Existing hand gesture recognition methods predominantly rely on a close-set assumption, which in essence limits the viewpoints, gesture categories, and hand shapes at test time to closely resemble those seen during tr...
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This paper proposes a new adaptive-gain recurrent neural network (AG-RNN) to effectively cope with the joint-angle drift issues in redundant manipulators. Specifically, a joint-angle drift-free with the feedback contr...
This paper proposes a new adaptive-gain recurrent neural network (AG-RNN) to effectively cope with the joint-angle drift issues in redundant manipulators. Specifically, a joint-angle drift-free with the feedback control of the velocity layer motion equation (JADF-FC) is proposed via an optimization criterion for synchronously optimizing linear terms and quadratic. Then, the JADF-FC is reasonably formulated into a standard quadratic programming (QP) issue. Different from the previous recurrent neural networks (RNNs), the AG-RNN proposed in this paper constructs an error-based differential equation with a new adaptive-gain. It should be noted that the proposed adaptive-gain does not gradually approach infinity as time increases, which is more in line with actual hardware implementation requirements than the existing time-variant-gain. The adaptive-gain can reduce the joint-angle drift errors of the redundant manipulator. Therefore, the proposed AG-RNN can solve the QP problem of the manipulator more effectively and quickly. To validate the performance of the proposed AG-RNN, it is compared with representative RNNs. The experimental results indicate that smaller joint-angle drift errors can be get by the proposed AG-RNN solving JADF-FC scheme than the other solutions when solving the joint-angle drift issues.
In this paper, the authors propose a new dynamic optical RAM based on a fiber-optic line. This device significantly increases the speed of information flows by reducing the time required to operate the RAM by 10. The ...
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ISBN:
(数字)9798350368178
ISBN:
(纸本)9798350368185
In this paper, the authors propose a new dynamic optical RAM based on a fiber-optic line. This device significantly increases the speed of information flows by reducing the time required to operate the RAM by 10. The proposed optical RAM increases the productivity and efficiency of information exchange between slow and fast devices of information and communication systems without software costs, which reduces the probability of failure by two times with the same buffer memory capacity. The authors proposed variants of the practical application of the new dynamic optical RAM. On its basis, a shift register, a serial-to-parallel code converter, a parallel-to-serial code converter, and a TDM switch for information system facilities were created. The time characteristics of signals in code converters based on a dynamic optical RAM are presented.
The authors of this paper propose a block diagram for a dual-operating buffer on a dynamic optical RAM. The buffer consists of two dynamic optical RAMs, each controlled separately to allow for simultaneous writing and...
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ISBN:
(数字)9798331520564
ISBN:
(纸本)9798331520571
The authors of this paper propose a block diagram for a dual-operating buffer on a dynamic optical RAM. The buffer consists of two dynamic optical RAMs, each controlled separately to allow for simultaneous writing and reading of data, thereby improving performance. This setup enables data to be read from the buffer while new data is being written to it. Implementing a dual-operating buffer on a dynamic optical RAM has the potential to enhance the performance of high-speed data transmission in telecommunications networks. The authors conducted numerical calculations to compare failure probabilities between single-operation and dual-operation buffers on dynamic optical RAM. The results indicated that using a dual-operating buffer significantly reduces the probability of failure with the same buffer memory capacity compared to a single-operating buffer. Additionally, the authors analyzed the effectiveness of the proposed dual-operating buffer. The analysis confirmed that exploiting dynamic optical memory for buffering enhances data transfer speed and efficiency due to the inherent properties of optical data transfer, such as high bandwidth and low latency.
Instance segmentation is a long-standing task for supporting robotic bin picking. However, objects of diverse classes can be closely packed with occlusions in cluttered and chaotic scenes, hence, even recent methods c...
Instance segmentation is a long-standing task for supporting robotic bin picking. However, objects of diverse classes can be closely packed with occlusions in cluttered and chaotic scenes, hence, even recent methods could have difficulty in locating clear and precise boundaries to distinguish nearby objects. In this work, we aim to improve the boundary quality of the instance masks for robust and precise instance segmentation in these challenging scenarios. Technical-wise, we first formulate an IoU-based Boundary-aware Mask head (IBM head) for predicting the instance-level mask, boundary, and their corresponding IoU scores. With this core module, we then follow the coarse-to-fine strategy and design our pipeline with two stages: an 1IoUNet to learn localization-based objectness cue and a hierarchical mask refiner to produce sharper and cleaner boundaries. We deploy the IBM head throughout the framework. Extensive experimental results on three grasping benchmarks manifest that our method attains the best instance segmentation performance, compared with the state-of-the-art approaches. Practically, we conduct real-world picking tests to show that with the objectness and boundary IoU scores as guidance, we are able to filter invalid (occluded) instances and select high-fidelity (exposed) instances for grasping.
