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作者： Zuo, Weiliang Xin, Jingmin Liu, Wenyi Zheng, Nanning Ohmori, Hiromitsu Sano, Akira Institute of Artificial Intelligence and Robotics National Engineering Laboratory for Visual Information Processing and Applications School of Artificial Intelligence Xi'An Jiaotong University Xi'an710049 China Department of System Design Engineering Keio University Yokohama223-8522 Japan

This paper investigates the localization of multiple near-field narrowband sources with a symmetric uniform linear array, and a new linear prediction approach based on the truncated singular value decomposition (LPATS) is proposed by taking an advantage of the anti-diagonal elements of the noiseless array covariance matrix. However, when the number of array snapshots is not sufficiently large enough, the 'saturation behavior' is usually encountered in most of the existing localization methods for the near-field sources, where the estimation errors of the estimated directions-of-arrival (DOAs) and ranges cannot decrease with the signal-to-noise ratio. In this paper, an oblique projection based alternating iterative scheme is presented to improve the accuracy of the estimated location parameters. Furthermore, the statistical analysis of the proposed LPATS is studied, and the asymptotic mean-square-error expressions of the estimation errors are derived for the DOAs and ranges. The effectiveness and the theoretical analysis of the proposed LPATS are verified through numerical examples, and the simulation results show that the LPATS provides good estimation performance for both the DOAs and ranges compared to some existing methods. © 1991-2012 IEEE.

关键词： Mean square error

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VibroSleeve: A wearable vibro-tactile feedback device for arm guidance

VibroSleeve: A wearable vibro-tactile feedback device for ar...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Deepa Prabhu Muhammad Mehedi Hasan Lisa Wise Clare MacMahon Chris McCarthy Faculty of Science Engineering and Technology School of Software Engineering Robotics and Mechatronics Lab Faculty of Health Arts and Design School of Health Sciences Swinburne University of Technology Hawthorn VIC Australia Department of Rehabilitation La Trobe University Melbourne VIC Australia

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

Vibro-tactile feedback offers a complementary augmentation cue for motor guidance and training. Motivated by the needs of prosthetic vision rehabilitation, we explore the use of the cylindrical forearm surface to deliver arm guidance cues via vibro-tactile stimulation. We present `VibroSleeve', a novel wearable arm motion guidance aid made up of 4×4 arrangement of vibration coin motors embedded within an elastic sleeve for delivering vibro-tactile patterns to the forearm. In this paper, we present the concept and design of VibroSleeve, along with results of preliminary evaluation. We outline key insights gained into the perceptual aspects of calibration and usable intensity bandwidth critical for reliable interpretation of encoded information. Our results demonstrate feasibility of the approach, and provide foundations for future work on developing the sleeve as a rehabilitation aid for guiding the arm towards visually perceived targets.

关键词： Vibrations Training Pulse width modulation Pattern recognition Prosthetics Visualization Calibration

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Miniature magnetic robots for in-pipe locomotion 21

Miniature magnetic robots for in-pipe locomotion

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robotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018

作者： Mills, George H. Liu, Jason H.W. Kaddouh, Bilal Y. Jackson, Andrew E. Richardson, Robert C. Department of Mechanical Engineering University of Leeds LeedsLS2 9JT United Kingdom Institute of Design Robotics and Optimisation LeedsLS2 9JT United Kingdom

ISBN: (纸本)9781916449008

Inspection of both small and large diameter bore pipelines for pipe integrity and defect identification with a single system has previously been impractical;especially using wall-press locomotion methods with low adaptive range. A miniature magnetic wall-climbing robot has been developed as a robotic solution for the inspection of 50mm bore diameter pipelines which can scale in-pipe geometry obstacles to access larger connected pipelines. Using magnetic arrays directed through steel flux plates within the wheels, the robot uses magnetic forces to adhere to the pipe. The system is 3D printed and includes soft printed material rubber wheels. The robot prototype is wirelessly driven, controlled remotely through serial Bluetooth communication radio at 2.4 GHz rated up to 100m. The robot's unique compact geometry and magnetic design allows it to scale concave right-angle wall cases in just a 50mm diameter bore. By entering pipe networks through these small existing access points the robot removes the need for expensive drilling procedures required to fit launch vessels. © CLAWAR Association.

