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Intelligent robotics and Automatic Control (IRAC), International Conference on

作者： Xuchen Wang Shengzhi Wang Yiying Liang Jiajun An Puchen Zhu Weibing Li Jianshu Zhou Xin Ma Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Division of Advanced Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Agriculture and Biological Engineering Purdue University West Lafayette USA School of Computer Science and Engineering Sun Yat-sen University Guangzhou China Department of Mechanical Engineering University of California Berkeley USA Multi-Scale Medical Robotics Center Hong Kong China

ISBN: (数字)9798350389807

ISBN: (纸本)9798350389814

Navigating hazardous environments and confined spaces during disaster search and rescue operations poses significant challenges to both human rescuers and conventional robotic systems. Recognizing the need for enhanced capabilities, we introduce a Visual Exploration-Enhanced Quadruped Robot (VEQR), a novel platform specifically designed to improve adaptability and exploration in such demanding scenarios. The VEQR combines a quadruped robot with an innovative active-passive composite telescopic mechanism—a compact, 12.8 mm diameter device equipped with a camera—that enables maneuvering through narrow and curved spaces like slits and debris-filled areas. The bending and insertion/retraction capabilities of this mechanism improve the dexterity of the robot in confined spaces and extend its reach into deeper, hard-to-access zones. Experimental results demonstrate the VEQR’s proficiency in overcoming obstacles, inspecting confined spaces, and providing clear visual feedback. Notably, the VEQR successfully traversed narrow and winding passages as small as 50 mm diameter and inspected targets positioned up to 0.6 mm deep within confined spaces, confirming its effectiveness as a robust robot for search and rescue operations in hazardous environments.

关键词： Visualization Navigation Disasters Windings Telescopes Bending Inspection Robustness Quadrupedal robots

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Analysis of Visual Expression of Light and Color in Movies based on Wavelet Neural Network

Analysis of Visual Expression of Light and Color in Movies b...

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Communication, Security and Artificial Intelligence (ICCSAI), International Conference on

作者： K. Murugan R. Mothi Retty George R. Esther Priya S. Nagarathinam S. Krishnakumar Department of Electronics and Communication and Engineering KPR Institute of Engineering and Technology Coimbatore India Department of Biomedical Engineering Dr. N.G.P. Institute of Technology Coimbatore India Department of ECE SCMS school of engineering and technology Ernakulam Kerala Department of Artificial intelligence and Data Science Jansons Institute of Technology Coimbatore India Department of ECE Kumaraguru College of Technology Coimbatore Department of Robotics and Automation Sri Ramakrishna Engineering College Coimbatore India

Movies are in the era of “black, white and gray” ruling the screen, people have a strong desire for movies to truly reproduce colors, because the main rhythm of the “black, white and gray” film visual music is not clear enough, the momentum is not strong enough, the meaning is not rich enough, and the color is not enough. Visual aesthetics cannot be attractive… Aiming at the dual challenges of colorization quality and timing stability in film colorization, a generative adversarial network with a recurrent structure is proposed, which can be used for automatic colorization of films without any reference frames and artificial intervention. The network generates a confrontation network based on classical conditions: the generator is used to generate color images and complete the task of colorization; The discriminator is used to identify the authenticity and improve the performance of the generator. Cycle structure and timing consistency loss are introduced to integrate timing information and solve the stability problem of coloring. Experimental results show that this method can effectively reduce flicker in the generated movie sequence while ensuring the coloring of a single frame image. This paper studies and analyzes the visual expression of light and color in movies based on wavelet neural network.

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Multiparametric atomic force microscopy imaging of single native exosomes

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生物化学与生物物理学报（英文版） 2021年第3期53卷 385-388页

作者： Mi Li Xinning Xu Ning Xi Wenxue Wang Xiaojing Xing Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Cancer Hospital of China Medical University Shenyang 110042China Liaoning Cancer Hospital&Institute Shenyang 110042China Department of Industrial and Manufacturing Systems Engineering The University of Hong KongHong Kong 999077China

