检索结果-内蒙古大学图书馆

arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

来源：评论

学校读者我要写书评

暂无评论

Magnetic-visual sensor fusion-based dense 3D reconstruction and localization for endoscopic capsule robots

arXiv

引用

arXiv 2018年

作者： Turan, Mehmet Almalioglu, Yasin Ornek, Evin Pinar Araujo, Helder Yanik, Mehmet Fatih Sitti, Metin Physical Intelligence Department Max Planck Institute for Intelligent Systems Germany Computer Science Department University of Oxford Oxford United Kingdom Informatics Department Technical University of Muenich Germany Institute for Systems and Robotics University of Coimbra Portugal Department of Information Technology and Electrical Engineering Zurich Switzerland

Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology for use in the gastrointestinal (GI) tract. In this study, we propose a fully dense, non-rigidly deformable, strictly realtime, intraoperative map fusion approach for actively controlled endoscopic capsule robot applications which combines magnetic and vision-based localization, with non-rigid deformations based frame-to-model map fusion. The performance of the proposed method is demonstrated using four different ex-vivo porcine stomach models. Across different trajectories of varying speed and complexity, and four different endoscopic cameras, the root mean square surface reconstruction errors 1.58 to 2.17 cm. Copyright © 2018, The Authors. All rights reserved.

关键词： Robot applications

来源：评论

学校读者我要写书评

暂无评论

Introduction

Advances in Industrial Control

引用

Advances in Industrial Control 2018年第9783319610207期 1-18页

作者： Orsag, Matko Korpela, Christopher Oh, Paul Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Department of Electrical Engineering and Computer Science United States Military Academy West PointNY United States Department of Mechanical Engineering University of Nevada Las Vegas Las VegasNV United States

Aerial robotics has reached significant maturity in the last few years. Thus, the number of new unmanned aerial vehicles (UAV) and unmanned aerial systems (UAS), applications, and companies producing them has increased in a very important way. The number of publications and presentations in conferences has also experienced a large increase. Moreover, almost every day we can find articles, videos, and news in the general media related to drones. © Springer International Publishing AG 2018.

关键词： Antennas

来源：评论

学校读者我要写书评

暂无评论

Aerial navigation in obstructed environments with embedded nonlinear model predictive control

arXiv

引用

arXiv 2018年

作者： Small, Elias Sopasakis, Pantelis Fresk, Emil Patrinos, Panagiotis Nikolakopoulos, George University of Cyprus Department of Electrical and Computer Engineering KIOS Research Center for Intelligent Systems and Networks 1 Panepistimiou Avenue Aglantzia Nicosia2109 Cyprus Robotics Team at Luleå Technical University LuleåSE-97187 Sweden KU Leuven Kasteelpark Arenberg 10 Leuven3001 Belgium

We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAVs) using non-linear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed methodology can accommodate obstacles of arbitrary, potentially non-convex, geometry. The NMPC problem is solved using PANOC: a fast numerical optimization method which is completely matrix-free, is not sensitive to ill conditioning, involves only simple algebraic operations and is suitable for embedded NMPC. A C89 implementation of PANOC solves the NMPC problem at a rate of 20 Hz on board a lab-scale MAV. The MAV performs smooth maneuvers moving around an obstacle. For increased autonomy, we propose a simple method to compensate for the reduction of thrust over time, which comes from the depletion of the MAV’s battery, by estimating the thrust *** Codes 49M37, 34H05, 93B52 Copyright © 2018, The Authors. All rights reserved.

关键词： Micro air vehicle (MAV)

来源：评论

学校读者我要写书评

暂无评论

Flexible disaster response of tomorrow final presentation and evaluation of the CENTAURO system

arXiv

引用

arXiv 2019年

作者： Klamt, Tobias Rodriguez, Diego Baccelliere, Lorenzo Chen, Xi Chiaradia, Domenico Cichon, Torben Gabardi, Maßimiliano Guria, Paolo Holmquist, Karl Kamedula, Malgorzata Karaoguz, Hakan Kashiri, Navvab Laurenzi, Arturo Lenz, Christian Leonardis, Daniele Hoffman, Enrico Mingo Muratore, Luca Pavlichenko, Dmytro Porcini, Francesco Ren, Zeyu Schilling, Fabian Schwarz, Max Solazzi, Maßimiliano Felsberg, Michael Frisoli, Antonio Gustmann, Michael Jensfelt, Patric Nordberg, Klas Roßmann, Jürgen Süß, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Germany Humanoids and Human-Centred Mechatronics Istituto Italiano di Tecnologia Genoa Italy Department of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden PERCRO Laboratory TeCIP Institute Sant'Anna School of Advanced Studies Pisa Italy Institute for Man-Machine Interaction RWTH Aachen University Germany Computer Vision Laboratory Linköping University Sweden Lausanne Switzerland Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

