检索结果-内蒙古大学图书馆

23rd International Conference on control, Automation and Systems, ICCAS 2023

作者： Ryu, Jegyeong Nam, Dahyun Son, Junghyun John Han, Amy Kyungwon Lee, Deukhee Center for Healthcare Robotics Korea Institute of Science and Technology Seoul Korea Republic of Yonsei University Division of Mechanical Engineering Seoul Korea Republic of Doping Control Center Korea Institute of Science and Technology Seoul Korea Republic of Seoul National University Department of Mechanical Engineering Seoul Korea Republic of Kist School University of Science and Technology Division of AI-Robotics Seoul Korea Republic of Yonsei-KIST Convergence Research Institute Yonsei University Seoul13391 Korea Republic of

ISBN: (纸本)9788993215274

Blood is an analysis serves as a valuable diagnostic tool that can easily and simply diagnose health, and in particular, red blood cells (RBC) or hematocrit (Hct) and mean corpuscular volume (MCV) can diagnose various diseases. Electrochemical methods have been proposed to find out RBC, Hct, and MCV, but it is difficult to use them for infants or the elderly because they require a large amount of blood. As an alternative, method like blood smear has been suggested to make a diagnosis with a small amount of blood, but it takes a long time to dry the sample. In this study, we present a methodology to make the simple and quick blood analysis. This method uses a microscope image of a small amount of blood, without drying the blood sample. From the image, in order to detect all the blood cells, we adopt a loop algorithm consist of concave point detection, ellipse fitting, and blob detection. To assess the validity and accuracy of the proposed method, an investigation is conducted to examine its correlation with the Sysmex XN-1000, a widely utilized medical reference standard;we show that the correlation coefficients are higher than 0.88, showing more correlation than the method in previous studies by comparing the estimation results. By developing this method, it will be possible to establish a simple quick blood analysis method using microscope images, decreasing a time consumed for the health checkup, saving more lives. © 2023 ICROS.

关键词： Diagnosis

来源：评论

学校读者我要写书评

暂无评论

Visual Tracking Nonlinear Model Predictive control Method for Autonomous Wind Turbine Inspection

Visual Tracking Nonlinear Model Predictive Control Method fo...

引用

International Conference on Advanced robotics (ICAR)

作者： Abdelhakim Amer Mohit Mehndiratta Jonas le Fevre Sejersen Huy Xuan Pham Erdal Kayacan Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiR Lab) Aarhus University Aarhus C Denmark GIM Robotics Espoo Finland Department of Electrical Engineering and Information Technology Automatic Control Group Paderborn University Paderborn Germany

Automated visual inspection of on- and off-shorewind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection time, preventive maintenance, and access to hard-to-reach areas. A novel nonlinear model predictive control (NMPC) framework alongside a global wind turbine path planner is proposed to achieve distance-optimal coverage for wind turbine inspection. Unlike traditional MPC formulations, visual tracking NMPC (VT-NMPC) is designed to track an inspection surface, instead of a position and heading trajectory, thereby circumventing the need to provide an accurate predefined trajectory for the drone. An additional capability of the proposed VT-NMPC method is that by incorporating inspection requirements as visual tracking costs to minimize, it naturally achieves the inspection task successfully while respecting the physical constraints of the drone. Multiple simulation runs and real-world tests demonstrate the efficiency and efficacy of the proposed automated inspection framework, which outperforms the traditional MPC designs, by providing full coverage of the target wind turbine blades as well as its robustness to changing wind conditions. The implementation codes 1 1 https://***/open-airlab/VTNMPC-Autonomous-Wind-Turbine-Inspection are open-sourced.