The advent of atomic force microscopy(AFM)provides a novel powerful tool for addressing biological issues in their native *** uses a sharp tip mounted at the end of a micro-fabricated cantilever to probe the specimens immobilized on the *** with other high-resolution imaging and mea-surement techniques(***-resolution optical microscopy,scan-ning electron microscopy,transmission electron microscopy,and magnetic/optical tweezers),the unique merit of AFM is that it is able to simultaneously acquire the structures and properties of living biological samples under aqueous conditions with unprece-dented spatiotemporal resolution(nanometer spatial resolution and millisecond temporal resolution)[1],making AFM an invalu-able platform for revealing the underlying mechanisms guiding life *** wide applications of AFM in molecular and cell biology provide considerable novel insights into the physi-ological/pathological processes[2].Particularly,in recent years,a new AFM imaging mode,which is called peak force tapping(PFT)mode[3],emerges as a promising way for correlating the topography of the specimens with the mechanics of *** PFT mode,the vibrating AFM tip indents the sample at each sam-pling point to record force curves,and the peak force of the force curve is used as the feedback[4].By analyzing the force curves,several types of mechanical properties of the specimens can be real-timely visualized,and thus PFT mode is also called multiparametric imaging AFM[5],offering novel possibilities for resolving the fine structures and properties of fragile biological specimens.

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Optimal Control of Automatic Manipulator for Elimination of Galvanic Line Load Oscillation

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica Electrical engineering and computer science 2021年第2期65卷 91-105页

作者： Autsou, Siarhei Rassõlkin, Anton Vaimann, Toomas Demidova, Galina Saroka, Viktor Karpovich, Dzmitry Kallaste, Ants Department of Automation of Production Processes and Electrical Engineering Faculty of Chemical Technology and Technique Belarussian State Technological University 13a Sverdlova str. Minsk220006 Belarus Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology 5 Ehitajate street Tallinn19086 Estonia Faculty of Control Systems and Robotics Itmo University 49 Kronverksky Pr. St. Petersburg197101 Russia

This paper provides an analysis of the current state-of-The-Art technologies in the field of auto-operators used in production during the electroplating process. General schemes of operations are presented, benefits and drawbacks of each scheme are discussed. The paper discusses an increase in the operating efficiency of the auto-operator in transient conditions (braking and acceleration) by reducing suspension oscillations and provides an example of a similar problem from other industries. In addition to the classification of the auto-operators, three main ways and control methods of the auto-operator of a galvanic line are presented. The main ways of eliminating oscillations during the movement of the auto-operator, as well as the rationale for the choice of adaptive (optimal) control, based on and comparing the basic control algorithms of the robot manipulator, are discussed. The comparative analysis of algorithms used to determine the optimal control has been carried out. Application field of each optimal control method described, moreover advantages and disadvantages as well as implementation methods described. Bellman dynamic programming method was chosen to eliminate oscillations of the suspension with details during the auto-operator transient conditions, the chosen method takes into account all necessary conditions to achieve the desired result. © 2021 Budapest University of Technology and Economics. All rights reserved.

关键词： Dynamic programming

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X-Ray-Based Three-Dimensional Shape Reconstruction Method for a Continuum Manipulator

X-Ray-Based Three-Dimensional Shape Reconstruction Method fo...

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Intelligent robotics and Automatic Control (IRAC), International Conference on

作者： Huayu Zhang Puchen Zhu Xiaoyin Zheng Wenkai Lai Weibing Li Xin Ma Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Autonomous Driving Center XMotors.ai Inc. Santa Clara CA USA School of Computer Science and Engineering Sun Yat-sen University Guangzhou China Multi-Scale Medical Robotics Center Hong Kong China

ISBN: (数字)9798350389807

ISBN: (纸本)9798350389814

The utilization of visual sensors for three-dimensional (3D) reconstruction of continuum manipulators is a well-established technique, offering essential support for precise control and accurate state estimation. This approach has been widely adopted across various fields, including surgical robotics, bionic systems, and industrial automation. However, the effectiveness of visual sensors is substantially constrained in environments characterized by occlusions or spatial limitations, where accurate reconstruction becomes challenging. To overcome these limitations, we propose an advanced 3D reconstruction method leveraging X-ray imaging, enabling robust shape reconstruction and automated tracking of continuum manipulators, even under occluded conditions. In the X-ray-based 3D shape reconstruction method, the intrinsic and extrinsic parameters of the computed tomography (CT) device are calibrated. Besides, the X-ray images are processed with identification and segmentation, centerline detection and Bézier curve fitting. Finally, the 3D shapes of a continuum manipulator are accomplished by matching the two images acquired from two distinct CT device rotation angles and reconstruction. The measurement experiment has demonstrated the accuracy of 3D shape reconstruction achieved 0.5383 mm. The shape reconstruction experimental results also showed the effectiveness of the X-ray-based 3D shape reconstruction method.