来源：评论

学校读者我要写书评

暂无评论

Microrobots: A Needle‐Type Microrobot for Targeted Drug Delivery by Affixing to a Microtissue (Adv. Healthcare Mater. 7/2020)

引用

Advanced Healthcare Materials 2020年第7期9卷

作者： Seungmin Lee Jin‐young Kim Junyoung Kim Ali Kafash Hoshiar Jongeon Park Sunkey Lee Jonghyun Kim Salvador Pané Bradley J. Nelson Hongsoo Choi Department of Robotics Engineering DGIST‐ETH Microrobot Research Center Daegu‐Gyeongbuk Institute of Science & Technology (DGIST) 333 Techno jungang‐daero Hyeonpung‐eup Dalseong‐Gun Daegu 42988 Republic of Korea School of Computer Science and Electronic Engineering University of Essex Colchester CO4 3SQ UK School of Mechanical Engineering Sungkyunkwan University 2066 Seobu‐ro Jangan‐gu Suwon‐si Gyeonggi‐do 16419 South Korea Institute of Robotics and Intelligent Systems ETH Zurich Zurich CH‐8092 Switzerland

来源：评论

学校读者我要写书评

暂无评论

Self-adaptation of chimera states

引用

Physical Review E 2019年第1期99卷 010201(R)-010201(R)页

作者： Nan Yao Zi-Gang Huang Hai-Peng Ren Celso Grebogi Ying-Cheng Lai Department of Applied Physics Xi'an University of Technology Xi'an 710048 China The Key Laboratory of Biomedical Information Engineering of Ministry of Education National Engineering Research Center of Health Care and Medical Devices The Key Laboratory of Neuro-informatics & Rehabilitation Engineering of Ministry of Civil Affairs and Institute of Health and Rehabilitation Science School of Life Science and Technology Xi'an Jiaotong University Xi'an 710049 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an 710048 China Institute for Complex Systems and Mathematical Biology King's College University of Aberdeen Aberdeen AB24 3UE United Kingdom School of Electrical Computer and Energy Engineering Arizona State University Tempe Arizona 85287 USA Department of Physics Arizona State University Tempe Arizona 85287 USA

Chimera states in spatiotemporal dynamical systems have been investigated in physical, chemical, and biological systems, and have been shown to be robust against random perturbations. How do chimera states achieve their robustness? We uncover a self-adaptation behavior by which, upon a spatially localized perturbation, the coherent component of the chimera state spontaneously drifts to an optimal location as far away from the perturbation as possible, exposing only its incoherent component to the perturbation to minimize the disturbance. A systematic numerical analysis of the evolution of the spatiotemporal pattern of the chimera state towards the optimal stable state reveals an exponential relaxation process independent of the spatial location of the perturbation, implying that its effects can be modeled as restoring and damping forces in a mechanical system and enabling the articulation of a phenomenological model. Not only is the model able to reproduce the numerical results, it can also predict the trajectory of drifting. Our finding is striking as it reveals that, inherently, chimera states possess a kind of “intelligence” in achieving robustness through self-adaptation. The behavior can be exploited for the controlled generation of chimera states with their coherent component placed in any desired spatial region of the system.

关键词： Chimera states Collective dynamics Coupled oscillators Chaos & nonlinear dynamics

来源：评论

学校读者我要写书评

暂无评论

Dynamic probabilistic risk assessment of unmanned aircraft adaptive flight control systems

Dynamic probabilistic risk assessment of unmanned aircraft a...

