检索结果-内蒙古大学图书馆

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Wu, Zhiheng Wu, Zhengxing Lu, Yue Wang, Jian Yu, Junzhi Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781665436786

With the rapid development of deep neural networks, underwater vision plays an increasingly important role in the underwater robotic operation. However, the scarce underwater datasets greatly limit the performance of deep learning on underwater visual tasks, further hindering the applications of underwater operation. To solve this problem, we propose an underwater image synthesis method, which can directly convert the natural light image into the synthetic underwater image end-to-end. Particularly, a pixel-level self-supervised training strategy is designed to maximize the structural similarity between the synthesized and real images, through training the real underwater images. Finally, extensive experiments are carried out, and the obtained results demonstrate the effectiveness and superiority of our methods by quantitative and qualitative comparisons. The proposed underwater image synthesis method offers a valuable sight for underwater vision and manipulating control. © 2021 IEEE.

关键词： Deep neural networks

来源：评论

学校读者我要写书评

暂无评论

Highly accelerated multi-shot intravoxel incoherent motion diffusion-weighted imaging in brain enabled by parametric POCS-based multiplexed sensitivity encoding

引用

NMR in Biomedicine 2024年第3期37卷 e5063-e5063页

作者： Chen, Shihui Chu, Mei-Lan Liang, Liyuan Liu, Yi-Jui Chen, Nan-Kuei Wang, He Juan, Chun-Jung Chang, Hing-Chiu Department of Biomedical Engineering The Chinese University of Hong Kong Shatin Hong Kong Department of Diagnostic Radiology Li Ka Shing Faculty of Medicine The University of Hong Kong Pokfulam Hong Kong Graduate Institute of Biomedical Electronics and Bioinformatics National Taiwan University Taipei Taiwan Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Department of Biomedical Engineering University of Arizona TucsonAZ United States Brain Imaging and Analysis Center Duke University Medical Center DurhamNC United States Institute of Science and Technology for Brain-Inspired Intelligence Fudan University Shanghai China Ministry of Education Shanghai China Human Phenome Institute Fudan University Shanghai China Department of Medical Imaging China Medical University Hsinchu Hospital Hsinchu Taiwan Department of Radiology School of Medicine College of Medicine China Medical University Taichung Taiwan Department of Medical Imaging China Medical University Hospital Taichung Taiwan Multi-Scale Medical Robotics Center Shatin Hong Kong

Recently, intravoxel incoherent motion (IVIM) diffusion-weighted imaging (DWI) has also been demonstrated as an imaging tool for applications in neurological and neurovascular diseases. However, the use of single-shot diffusion-weighted echo-planar imaging for IVIM DWI acquisition leads to suboptimal data quality: for instance, geometric distortion and deteriorated image quality at high spatial resolution. Although the recently commercialized multi-shot acquisition methods, such as multiplexed sensitivity encoding (MUSE), can attain high-resolution and high-quality DWI with signal-to-noise ratio (SNR) performance superior to that of the conventional parallel imaging method, the prolonged scan time associated with multi-shot acquisition is impractical for routine IVIM DWI. This study proposes an acquisition and reconstruction framework based on parametric-POCSMUSE to accelerate the four-shot IVIM DWI with 70% reduction of total scan time (13 min 8 s versus 4 min 8 s). First, the four-shot IVIM DWI scan with 17 b values was accelerated by acquiring only one segment per b value except for b values of 0 and 600 s/mm2. Second, an IVIM-estimation scheme was integrated into the parametric-POCSMUSE to enable joint reconstruction of multi-b images from under-sampled four-shot IVIM DWI data. In vivo experiments on both healthy subjects and patients show that the proposed framework successfully produced multi-b DW images with significantly higher SNRs and lower reconstruction errors than did the conventional acceleration method based on parallel imaging. In addition, the IVIM quantitative maps estimated from the data produced by the proposed framework showed quality comparable to that of fully sampled MUSE-reconstructed images, suggesting that the proposed framework can enable highly accelerated multi-shot IVIM DWI without sacrificing data quality. In summary, the proposed framework can make multi-shot IVIM DWI feasible in a routine MRI examination, with reasonable scan time a