关键词：

来源：评论

学校读者我要写书评

暂无评论

HUBER LOSS-BASED PENALTY APPROACH TO PROBLEMS WITH LINEAR CONSTRAINTS∗

arXiv

引用

arXiv 2023年

作者： Nedić, Angelia Tatarenko, Tatiana The School of Electrical Computer and Energy Engineering Arizona State University United States Department of Control Theory and Robotics TU Darmstadt Germany

We consider an optimization problem with many linear inequalities constraints. To deal with a large number of constraints, we provide a penalty reformulation of the problem, where the penalty is a variant of the one-sided Huber loss function. We study the infeasibility properties of the solutions of penalized problems for nonconvex and convex objective functions, as the penalty parameters vary with time. Then, we propose a random incremental penalty method for solving convex problem, and investigate its convergence properties for convex and strongly convex objective functions. We show that the iterates of the method converge to a solution of the original problem almost surely and in expectation for suitable choices of the penalty parameters and the stepsize. Also, we establish convergence rate of the method for appropriately defined weighted averages of the iterates for the expected function values. We establish O(ln1/2+ǫ k/√k)-convergence rate when the objective function is convex, and O(lnǫ k/k)-convergence rate when the objective function is strongly convex with ǫ being any small positive number. To the best of our knowledge, these are the first results on the convergence rate for the penalty-based incremental subgradient method with time-varying penalty parameters. © 2023, CC BY.

关键词： Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Design of a Variable Stiffness Spring with Human-Selectable Stiffness

arXiv

引用

arXiv 2023年

作者： Mathews, Chase W. Braun, David J. Advanced Robotics and Control Laboratory within the Center for Rehabilitation Engineering and Assistive Technology Department of Mechanical Engineering Vanderbilt University NashvilleTN37235 United States

Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs or the elderly with weak legs) necessitate different assistive joint torques, and therefore, springs with different stiffness. Variable stiffness springs are a special class of springs which can exert more or less torque upon the same deflection, provided that the user is able to change the stiffness of the spring. In this paper, we present a novel variable stiffness spring design in which the user can select a preferred spring stiffness similar to switching gears on a bicycle. Using a leg-swing experiment, we demonstrate that the user can increment and decrement spring stiffness in a large range to effectively assist the hip joint during leg oscillations. Variable stiffness springs with human-selectable stiffness could be key components of wearable devices which augment locomotion tasks, such as walking, running, and swimming. © 2023, CC BY-NC-ND.

关键词： Stiffness

来源：评论

学校读者我要写书评

暂无评论

A Novel Bio-Intelligent Real-Time Redundancy Resolution Method for Cable-Driven Parallel Manipulators

A Novel Bio-Intelligent Real-Time Redundancy Resolution Meth...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： S. Ali A. Moosavian SeyedSina Seyedi HasanAbadi Arman Gholibeikian Department of Mechanical Engineering K. N. Toosi University of Technology Advanced Robotic and Automated Systems (ARAS) Center of Excellence in Robotics and Control Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Cable-driven parallel manipulators (CDPMs) are widely used where there is a need for high speeds and high accelerations, thanks to the low inertia and low cost of their links. However, cables can only exert tensional force. Due to this inherent property of the cables, CDPMs are required to be designed with at least one degree of redundancy in their joint space, to be able to generate an acceptable range of wrench within the workspace. Meanwhile, redundancy in joint space leads a problem called redundancy resolution, which is basically a force distribution from workspace to joint space. In this research, inspired by a simple mathematical model of the limbic system of the brain, a novel real-time redundancy resolution method is proposed. The presented method utilizes the kinematic information of the end-effector to find the solution to the redundancy resolution problem. The results show that this Brain Emotional Learning (BEL) method has a better performance in comparison with some common numerical optimization methods solved with a nonlinear programming solver like fmincon function in MATLAB, in terms of computational cost, continuity of the profile of the cables forces, and robustness.

关键词： Power cables Redundancy Force Optimization methods Kinematics Brain modeling Mathematical models Real-time systems Robustness Trajectory

来源：评论

学校读者我要写书评

暂无评论

A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Guanfeng Yu Han Zhang Zehao Wang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities.

