhen Xili University Town Shenzhen518055 China

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 perception challenges. First, the absence of predefined observation points leads to heterogeneous visual memories and weakened global spatial correlations. Second, cumulative reconstruction errors in three-dimensional scenes introduce structural noise, impairing local feature perception. To address these challenges, this paper proposes ST-Booster, an iterative spatiotemporal booster that enhances navigation performance through multi-granularity perception and instruction-aware reasoning. ST-Booster consists of three key modules — Hierarchical SpatioTemporal Encoding (HSTE), Multi-Granularity Aligned Fusion (MGAF), and Value-Guided Waypoint Generation (VGWG). HSTE encodes long-term global memory using topological graphs and captures short-term local details via grid maps. MGAF aligns these dual-map representations with instructions through geometry-aware knowledge fusion. The resulting representations are iteratively refined through pretraining tasks. During reasoning, VGWG generates Guided Attention Heatmaps (GAHs) to explicitly model environment-instruction relevance and optimize waypoint selection. Extensive comparative experiments and performance analyses are conducted, demonstrating that ST-Booster outperforms existing state-of-the-art methods, particularly in complex, disturbance-prone environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Topology

来源：评论

学校读者我要写书评

暂无评论

Empowering Leather Quality Assurance: Leveraging Convolutional Neural Networks for Precise Defect Detection and Classification

Empowering Leather Quality Assurance: Leveraging Convolution...

引用

International Symposium on Advanced Computing and Communication (ISACC)

作者： Logeswaran K Suresh P Savitha S Swati Sah Prasanna Kumar Kr Rajadevi R Vasugi M Sujit B Akilesh T Department of Artificial Intelligence Center of Excellence in Real-Time Analytic Kongu Engineering College Erode Tamilnaud India Department of Database Systems Vellore Institute of Technology Vellore Tamil Nadu India Department of Computer Science and Engineering K.S.R College of Engineering Tiruchengode Tamil Nadu India School of Engineering and Technology Sharda University Greater Noida Uttar Pradesh India Department of Information Technology Kongu Engineering College Erode Tamilnaud India Department of Artificial Intelligence Kongu Engineering College Erode Tamilnaud India

ISBN: (数字)9798331523893

ISBN: (纸本)9798331523909

Ensuring the development of high-quality leather products in the industrial sector requires a strong focus on leather quality assurance. In this study, a unique method for enhancing leather quality assurance using Convolutional Neural Networks (CNNs) is presented. Our suggested solution is able to detect and classify leather defects with amazing accuracy and efficiency by utilizing deep learning. CNN integration for leather fault categorization and detection offers a more reliable and affordable solution, ensuring better product quality and satisfied customers. Existing methods for inspecting leather products often suffer from inconsistent quality control, subjective manual inspection processes, and the complexity of accurately identifying and classifying various types of leather defects. By addressing these challenges, the proposed system aims to empower leather manufacturers with a reliable and efficient solution for ensuring consistent product quality and reducing production costs. Convolutional Neural Networks (CNNs) are integrated to provide a highly automated and effective solution that overcomes these scaling challenges. The proposed CNN-based method uses deep learning algorithms to decode images, which allows the system to swiftly and precisely analyse enormous volumes of visual data. To make sure the CNN can differentiate between various defect classes and keep a low rate of false positives and false negatives, its accuracy, precision, recall, and F1 score should be carefully assessed.

关键词： Deep learning Visualization Quality assurance Accuracy Quality control Product design Quality assessment Convolutional neural networks Reliability Defect detection

来源：评论

学校读者我要写书评

暂无评论

Sensor system and powerful computer system for controlling a microrobot-based micromanipulation station

引用

JOURNAL OF MICROMECHANICS AND MICROENGINEERING 1997年第3期7卷 256-258页

作者： Fischer, T Santa, K Fatikow, S University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr.12/Geb. 40.28 D-76128 Karlsruhe Germany Presented on 22 October 1996 accepted for publication 8 April 1997

Mobile microrobots, which are capable of performing microscopic motions, have become a subject of great interest all over the world, They have the potential to be used for a variety of applications: in industry for assembly of microsystems or for the testing of silicon chips;in medicine for handling biological cells, etc. A new model of an automated micromanipulation station, which includes piezoelectric microrobots is now being built by an interdisciplinary research group at the University of Karlsruhe, Germany, This paper describes a sensor system and a powerful tailorable computer for controlling the micromanipulation station.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

The design and control of a prototype quadruped microrover

引用

AUTONOMOUS ROBOTS 1997年第2期4卷 211-220页

作者： Sukhatme, GS Robotics Research Laboratory Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles

We describe the design, construction and control of a quadruped robot which walks on uneven terrain. A control system which produces a statically stable gait has been implemented;results showing a straight and turning gait are presented. The control of quadruped robots poses interesting challenges due to a small stability margin (when compared to hexapods for example). For this reason most implemented systems for outdoor walking on uneven terrain have been hexapods. The system described here has the added virtue of using very few inexpensive sensors and actuators. One of the aims of this work is to build a reduced complexity (low power, low mass and direct drive) walking robot for statically stable walking. The other aim is to compare the performance of this robot with a wheeled robot roughly the same size and weight. In this paper we report on progress towards the first of these two goals using a traverse across an obstacle field as an example.

关键词： quadruped robot static stability microrover walking robot

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：