关键词： Image segmentation Three-dimensional displays Accuracy Shape Computed tomography Reconstruction algorithms Sensor phenomena and characterization Manipulators X-ray imaging Image reconstruction

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Dynamic modeling and analysis for a differential modular robot joint with the friction model

Dynamic modeling and analysis for a differential modular rob...

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IEEE International Conference on robotics and Biomimetics

作者： Yukun Liu Ruiqing Luo Minghui He Liang Du Sheng Bao Jianjun Yuan Weiwei Wan Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Robotics Institute Shanghai University Shanghai China Department of System Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan

ISBN: (纸本)9781665481106

The study of friction has long been popular with scientists. Considering the coupling characteristic of multi-input-multi-output (MIMO) system, the coupling friction model was established, which was based on Coulomb-Viscous friction model for the differential modular robot joint (DMRJ) according to the law of conservation of energy. Then, we identified the coefficients of the friction model through the experiment. In order to verify the accuracy of the established friction model, we regarded the DMRJ as a 2-DoF linkage and built the inertial dynamic model based on Lie theory, whose inertial parameters were estimated by computer aided design (CAD). Besides, we chose the trajectory based on the Fourier series, which has good performance in anti-interference ability, as the verification trajectory. From the generated trajectories, we used a trajectory that is able to change as much as possible in speed, position and acceleration to estimate the accuracy of the model comprehensively. Finally, the result indicated the model had good accuracy.

关键词： Couplings Solid modeling Analytical models Design automation Friction Computational modeling Biological system modeling

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Autonomous inverse encoding guides 4D nanoprinting for highly programmable shape morphing

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International Journal of Extreme Manufacturing 2025年第3期7卷 467-482页

作者： Shuaiqi Ren Zhiang Zhang Ruokun He Jiahao Fan Guangming Wang Hesheng Wang Bing Han Yong-Lai Zhang Zhuo-Chen Ma Department of Automation Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin UniversityChangchun 130012People’s Republic of China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240People’s Republic of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240People’s Republic of China Department of Engineering University of CambridgeCambridge CB21PZUnited Kingdom

Highly programmable shape morphing of 4D-printed micro/nanostructures is urgently desired for applications in robotics and intelligent ***,due to the lack of autonomous holistic strategies throughout the target shape input,optimal material distribution generation,and fabrication program output,4D nanoprinting that permits arbitrary shape morphing remains a challenging task for manual *** this study,we report an autonomous inverse encoding strategy to decipher the genetic code for material property distributions that can guide the encoded modeling toward arbitrarily pre-programmed 4D shape *** tuning the laser power of each voxel at the nanoscale,the genetic code can be spatially programmed and controllable shape morphing can be realized through the inverse encoding *** this strategy,the 4D-printed structures can be designed and accurately shift to the target morphing of arbitrarily hand-drawn lines under ***,as a proof-of-concept,a flexible fiber micromanipulator that can approach the target region through pre-programmed shape morphing is autonomously inversely encoded according to the localized spatial *** strategy may contribute to the modeling and arbitrary shape morphing of micro/nanostructures fabricated via 4D nanoprinting,leading to cutting-edge applications in microfluidics,micro-robotics,minimally invasive robotic surgery,and tissue engineering.

关键词： femtosecond laser fabrication 4D printing two-photon polymerization autonomous inverse encoding stimuli-responsive materials

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A Parameter Identification Method for Coupled Dynamics of Robotic Manipulator with Differential Modular Joints

A Parameter Identification Method for Coupled Dynamics of Ro...