关键词： Pedestrians Accuracy Systematics Wheelchairs Estimation Predictive models Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Collision Avoidance for Convex Primitives via Differentiable Optimization Based High-Order control Barrier Functions

arXiv

引用

arXiv 2024年

作者： Wei, Shiqing Khorrambakht, Rooholla Krishnamurthy, Prashanth Gonçalves, Vinicius Mariano Khorrami, Farshad Control/Robotics Research Laboratory Electrical and Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States MG Belo Horizonte31270-901 Brazil

Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method to integrate safety constraints into control synthesis through optimization techniques. However, challenges persist when dealing with convex primitives and tasks requiring torque control, as well as the occurrence of unintended equilibria. This work addresses these challenges by introducing a high-order CBF (HOCBF) framework for collision avoidance among convex primitives. We transform nonconvex safety constraints into linear constraints by differentiable optimization and prove the high-order continuous differentiability. Then, we employ HOCBFs to accommodate torque control, enabling tasks involving forces or high dynamics. Additionally, we analyze the issue of spurious equilibria in high-order cases and propose a circulation mechanism to prevent the undesired equilibria on the boundary of the safe set. Finally, we validate our framework with three experiments on the Franka Research 3 robotic manipulator, demonstrating successful collision avoidance and the efficacy of the circulation mechanism. © 2024, CC BY.

关键词： Quadratic programming

来源：评论

学校读者我要写书评

暂无评论

An Actor-Critic Reinforcement Learning Scheme for Reactive 3D Optimal Motion Planning Based on Fluid Dynamics

An Actor-Critic Reinforcement Learning Scheme for Reactive 3...

引用

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

作者： Marios Malliaropoulos Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos School of Mechanical Engineering Control Systems Laboratory National Technical University of Athens Department of Electrical and Computer Engineering University of Patras Center of AI & Robotics (CAIR) New York University Abu Dhabi

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This work proposes a novel and provably correct method for three-dimensional optimal motion planning in complex environments. Our approach models the 3D motion planning problem by solving streamlines of the potential fluid flow, filling a gap in traditional motion planning techniques by guaranteeing a closed-loop, smooth and natural-looking navigation solution. Special emphasis is given to an inherent challenge of artificial potential field (APF) methods, namely establishing proofs of safety and stability over the entire optimization process. A model-based actor-critic reinforcement learning algorithm is introduced to approximate the optimal solution to the Hamilton-Jacobi-Bellman equation and update the controller parameters in a deterministic manner. Through a series of ROS-Gazebo software-in-the-loop simulations the proposed methodology demonstrates robustness and outperforms widely used methods such as the RRT ∗ , highlighting its contribution to the field of 3D optimal motion planning.

关键词： Solid modeling Three-dimensional displays Navigation Reinforcement learning Mathematical models Stability analysis Robustness Planning Safety Optimization

来源：评论

学校读者我要写书评

暂无评论

Spiking neural networks: Towards bio-inspired multimodal perception in robotics

arXiv

引用

arXiv 2024年

作者： Oikonomou, Katerina Maria Balaska, Vasiliki Tsintotas, Konstantinos A. Mavridis, Christos N. Kansizoglou, Ioannis Gasteratos, Antonios The Department of Production and Management Engineering Laboratory of Robotics and Automation Democritus University of Thrace Xanthi Greece The Department of Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Spiking neural networks (SNNs) have captured apparent interest over the recent years, stemming from neuroscience and reaching the field of artificial intelligence. However, due to their nature SNNs remain far behind in achieving the exceptional performance of deep neural networks (DNNs). As a result, many scholars are exploring ways to enhance SNNs by using learning techniques from DNNs. While this approach has been proven to achieve considerable improvements in SNN performance, we propose another perspective: enhancing the biological plausibility of the models to leverage the advantages of SNNs fully. Our approach aims to propose a brain-like combination of audio-visual signal processing for recognition tasks, intended to succeed in more bio-plausible human-robot interaction applications. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

来源：评论

学校读者我要写书评

暂无评论

control Contraction Metrics on Submanifolds

Control Contraction Metrics on Submanifolds

引用

IEEE Conference on Decision and control

作者： Dongjun Wu Bowen Yi Ian R. Manchester Department of Automatic Control Lund University Box 118 Lund Sweden Department of Electrical Engineering & GERAD Polytechnique Montreal QC Canada Australian Centre for Robotics and School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolves on submanifolds. We demonstrate that the search for CCM on submanifolds can be reformulated as convex conditions. In particular, since Lie groups can be viewed as submanifolds in Euclidean space, the results are directly applicable to this setting.

关键词： Measurement Lie groups Aerospace electronics control systems Nonlinear systems

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：