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Guest Editorial:Autonomous systems:Navigation,learning,and control

IET Cyber-Systems and robotics 2021年第4期3卷 279-280页

作者： Yu Zhang Fei Gao Yuxiang Sun Naira Hovakimyan Zheng Fang College of Control Science and Engineering Zhejiang UniversityHangzhouChina Department of Mechanical Engineering The Hong Kong Polytechnic UniversityHong Kong Department of Mechanical Science and Engineering University of Illinois at Urbana‐ChampaignChampaignIllinoisUSA Faculty of Robot Science and Engineering Northeastern UniversityShenyangChina

This is the IET Cyber-systems and robotics special issue of Autonomous systems:Navigation,learning,and *** systems,as very important representatives of Artificial Intelligence technologies,combine mechanical and electronic hardware,operating system,low-level dynamic control,and high-level intelligent decision components to address challenges that demand high-level autonomy and ma-chine intelligence.

关键词： hardware learning Intelligence

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AI-based Restoration Reflection Region Method for 3D Automatic Optical Inspection

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Journal of Institute of control, robotics and Systems 2023年第11期29卷 936-944页

作者： Kim, Chan-Hoe Ha, Min-Ho Yun, Sung-Chul Park, Tae-Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of Industrial AI Research Center Chungbuk National University Korea Republic of Department of Intelligent Systems and Robotics Chungbuk National University Korea Republic of

This study focuses on a three-dimensional measurement system of components on a printed-circuit-board (PCB). Most existing methods for automatic optical inspection face the problem of light reflecting on components. We herein propose a new method to restore the reflection area of components with the aim of measuring their shape accurately. This method use a pattern projection system along with an algorithm for restoring the components’ reflection area. For efficient restoration of the restore reflection area, the reflection regions are first identified through pixel resolution, wherein, saturated pixels represent the reflection regions. Then, the PCB components are tilted slightly using solder. These characteristics are used to, obtain the rotation matrix of a component, and its reflection area is restored. The performance of the proposed method is evaluated through a series of experiments, whose. results demonstrate its effectiveness. © ICROS 2023.

关键词： Printed circuit boards

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Materobot: Material Recognition in Wearable robotics for People with Visual Impairments

MateRobot: Material Recognition in Wearable Robotics for Peo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Junwei Zheng Jiaming Zhang Kailun Yang Kunyu Peng Rainer Stiefelhagen Institute for Robotics and Anthropomatics Karlsruhe Institute of Technology Karlsruhe Germany Department of Engineering Science University of Oxford UK School of Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

People with Visual Impairments (PVI) typically recognize objects through haptic perception. Knowing objects and materials before touching is desired by the target users but under-explored in the field of human-centered robotics. To fill this gap, in this work, a wearable vision-based robotic system, MATErobot, is established for PVI to recognize materials and object categories beforehand. To address the computational constraints of mobile platforms, we propose a lightweight yet accurate model MATEViT to perform pixel-wise semantic segmentation, simultaneously recognizing both objects and materials. Our methods achieve respective 40.2% and 51.1% of mIoU on COCOStuff-10K and DMS datasets, surpassing the previous method with +5.7% and +7.0% gains. Moreover, on the field test with participants, our wearable system reaches a score of 28 in the NASA-Task Load Index, indicating low cognitive demands and ease of use. Our MATErobot demonstrates the feasibility of recognizing material property through visual cues and offers a promising step towards improving the functionality of wearable robots for PVI. The source code has been made publicly available at MATErobot.

关键词： Visualization Source coding Semantic segmentation Visual impairment Semantics Wearable robots Mobile applications

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PFSC:Pyramid R-CNN for Point-Voxels with Focal Sparse Convolutional Networks for 3D Object Detection

PFSC:Pyramid R-CNN for Point-Voxels with Focal Sparse Convol...

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IEEE International Conference on Mechatronics and Automation

作者： Zhao Su Xuehui Liang Jigang Tong Sen Yang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In the point cloud 3D object detection task, the point cloud data is unevenly distributed in 3D space. Therefore, whether it is regular sparse convolution or submanifold sparse convolution, there is a significant difference in the detection performance when dealing with objects at different positions using sparse convolutional networks. Therefore, this paper proposes an improvement using focal sparse convolution to break the limitations of traditional convolution methods and enhance the representation ability of sparse convolution. Focal sparse convolution is utilized to replace the currently better-performing two-stage object detection network based on the combination of points and voxels, enhancing the end-to-end training effectiveness and achieving better detection results. And an optional detachable auxiliary network is added, which, during the training stage, combines point features to guide the backbone network in learning the structural information of the 3D point cloud, enhancing the localization accuracy of the backbone network. Extensive experiments have been conducted on the KITTI dataset to validate the proposed method, yielding promising detection results and demonstrating the effectiveness of the approach.