关键词： Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

A Survey of Robot Manipulation in Contact

arXiv

引用

arXiv 2021年

作者： Suomalainen, Markku Karayiannidis, Yiannis Kyrki, Ville Center of Ubiquitous Computing Faculty of Information Technology and Electrical Engineering University of Oulu Finland Systems and Control Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden Intelligent Robotics research group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Helsinki Finland

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task. Robots can perform more and more manipulation tasks that are still done by humans, and there is a growing number of publications on the topics of 1) performing tasks that always require contact and 2) mitigating uncertainty by leveraging the environment in tasks that, under perfect information, could be performed without contact. The recent trends have seen robots perform tasks earlier left for humans, such as massage, and in the classical tasks, such as peg-in-hole, there is a more efficient generalization to other similar tasks, better error tolerance, and faster planning or learning of the tasks. Thus, in this survey we cover the current stage of robots performing such tasks, starting from surveying all the different in-contact tasks robots can perform, observing how these tasks are controlled and represented, and finally presenting the learning and planning of the skills required to complete these tasks. © 2021, CC BY.

关键词： Surveys

来源：评论

学校读者我要写书评

暂无评论

Time Delay Model of the Turbine Pressure Water Conduit: Application to the off-the-grid regime control

引用

IFAC-PapersOnLine 2021年第18期54卷 41-46页

作者： Jaromír Fišer Pavel Zítek Michal Kuchař Adam Peichl Milan Kučera Pavel Kulík Tomáš Vyhlídal Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Technická 4 Prague 6 16607 Czech Republic ZAT a.s. K Podlesí 541 Příbram 261 01 Czech Republic

The paper presents modeling the hydro-turbine governing system with delay in application to the turbo-machinery control. The delay originates from the wave phenomenon encountered in the pressure water conduit connected to the turbine. To facilitate the PID control tuning the turbine and conduit model is linearized and it results in linear time delay system referred to as the neutral system. Particularly, the disturbance rejection is achieved by the PID control response to varying power loads. Finally, the application example demonstrates the turbo-machinery control in the off-the-grid regime.

关键词： penstock conduit turbine wave phenomenon neutral system PID control

来源：评论

学校读者我要写书评

暂无评论

Retinal Disorder Diagnosis Based on Hybrid Deep Learning Models

SSRN

引用

SSRN 2022年

作者： Sedik, Ahmed El-Hag, Noha A. El-Hoseny, Heba M. El-Banby, Ghada M. Khalaf, Ashraf A.M. Abd El-Samie, Fathi E. El-Shafai, Walid Department of the Robotics and Intelligent Machines Faculty of Artificial Intelligence Kafrelsheikh University Egypt Menoufia University Egypt Department of Electronics and Electrical Communication Engineering Al-Obour High Institute for Engineering and Technology Egypt Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Deptartment of Electronics and Electrical Communication Engineering Faculty of Electronic Engineering Menoufia University Menouf32952 Egypt Department of Information Technology College of Computer and Information Sciences Princess Nourah Bint Abdulrahman University Riyadh84428 Saudi Arabia Security Engineering Lab Computer Science Department Prince Sultan University Riyadh11586 Saudi Arabia

Anomaly detection from medical images is badly needed for automated diagnosis. For example, medical images obtainedwith several modalities such as magnetic resonance (MR) and confocal microscopy need to be classified for anomaly *** MR images may contain tumors that need to be detected with anomaly detection techniques. In MR imaging, braintumors are represented as areas composed of abnormal cells that need to be detected. In addition, confocal microscopy can be used for retinal imaging. Hence, there is a need to apply classification techniques for diagnosing diseases of the eye such as Diabetic Retinopathy (DR), which leads to exudates in different regions of the retina. The detection of exudates is necessary for the diagnosis of DR. In this paper, two models are presented for the classification of MR and retinal images. Much research has been done in this area, but it did not achieve high accuracy of classification in an acceptable time. In addition, the previous models did not consider both types of image modalities considered in this paper. The suggested models are Convolutional Neural Network (CNN) and Convolutional Long Short-Term Memory (Conv-LSTM). They are used to classify © 2022, The Authors. All rights reserved.