关键词： Pipelines

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Three-dimensional kinematic metamaterial with tuneable directional permeability

arXiv

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arXiv 2021年

作者： Yang, Yunfang Maiolino, Perla Chen, Yan You, Zhong Department of Engineering Science University of Oxford Parks Road OxfordOX1 3PJ United Kingdom Oxford Robotics Institute University of Oxford Parks Road OxfordOX1 3PJ United Kingdom Key Laboratory of Mechanism Theory Equipment Design of Ministry of Education Tianjin University Tianjin300072 China School of Mechanical Engineering Tianjin University Tianjin University Tianjin300072 China

Reconfigurable metamaterials are constructed from tessellation of deformable modules that give rise to a set of tuneable properties. To date, most research focuses on metamaterials that morph between final configurations along a single deformation path. Multi-pathway metamaterials that can transform into several different shapes according to various external stimuli are rare. Here we propose a kinematic based metamaterial with multiple predefined deformation paths. The inherent kinematic bifurcations of the deformable unit cells enable the metamaterial to switch among different paths under simple stimuli at one particular configuration, resulting in the enhancement of reconfigurability. The metamaterials demonstrated in this paper can provide multiple open channels in different orthogonal directions, making them suitable for multifunctional applications such as tuneable filters and reconfigurable wave guiding materials. © 2021, CC BY.

关键词： Metamaterials

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Incentive mechanism design for distributed coded machine learning

arXiv

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arXiv 2020年

作者： Ding, Ningning Fang, Zhixuan Duan, Lingjie Huang, Jianwei Department of Information Engineering Chinese University of Hong Kong Hong Kong Institute for Interdisciplinary Information Sciences Tsinghua University Beijing China Shanghai Qi Zhi Institute Shanghai China Engineering Systems and Design Pillar Singapore University of Technology and Design Singapore School of Science and Engineering The Chinese University of Hong Kong Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

A distributed machine learning platform needs to recruit many heterogeneous worker nodes to finish computation simultaneously. As a result, the overall performance may be degraded due to straggling workers. By introducing redundancy into computation, coded machine learning can effectively improve the runtime performance by recovering the final computation result through the first k (out of the total n) workers who finish computation. While existing studies focus on designing efficient coding schemes, the issue of designing proper incentives to encourage worker participation is still under-explored. This paper studies the platform’s optimal incentive mechanism for motivating proper workers’ participation in coded machine learning, despite the incomplete information about heterogeneous workers’ computation performances and costs. A key contribution of this work is to summarize workers’ multi-dimensional heterogeneity as a one-dimensional metric, which guides the platform’s efficient selection of workers under incomplete information with a linear computation complexity. Moreover, we prove that the optimal recovery threshold k is linearly proportional to the participator number n if we use the widely adopted MDS (Maximum Distance Separable) codes for data encoding. We also show that the platform’s increased cost due to incomplete information disappears when worker number is sufficiently large, but it does not monotonically decrease in worker number. Copyright © 2020, The Authors. All rights reserved.

关键词： Machine learning

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Leadership approach towards Agile, Waterfall and Iterative implementation of the software development products

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IOP Conference Series: Materials Science and engineering 2021年第1期1169卷

作者： O Popa C. Mihele C Făgărăşan A. Pîslă Design engineering & Robotics Department Machine Building Faculty Technical University of Cluj-Napoca 103-105 Muncii Avenue Cluj-Napoca Romania

The automotive industry is one of the most dynamic markets, gathering around many different sectors from material extractions to robotics and cloud computing. The current research analyses the influences and particularities of leadership and identifies the challenges and advantages of the two principal methodologies in software development projects within the automotive industry, Agile and Waterfall. Some aspects of reducing methodological disadvantages are suggested and presented. The aim is to arrive at a sustainable solution that can ensure the delivery of reliable and flexible software products. The impact of these methodologies on the quality standards and project documentation is analyzed, which is a vital part of automotive software development. By influencing the product development lifecycle, there is an opportunity to develop a structured framework that can be adopted to build software products in a more flexible and agile way.

关键词：

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Data-Driven design Space Exploration and Exploitation for design for Additive Manufacturing (vol 141, 101101, 2019)

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JOURNAL OF MECHANICAL design 2019年第11期141卷 1-12页

作者： Xiong, Yi Pham Luu Trung Duong Wang, Dong Park, Sang-In Ge, Qi Raghavan, Nagarajan Rosen, David W. Digital Manufacturing and Design Centre Singapore University of Technology and Design Digital Manufacturing and Design Centre Singapore University of Technology and Design Robotics Institute School of Mechanical EngineeringState Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong University Department of Mechanical Engineering and Robotics Incheon National University Science and Math Cluster and Digital Manufacturing and Design Centre Singapore University of Technology and Design Engineering Product Development Pillar and Digital Manufacturing and Design Centre Singapore University of Technology and Design Digital Manufacturing and Design Centre Singapore University of Technology and Design The G. W. Woodruff School of Mechanical Engineering Georgia Institute of Technology

Recently, design for additive manufacturing has been proposed to maximize product performance through the rational and integrated design of the product, its materials, and their manufacturing processes. Searching design solutions in such a multidimensional design space is a challenging task. Notably, no existing design support method is both rapid and tailored to the design process. In this study, we propose a holistic approach that applies data-driven methods in design search and optimization at successive stages of a design process. More specifically, a two-step surrogate model-based design method is proposed for the embodiment and detailed design stages. The Bayesian network classifier is used as the reasoning framework to explore the design space in the embodiment design stage, while the Gaussian process regression model is used as the evaluation function for an optimization method to exploit the design space in detailed design. These models are constructed based on one dataset that is created by the Latin hypercube sampling method and then refined by the Markov Chain Monte Carlo sampling method. This cost-effective data-driven approach is demonstrated in the design of a customized ankle brace that has a tunable mechanical performance by using a highly stretchable design concept with tailored stiffnesses.