关键词： Point cloud compression Training Location awareness Three-dimensional displays Accuracy Mechatronics Convolution

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Finite-time coordinated path-following control of leader-following multi-agent systems

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Frontiers of Information Technology & Electronic engineering 2022年第10期23卷 1511-1521页

作者： Weibin CHEN Yangyang CHEN Ya ZHANG School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China Robot Department Jiangsu Automation Research InstituteLianyungang 222061China

This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within a finite *** is assumed that the topology for the virtual leader and followers is *** additional condition of the so-called barrier function is designed to make all agents move within a limited area.A novel continuous finite-time path-following control law is first designed based on the barrier function and *** a novel continuous finite-time formation algorithm is designed by regarding the path-following errors as *** settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.

关键词： Finite-time Coordinated path-following Multi-agent systems Barrier function

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Survey on robotic Systems Integration

Survey on Robotic Systems Integration

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Workshop on robotics Software engineering (RoSE)

作者： Nadia Hammoudeh Garcia Andreas Wortmann Robot and Assistive Systems Department Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) 70569 Stuttgart Germany Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart 70174 Stuttgart Germany

Software integration is central to successfully developing, deploying, and operating robotics applications. Yet, the particular integration process and its challenges are poorly understood. The continuous evolution of the robotics sector, incorporating constantly a growing number of technologies, makes the unification of processes increasingly complicated. Nevertheless, current research on robotics software integration largely focuses on specific integration activities instead of considering the overall activity as a process. To provide some insight into the state of robotics software integration, we drove a survey among researchers and practitioners in the field. In this survey, we inquired how robotics software integration is currently performed in order to identify similarities with traditional software development methodologies. Through this study, we discovered commonalities in the phases of the process and potential directions of a future research to address the current challenges in the area.

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Accurate RGB-D SLAM in dynamic environments based on dynamic visual feature removal

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Science China(Information Sciences) 2022年第10期65卷 256-269页

作者： Chenxin LIU Jiahu QIN Shuai WANG Lei YU Yaonan WANG Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center College of Electrical and Information Engineering Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University

Visual localization is considered an essential capability in robotics and has attracted increasing interest for the past few years. However, most proposed visual localization systems assume that the surrounding environment is static, which is difficult to maintain in real-world scenarios due to the presence of moving objects. In this paper, we present DFR-SLAM, a real-time and accurate RGB-D SLAM based on ORB-SLAM2 that achieves satisfactory performance in a variety of challenging dynamic scenarios. At the core of our system lies a motion consensus filtering algorithm estimating the initial camera pose and a graph-cut optimization framework combining long-term observations, prior information, and spatial coherence to jointly distinguish dynamic and static visual features. Other systems for dynamic environments detect dynamic components by using the information from short time-span frames, whereas our system uses observations from a long period of keyframes. We evaluate our system using dynamic sequences from the public TUM dataset, and the evaluation demonstrates that the proposed system outperforms the original ORB-SLAM2 system significantly. In addition, our system provides competitive localization accuracy with satisfactory real-time performance compared to closely related SLAM systems designed to adapt to dynamic environments.

关键词： SLAM dynamic environments indoor localization graph-cut robot navigation

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Deep Domain Adaptation Regression for Force Calibration of Optical Tactile Sensors

Deep Domain Adaptation Regression for Force Calibration of O...

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

作者： Zhuo Chen Ni Ou Jiaqi Jiang Shan Luo Department of Engineering Robot Perception Lab Centre for Robotics Research King’s College London London United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing tactile sensors which may have incurred damage or aging. However, the conventional neural-network-based force calibration method necessitates a large volume of force-labeled tactile images to minimize force prediction errors, with the need for accurate Force/Torque measurement tools as well as a time-consuming data collection process. To address this challenge, we propose a novel deep domain-adaptation force calibration method, designed to transfer the force prediction ability from a calibrated optical tactile sensor to uncalibrated ones with various combinations of domain gaps, including marker presence, illumination condition, and elastomer modulus. Experimental results show the effectiveness of the proposed unsupervised force calibration method, with lowest force prediction errors of 0.102N (3.4% in full force range) for normal force, and 0.095N (6.3%) and 0.062N (4.1%) for shear forces along the x-axis and y-axis, respectively. This study presents a promising, general force calibration methodology for optical tactile sensors.

关键词： Accuracy Force Tactile sensors Lighting Elastomers Data collection Optical imaging Adaptive optics Calibration Optical sensors

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Experimental evaluation of stent clot retrieval using the confront clot scrambling method with an equitable automatic withdrawal machine

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Asian Journal of Neurosurgery 2022年第4期14卷 1165-1167页

作者： Reo Kawaguchi Tomotaka Ohshima Yoshitaka Nagano Shigeru Miyachi Naoki Matsuo Masakazu Takayasu Department of Neurosurgery Aichi Medical University Aichi Neuroendovascular Therapy Center Aichi Medical University Aichi Department of Electronic Control and Robot Engineering Aichi University of Technology Aichi

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A novel technique of microcatheter shaping using real image display for endovascular aneurysmal coil embolization

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Asian Journal of Neurosurgery 2022年第3期16卷 645-647页

作者： Tomotaka Ohshima Yoshitaka Nagano Shigeru Miyachi Neuroendovascular Therapy Center Aichi Medical University Nagakute Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Aichi Department of Neurosurgery Aichi Medical University Nagakute

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