Coronavirus disease 2019(COVID-19)has become a worldwide *** patients of COVID-19 suffer from a high mortality rate,motivating the development of convenient and practical methods that allow clinicians to promptly iden...
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Coronavirus disease 2019(COVID-19)has become a worldwide *** patients of COVID-19 suffer from a high mortality rate,motivating the development of convenient and practical methods that allow clinicians to promptly identify high-risk ***,we have developed a risk score using clinical data from 1479 inpatients admitted to Tongji Hospital,Wuhan,China(development cohort)and externally validated with data from two other centers:141 inpatients from Jinyintan Hospital,Wuhan,China(validation cohort 1)and 432 inpatients from The Third People’s Hospital of Shenzhen,Shenzhen,China(validation cohort 2).The risk score is based on three biomarkers that are readily available in routine blood samples and can easily be translated into a probability of *** risk score can predict the mortality of individual patients more than 12 d in advance with more than 90%accuracy across all ***,the Kaplan-Meier score shows that patients can be clearly differentiated upon admission as low,intermediate,or high risk,with an area under the curve(AUC)score of *** summary,a simple risk score has been validated to predict death in patients infected with severe acute respiratory syndrome coronavirus 2(SARS-CoV-2);it has also been validated in independent cohorts.
In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjust...
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ISBN:
(数字)9798350358513
ISBN:
(纸本)9798350358520
In traditional control methods, Series Elastic Actuator (SEA) joint manipulators are limited by their hardware and can only perform simple tasks with low stiffness. To address this issue, we propose a stiffness adjustment control strategy for SEA manipulators based on Dynamic systems (DS) with good generalization performance. By enhancing the generalization capability of DS in complex tasks and combining posture control, the SEA manipulators can autonomously adjust control gains and postures according to task requirements to achieve higher stiffness at the end-effector. Experimental results involving the activation of air switches with different stiffness levels and installation angles have demonstrated the effectiveness of our proposed method. The results indicate that compared to traditional methods of adjusting the control gain and retraining DS for similar tasks, our approach exhibits superior generalization performance while maintaining end-effector stiffness during interactions.
In this paper, a novel paradigm of mobile edgequantum computing (MEQC) is proposed, which brings quantum computing capacities to mobile edge networks that are closer to mobile users (i.e., edge devices). First, we pro...
In this paper, a novel paradigm of mobile edgequantum computing (MEQC) is proposed, which brings quantum computing capacities to mobile edge networks that are closer to mobile users (i.e., edge devices). First, we propose an MEQC system model where mobile users can offload computational tasks to scalable quantum computers via edge servers with cryogenic components and fault-tolerant schemes. Second, we show that it is NP-hard to obtain a centralized solution to the partial offloading problem in MEQC in terms of the optimal latency and energy cost of classical and quantum computing. Third, we propose a multi-agent hybrid discrete-continuous deep reinforcement learning using proximal policy optimization to learn the long-term sustainable offloading strategy without prior knowledge. Finally, experimental results demonstrate that the proposed algorithm can reduce at least 30% of the cost compared with the existing baseline solutions under different system settings.
Linear policies are the simplest class of policies that can achieve stable bipedal walking behaviors in both simulation and hardware. However, a significant challenge in deploying them widely is the difficulty in exte...
Linear policies are the simplest class of policies that can achieve stable bipedal walking behaviors in both simulation and hardware. However, a significant challenge in deploying them widely is the difficulty in extending them to more dynamic behaviors like hopping and running. Therefore, in this work, we propose a new class of linear policies in which template models can be embedded. In particular, we show how to embed Spring Loaded Inverted Pendulum (SLIP) model in the policy class and realize perpetual hopping in arbitrary directions. The spring constant of the template model is learned in addition to the remaining parameters of the policy. Given this spring constant, the goal is to realize hopping trajectories using the SLIP model, which are then tracked by the bipedal robot using the linear policy. Continuous hopping with adjustable heading direction was achieved across different terrains in simulation with heading and lateral velocities of up to O.5m/ sec and 0.05m/ sec, respectively. The policy was then transferred to the hardware, and preliminary results (> 10 steps) of hopping were achieved.
The adoption of Battery Electric Buses (BEBs) in electric public transit systems presents a significant opportunity for advancing sustainable transportation. However, it also poses challenges to the coupled electric t...
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