关键词： Ophthalmology

来源：评论

学校读者我要写书评

暂无评论

Learning by Doing: controlling a Dynamical System using Causality, control, and Reinforcement Learning

arXiv

引用

arXiv 2022年

作者： Weichwald, Sebastian Mogensen, Søren Wengel Lee, Tabitha Edith Baumann, Dominik Kroemer, Oliver Guyon, Isabelle Trimpe, Sebastian Peters, Jonas Pfister, Niklas Department of Mathematical Sciences University of Copenhagen Denmark Department of Automatic Control Lund University Sweden The Robotics Institute Carnegie Mellon University United States Department of Information Technology Uppsala University Sweden LISN INRIA CNRS Université Paris-Saclay France ChaLearn United States Institute for Data Science in Mechanical Engineering RWTH Aachen University Germany

Questions in causality, control, and reinforcement learning go beyond the classical machine learning task of prediction under i.i.d. observations. Instead, these fields consider the problem of learning how to actively perturb a system to achieve a certain effect on a response variable. Arguably, they have complementary views on the problem: In control, one usually aims to first identify the system by excitation strategies to then apply model-based design techniques to control the system. In (non-model-based) reinforcement learning, one directly optimizes a reward. In causality, one focus is on identifiability of causal structure. We believe that combining the different views might create synergies and this competition is meant as a first step toward such synergies. The participants had access to observational and (offline) interventional data generated by dynamical systems. Track CHEM considers an open-loop problem in which a single impulse at the beginning of the dynamics can be set, while Track ROBO considers a closed-loop problem in which control variables can be set at each time step. The goal in both tracks is to infer controls that drive the system to a desired state. Code is open-sourced (***/LearningByDoingCompetition/learningbydoingcomp) to reproduce the winning solutions of the competition and to facilitate trying out new methods on the competition tasks. Copyright © 2022, The Authors. All rights reserved.

关键词： Dynamical systems

来源：评论

学校读者我要写书评

暂无评论

Evaluation of a cost-effective photoelectric sensor for daylight harvesting in smart public lighting systems

Measurement: Energy

引用

Measurement: Energy 2024年 3卷

作者： Aytaç Gören Fatima Khanfar Ahmed Rachid Laboratory of Innovative Technologies University of Picardie Jules Verne Amiens 80000 France Automatic Control and Robotics Laboratories Department of Mechanical Engineering Dokuz Eylul University 35320 Izmir Turkey

Global warming concerns, along with international agreements and regulations, reflect a broader effort to change the public's high energy demand in recent years. Smart public lighting systems are gaining popularity due to their energy-saving capabilities, reduction in carbon dioxide emissions, and improved public comfort. However, transitioning to smart public lighting requires careful planning and multiple stages. This is not only to accommodate public behavior, revise scenarios, and test citizen acceptance but also due to the necessary infrastructure investments. Smart public lighting incorporates new technologies, often with a breakeven point that takes several years to reach. To promote the widespread adoption of smart public lighting, it is essential to produce relatively expensive components in large quantities and explore cost-effective solutions. This research focuses on investigating a cost-effective photoelectric sensor for smart public purposes. The primary originality of this study lies in identifying a cost-effective photoelectric sensor that can replace technically equivalent but more expensive sensor solutions for indoor and outdoor lighting control purposes.

关键词： Smart public lighting Daylight harvesting Photoelectric sensor Light quality

来源：评论

学校读者我要写书评

暂无评论

Force-based Feedback for Haptic Device of Mobile Assembly Robot 27

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

引用

27th International Workshop on Electric Drives: MPEI department of Electric Drives 90th Anniversary, IWED 2020

作者： Lukin, Aleksandr Demidova, Galina L. Rassolkin, Anton Vaimann, Toomas Roozbahani, Hamid ITMO University Faculty of Control System and Robotics Saint Petersburg Russia Tallinn University of Technology Department of Electrical Power Engineering and Mechatronics Tallin Estonia Lappeenranta University of Technology Laboratory of Intelligent Machines Lappeenranta Finland

ISBN: (纸本)9781728141589

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating System (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device. © 2020 IEEE.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

An Innovative Smart Irrigation Using Embedded and Regression-Based Machine Learning Technologies for Improving Water Security and Sustainability