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IEEE International Conference on robotics and Biomimetics

作者： Minghui He Ruiqing Luo Yukun Liu Liang Du Sheng Bao Jianjun Yuan Weiwei Wan Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Robotics Institute Shanghai University Shanghai China Department of System Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan

ISBN: (纸本)9781665481106

In the daily nursing care for people with disabilities, lifting is the most basic and common action. A robotic manipulator with differential modular joints (DMJ) is designed to accomplish this task. To better implement force-control applications of the robotic manipulator with DMJs, this paper proposes a coupled dynamics identification method based on the multi-input, multi-output (MIMO) feature. Considering the frictions of transmission parts and links, the dynamics of the DMJ is analyzed based on the transformation of energy, and then the parameter-linearized dynamic model of the robotic manipulator with n DMJs is proposed according to the mapping relationship between transmission part level and link level. The identification and verification experiments show that the presented method can obtain the accurate dynamic model parameters. This work lays a foundation for the force-control research of the robotic manipulator with DMJs in the future.

关键词： Analytical models Parameter estimation Friction Biomimetics Biological system modeling Dynamics Medical services

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Volume-based Transition Zone Assessment of Hybrid Unmanned Aerial-Underwater Vehicles

Volume-based Transition Zone Assessment of Hybrid Unmanned A...

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IEEE Latin American robotics Symposium, LARS

作者： Vivian Misaki Aoki Paulo Jefferson Dias De Oliveira Evald Pedro Miranda Pinheiro César Bastos Da Silva Dayana Dos Santos Cardoso Mauro André Barbosa Cunha Paulo Lilles Jorge Drews Intelligent Robotics and Automation Group Federal University of Rio Grande Rio Grande Brazil Department of Computer Engineering and Industrial Automation State University of Campinas Campinas Brazil Automation and Control Research Group Sul-rio-grandense Federal Institute Pelotas Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

Quadrotors have been used in diverse areas, such as agriculture, civil construction, fire monitoring, and so on. However, these vehicles cannot perform missions that require navigation in aquatic environments, such as inspection of underwater structures and water sample collection, due to their hardware limitations. Therefore, hybrid unmanned aerial-underwater vehicles emerge as a feasible solution to accomplish these missions. Although quadrotors have well-accepted mathematical models, hybrid vehicles have a small quantity of works dealing with this topic. Moreover, we identified a gap in transition zone representation. Therefore, this paper presents a method for transition zone modeling based on vehicle geometry. Simulation results support the better representation of the proposed transition model in comparison to a sigmoid model.

关键词： Underwater structures Navigation Simulation Force Inspection Mathematical models Hardware

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Solution for Agri Disaster Using Climate Changes Adaptation by Ml

Solution for Agri Disaster Using Climate Changes Adaptation ...

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International Conference on Contemporary Computing and Informatics (IC3I)

作者： L. Ganesh R. Prasanna Venkatesh Kaushal Kumar Khushboo Kumari Sangeeta Borkakoty A. Raju Robotics and Automation Dept. Rajalakshmi Engineering College Chennai Tamilnadu India Department of Mechanical Engineering SACS MAVMM Engineering College Madurai Tamilnadu India Department of Botany School of Life Sciences Mahatma Gandhi Central University Bihar India Department of Computer Science & Electronic University of Science & Technology Meghalaya Department of Commerce KLEF Vaddeswaram Green Field Vijayawada

This paper proposes using good sized getting to know fashions to recognize lesions of cotton leaves in the context of pictures of the reaping within the subject. Cotton is among the maximum economically essential plant harvests, as it's far grown all over the international. Its spread in tropical areas has made it the goal of a wide variety of farming irritations and illnesses, necessitating succesful plans. moreover, the consequences of commonplace disturbances and disorders are difficult to isolate inside the early stages, and the author may additionally battle to locate the suitable visible verification of a scientific difficulty. To help in resolving the difficulty, it contemporary inquiry proposes a solution that takes into consideration substantial training within the filtering of cotton leaves, making it possible to reveal the cotton yield's health and make higher judgments approximately its management. The studying models GoogleNet like Resnet50, which use convolutional cerebrum associations, performed an accuracy of 86.6 percentage and 89.2 percentage, respectively. assist vector machines, Closest k-pals, faux creativeness associations, and neuro-tender are some of the extraordinary as well as everyday tactics again for treatment of photographs. The convolutional cerebellum networks ended up being 25% extra unique, implying that this method can upload to a more strong and short investigation of the flora looking to fill inside the field.

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