引用

AIAA Information systems-AIAA Infotech at Aerospace, 2018

作者： Hejase, Mohammad Kurt, Arda Aldemir, Tunc Ozguner, Umit Guarro, Sergio B. Yau, Michael K. Knudson, Matt D. The Ohio State University Department of Electrical and Computer Engineering 2015 Neil Ave ColumbusOH43210 United States The Ohio State University Department of Mechanical and Aerospace Engineering 201 W 19th Ave ColumbusOH43210 United States ASCA Inc 1720 S. Catalina Avenue Suite 220 Redondo BeachCA90277 United States NASA Ames Research Center Research Computer Scientist Intelligent Systems Division Moffett Field Mail Stop 269-2 CA94035 United States

ISBN: (数字)9781624105272

ISBN: (纸本)9781624105272

There is a great demand for risk assessment tools and techniques that can ensure safe and robust performance of an Unmanned Aircraft System (UAS) equipped with adaptive elements in missions involving multiple phases with uncertain system or operational conditions. A dynamic probabilistic risk assessment scheme involving multiple phase-specific implementations of a Backtracking Process Algorithm (BPA) based on a Markov Cell-to-Cell Mapping Technique is proposed for risk-informed identification of scenarios involving UAS control systems with adaptive control elements operating in the National Airspace. A UAS adaptive flight control system with the capability of handling variations in the flight dynamics and flight systems domain is used as a case study. Aircraft icing is taken as a varying component in the flight dynamics domain, while the engine state is taken as a varying component in the flight systems domain. The consequence of interest in the case study is taken to be a UAS failing to complete flare during landing. Multiple BPA instances are defined and implemented for cruise, initial descent, final descent, and flare phases in the proposed case study. The results of the implementations are integrated together to allow for efficient tracing of fault propagation throughout the system, and quantification of probabilistic system evolution in time. © 2018 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Unmanned aerial vehicles (UAV)

来源：评论

学校读者我要写书评

暂无评论

Towards cloud security improvement with encryption intensity selection 13

Towards cloud security improvement with encryption intensity...

引用

13th International Conference on Design of Reliable Communication Networks, DRCN 2017

作者： Aman, Mortada A. Çetinkaya, Egemen K. Department of Electrical and Computer Engineering RollaMO65409 United States Intelligent Systems Center Missouri University of Science and Technology RollaMO65409 United States

ISBN: (纸本)9783800743834

The emergence of cloud computing has enabled users to store and manage data at a low cost and high availability, which made outsourcing data become appealing to its customers. Since the inception of cloud computing, efforts have been dedicated to improve the security and performance of cloudbased backup services. However, there is yet to be implemented a complete scheme that provides security, utility, and performance. Existing schemes focus on one aspect of the backup service;security of data, functionality of the scheme (e.g. searching data for a keyword), or performance. In this paper, we introduce a cloud backup system aiming to balance all three aspects of the service. The scheme utilizes encryption intensity selection, which allows users to select the encryption intensity of their files, secure deduplication, and querying on encrypted data. The performance of our cloud backup system is measured over an OpenStack cloud installed on CloudLab resources. Results demonstrate that our scheme can improve backup service security and performance while providing more functionality of the encrypted data. © VDE VERLAG GMBH - Berlin - Offenbach.

关键词： Cryptography

来源：评论

学校读者我要写书评

暂无评论

Wearable Flexible Hybrid Electronics: Advanced Soft Materials, Sensor Integrations, and Applications of Wearable Flexible Hybrid Electronics in Healthcare, Energy, and Environment (Adv. Mater. 15/2020)

引用

Advanced Materials 2020年第15期32卷

作者： Hyo‐Ryoung Lim Hee Seok Kim Raza Qazi Young‐Tae Kwon Jae‐Woong Jeong Woon‐Hong Yeo George W. Woodruff School of Mechanical Engineering Institute for Electronics and Nanotechnology Georgia Institute of Technology Atlanta GA 30332 USA Department of Mechanical Engineering University of South Alabama Mobile AL 36608 USA Department of Electrical Computer & Energy Engineering University of Colorado Boulder Boulder CO 80309 USA School of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon 34141 South Korea George W. Woodruff School of Mechanical Engineering Wallace H. Coulter Department of Biomedical Engineering Institute for Electronics and Nanotechnology Parker H. Petit Institute for Bioengineering and Biosciences Center for Flexible and Wearable Electronics Advanced Research Neural Engineering Center Institute for Materials Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta GA 30332 USA

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：