引用

IEEE Access 2025年 13卷 100731-100751页

作者： Abdennabi Morchid Abdennacer Elbasri Zahra Oughannou Hassan Qjidaa Rachid El Alami Badre Bossoufi Saleh Mobayen Paweł Skruch LIMAS Laboratory Faculty of Sciences Dhar El Mahraz Sidi Mohamed Ben Abdellah (SMBA) University Fes Morocco Department of Data Science Mundiapolis University of Casablanca Campus Nouaceur Casablanca Morocco Innovation in Mathematics and Intelligent Systems (IMIS) Laboratory Ibn Zohr University Agadir Morocco Systems and Sustainable Environment Laboratory (SED) Faculty of Engineering Sciences (FSI) Private University of Fez (UPF) Fes Morocco Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Douliu Taiwan Energy Systems Research Center Khazar University Baku Azerbaijan Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland

Global agriculture is facing major challenges such as food security, sustainable water management, and the preservation of natural resources. Water scarcity, exacerbated by climate change, requires adopting more efficient agricultural practices. Traditional irrigation systems, often imprecise, contribute to water wastage. The use of embedded systems and machine learning offers a solution for optimizing irrigation according to local conditions and actual crop needs while contributing to food security and environmental sustainability. This study proposes an innovative approach to irrigation management, integrating real-time data and predictive models to improve irrigation efficiency. This study proposes an irrigation system based on embedded systems, using sensors and algorithms to collect and analyze data in order to optimize water management. The system adjusts irrigation levels according to specific crop needs, thus contributing to more sustainable water management. Using ML algorithms like linear regression algorithms to model the relationships between environmental factors and crop water requirements, enabling accurate prediction of required irrigation levels based on data collected by sensors. The use of embedded systems such as the ESP32, combined with temperature, humidity, and water level sensors, has enabled the development of an autonomous and efficient system for collecting data in real-time and processing it for decision-making. The proposed model has an MAE of 0.8434, an RMSE of 0.8434, and a coefficient (R2 Score) of 0.4044, offering soil moisture prediction accuracy. Furthermore, the training time of our model is 0.00253 seconds, while the prediction time is 0.00117 seconds. These results show not only the performance of the proposed model in terms of accuracy but also its computational efficiency, outperforming some of the studies mentioned. The results of the study show a significant reduction in water consumption, with a marked improvement in water

关键词： Climate change Embedded systems Smart agriculture Irrigation Food security Optimization methods Machine learning Machine learning algorithms Sustainable development Water resources Water monitoring Environmental management

来源：评论

学校读者我要写书评

暂无评论

Opportunities and challenges for monitoring terrestrial biodiversity in the robotics age