关键词： design

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Towards collaborative robotic polishing of mould and die sets

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Procedia Manufacturing 2019年 38卷 1499-1507页

作者： Ke (Brian) Wang Farid Dailami Jason Matthews Bristol Robotics Laboratory Cold harbour Lane Bristol UK. Department of Engineering Design and Mathematics University of the West of England Bristol UK

Dies and moulds are fundamental elements in the manufacturing of a wide variety of products. The surface polishing of dies and moulds with complex features largely relies upon time-consuming manual work of skilled workers and, as a result of the diminishing availability of skilled people, has become the most costly step in the manufacturing system. Robot-assisted polishing (RAP) technology has been investigated as an alternative or supplement to the conventional manual polishing process in the manufacturing of dies or moulds because of its high efficiency, improved reliability and robustness. This paper presents the preliminary work investigating RAP as a collaborative technique to complete the major finish a die or mould. Including a brief review of current approaches and methodologies to support automated polishing. A classification of common feature types currently polished in moulds and dies, to allow targeted research on the most appropriate surfaces and functional relevant edges. A set of preliminary testing and analysis to allow the setting up robotic polishing parameters in order to reach a desired final roughness of the dies.

关键词： robot polishing surface roughness collaborative robotics automated finishing

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Convolutional Neural Networks That Identify Mosquito Species and Know When They Do Not Know

Research Square

引用

Research Square 2021年

作者： Goodwin, Adam Padmanabhan, Sanket Hira, Sanchit Glancey, Margaret Slinowsky, Monet Immidisetti, Rakhil Scavo, Laura Brey, Jewell Ford, Tristan Heier, Collyn Linton, Yvonne-Marie Pecor, David B. Caicedo-Quiroga, Laura Acharya, Soumyadipta VecTech BaltimoreMD21211 United States Center for Bioengineering Innovation and Design Biomedical Engineering Department Whiting School of Engineering Johns Hopkins University BaltimoreMD21218 United States The Laboratory for Computational Sensing and Robotics Whiting School of Engineering The Johns Hopkins University BaltimoreMD21218 United States Smithsonian Institution Museum Support Center SuitlandMD20746 United States Walter Reed Army Institute of Research Silver SpringMD20910 United States Department of Entomology Smithsonian Institution-National Museum of Natural History WashingtonDC20560 United States

With over 3,500 mosquito species described, accurate species identification of the few implicated in disease transmission is critical to mosquito borne disease mitigation. Yet this task is hindered by limited global taxonomic expertise and specimen damage consistent across common capture methods. Convolutional neural networks (CNNs) are promising with limited sets of species, but image database requirements restrict practical implementation. Using an image database of 2,696 specimens from 67 mosquito species, we address the practical open-set problem with a detection algorithm for novel-species. Closed-set classification of 16 known species achieved 97.04±0.87% accuracy independently, and 89.07±5.58% when cascaded with novelty detection. Closed-set classification of 39 species produces a macro F1-score of 86.07±1.81%. This demonstrates an accurate, scalable, and practical computer vision solution to identify wild-caught mosquitoes for implementation in biosurveillance and targeted vector control programs, without the need for extensive image database development for each new target region. © 2021, CC BY.

关键词： Convolution

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Lighting effects, light distribution matters

Lighting effects, light distribution matters

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International Conference on Display Technology, ICDT 2019

作者： Xia, Ling Zhang, Tingting Liu, Xiaofeng Pont, Sylvia C. College of IoT Engineering Hohai University Changzhou Key Laboratory of Robotics and Intelligent Technology Jiangsu Key laboratory of Special Robot Technology Changzhou China Department of Industrial Design Perceptual Intelligence lab Delft University of Technology Delft Netherlands

ISBN: (纸本)9781510896161

The interaction between light and its surroundings (i.e. the geometry and materials) shapes the lighting distribution and determines the appearance of scenes and its visual experiences. In this study, we introduced the concept of light distribution solids by distinguishing luminance distribution solids and illuminance distribution solids. It is helpful to understand the spatial and formgiving lighting effects on objects’ appearance. Furthermore, this study together with our previous study (Xia, Pont et al. 2016, Xia, Pont et al. 2016) provide theoretical basis for the exploration of extracting photometry parameters out of HDR panoramic photographs of scenes. © 2019, John Wiley and Sons Inc. All rights reserved.

关键词： Luminance

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