引用

Nature Ecology and Evolution 2025年第6期9卷 1031-1042页

作者： Pringle, Stephen Dallimer, Martin Goddard, Mark A. Le Goff, Léni K. Hart, Emma Langdale, Simon J. Fisher, Jessica C. Abad, Sara-Adela Ancrenaz, Marc Angeoletto, Fabio Auat Cheein, Fernando Austen, Gail E. Bailey, Joseph J. Baldock, Katherine C. R. Banin, Lindsay F. Banks-Leite, Cristina Barau, Aliyu S. Bashyal, Reshu Bates, Adam J. Bicknell, Jake E. Bielby, Jon Bosilj, Petra Bush, Emma R. Butler, Simon J. Carpenter, Dan Clements, Christopher F. Cully, Antoine Davies, Kendi F. Deere, Nicolas J. Dodd, Michael Drinkwater, Rosie Driscoll, Don A. Dutilleux, Guillaume Dyrmann, Mads Edwards, David P. Farhadinia, Mohammad S. Faruk, Aisyah Field, Richard Fletcher, Robert J. Foster, Chris W. Fox, Richard Francksen, Richard M. Franco, Aldina M. A. Gainsbury, Alison M. Gardner, Charlie J. Giorgi, Ioanna Griffiths, Richard A. Hamaza, Salua Hanheide, Marc Hayward, Matt W. Hedblom, Marcus Helgason, Thorunn Heon, Sui P. Hughes, Kevin A. Hunt, Edmund R. Ingram, Daniel J. Jackson-Mills, George Jowett, Kelly Keitt, Timothy H. Kloepper, Laura N. Kramer-Schadt, Stephanie Labisko, Jim Labrosse, Frédéric Lawson, Jenna Lecomte, Nicolas de Lima, Ricardo F. Littlewood, Nick A. Marshall, Harry H. Masala, Giovanni L. Maskell, Lindsay C. Matechou, Eleni Mazzolai, Barbara McConnell, Alistair Melbourne, Brett A. Miriyev, Aslan Nana, Eric Djomo Ossola, Alessandro Papworth, Sarah Parr, Catherine L. Payo-Payo, Ana Perry, Gad Pettorelli, Nathalie Pillay, Rajeev Potts, Simon G. Prendergast-Miller, Miranda T. Qie, Lan Rolley-Parnell, Persie Rossiter, Stephen J. Rowcliffe, Marcus Rumble, Heather Sadler, Jon P. Sandom, Christopher J. Sanyal, Asiem Schrodt, Franziska Sethi, Sarab S. Shabrani, Adi Siddall, Robert Smith, Simón C. Snep, Robbert P. H. Soulsbury, Carl D. Stanley, Margaret C. Stephens, Philip A. Stephenson, P.J. Struebig, Matthew J. Studley, Matthew Svátek, Martin Tang, Gilbert Taylor, Nicholas K. Umbers, Kate D. L. Ward, Robert J. White, Patrick J. C. Whittingham, Mark J. Wich, Serge Williams, Christopher D. Yakubu, Ibrahim B. Yoh, Natalie Durrell Institute of Conservation and Ecology (DICE) School of Natural Sciences University of Kent Canterbury United Kingdom Centre for Environmental Policy Imperial College London London United Kingdom Department of Geography and Environmental Sciences Northumbria University Newcastle upon Tyne United Kingdom School of Computing Engineering and the Built Environment Edinburgh Napier University Edinburgh United Kingdom Synthotech Ltd Milner Court Hornbeam Square Harrogate United Kingdom Mechanical Engineering Department University College London London United Kingdom HUTAN SWD Kota Kinabalu Malaysia Programa de Pós-Graduação em Gestão e Tecnologia Ambiental da Universidade Federal de Rondonópolis Rondonópolis Brazil Department of Engineering Harper Adams University Newport United Kingdom Applied Ecology Research Group School of Life Sciences Anglia Ruskin University Cambridge United Kingdom Centre for Ecology and Hydrology Penicuik United Kingdom Department of Life Sciences Imperial College London Silwood Park Campus Ascot United Kingdom Department of Urban and Regional Planning Faculty of Earth and Environmental Sciences Bayero University Kano Nigeria Greenhood Nepal Kathmandu Nepal Animal Rural & Environmental Sciences Nottingham Trent University Nottinghamshire United Kingdom School of Biological and Environmental Sciences Liverpool John Moores University Liverpool United Kingdom Lincoln Centre for Autonomous Systems University of Lincoln Lincoln United Kingdom Royal Botanic Garden Edinburgh Edinburgh United Kingdom School of Biological Sciences University of East Anglia Norwich Research Park Norwich United Kingdom Digital Ecology Limited Bristol United Kingdom School of Biological Sciences University of Bristol Bristol United Kingdom Department of Computing Imperial College London London United Kingdom Department of Ecology and Evolutionary Biology University of Colorado Boulder CO United States Faculty of Science Technology Engineering

With biodiversity loss escalating globally, a step change is needed in our capacity to accurately monitor species populations across ecosystems. Robotic and autonomous systems (RAS) offer technological solutions that may substantially advance terrestrial biodiversity monitoring, but this potential is yet to be considered systematically. We used a modified Delphi technique to synthesize knowledge from 98 biodiversity experts and 31 RAS experts, who identified the major methodological barriers that currently hinder monitoring, and explored the opportunities and challenges that RAS offer in overcoming these barriers. Biodiversity experts identified four barrier categories: site access, species and individual identification, data handling and storage, and power and network availability. robotics experts highlighted technologies that could overcome these barriers and identified the developments needed to facilitate RAS-based autonomous biodiversity monitoring. Some existing RAS could be optimized relatively easily to survey species but would require development to be suitable for monitoring of more ‘difficult’ taxa and robust enough to work under uncontrolled conditions within ecosystems. Other nascent technologies (for instance, new sensors and biodegradable robots) need accelerated research. Overall, it was felt that RAS could lead to major progress in monitoring of terrestrial biodiversity by supplementing rather than supplanting existing methods. Transdisciplinarity needs to be fostered between biodiversity and RAS experts so that future ideas and technologies can be codeveloped effectively. © The Author(s) 2025.

关键词：

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：