检索结果-内蒙古大学图书馆

Automated Drone Charging Station Using Gravity and Shape of Landing Structure

Journal of Institute of Control, robotics and Systems 2025年第2期31卷 146-152页

作者： Woo Lee, Jae Jeong, Seongkyun Hwan Bong, Jae Department of Human Intelligent Robot Engineering Sangmyung University Korea Republic of

This paper proposes a novel automated charging station for small drones. This system uses the three-dimensional shape of the landing structure and gravity to guide small drones, which are challenging to control precise landings, to the charging position. It employs a contact-based charging method using a single actuator to drive the vertical one-degree-of-freedom motion of the charging cable, enabling connection to the drone's charging terminal. The developed system continuously verifies the start of charging and tries to connect the charging cable to the drone until it successfully initiates charging. Performance evaluations demonstrate high charging success rates across various situations, with drones landing on the station at different positions and orientations. Most experiments have achieved successful charging within five attempts to connect the charging cable to the drone. This research demonstrates that mechanical design, utilizing the landing structure's shape and gravity, can achieve stable drone charging automation. The developed system is simply designed, making it cost-effective and easy to maintain. © ICROS 2025.

关键词： automated charging drone charging station gravity-based alignment landing structure design

来源：评论

学校读者我要写书评

暂无评论

Camera-LiDAR Fusion for Detecting Traffic Law Violations in Surveillance Systems

引用

Journal of Institute of Control, robotics and Systems 2025年第3期31卷 187-195页

作者： Kim, Taek-Lim Jang, Byoung-Jin Yeon, Joo-Yeon Park, Tae Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of Department of Intelligent System and Robotics Chungbuk National University Korea Republic of

Traffic surveillance systems are essential for ensuring public safety and optimizing urban traffic flow by accurately detecting, classifying, and monitoring traffic law violations such as illegal parking and jaywalking. However, detecting such violations in dynamic urban environments poses significant challenges due to unpredictable conditions. Traditional camera-based systems excel in capturing visual details but suffer performance degradation under low light, occlusion, or complex intersection scenarios, leading to false positives and missed detections. Therefore, we propose a camera-LiDAR fusion-based traffic violation detection system. LiDAR's independence from lighting conditions complements camera capabilities, especially in night scenarios or occluded environments. Experimental results in a real-world urban environment demonstrate the system’s effectiveness in reducing false positives and missed detections compared to traditional camera-only approaches. This study underscores the potential of sensor fusion to improve traffic management systems and points out future research opportunities in challenging conditions. © ICROS 2025.

关键词： Urban transportation

来源：评论

学校读者我要写书评

暂无评论

Reinforcement Learning for Highway Driving Decision-making Using CDR (Curriculum based Domain Randomization)

引用

Journal of Institute of Control, robotics and Systems 2025年第2期31卷 114-123页

作者： Yong, Jae-Hyoung Kim, Min-Sung Park, Tae-Hyoung Department of Intelligent System and Robotics Chungbuk National University Korea Republic of Department of Control Robot Engineering Chungbuk National University Korea Republic of Department of Intelligent System and Robotics Chungbuk National University Chungbuk National University Hospital Korea Republic of

Incorrect autonomous driving decisions on highways can lead to traffic congestion and accidents. Therefore, accurate decision-making in highways is essential. However, decision-making in highways is a challenging task due to the complexity of traffic situations. Thus, reinforcement learning is an appropriate approach for decision-making in highways. However, a domain gap often arises between the training and testing environments due to differences in them. Therefore, a curriculum-based domain randomization approach is applied, which progressively adjusts the level of random parameters. The RL model is trained using the SUMO simulator and tested in the MORAI simulator, where white noise is added to simulate real-world conditions. Consequently, applying curriculum domain randomization has the lowest collision rate. © ICROS 2025.

关键词： Traffic congestion

来源：评论

学校读者我要写书评

暂无评论

Background Subtraction-based Unlearned Hazardous Object Detection Algorithm for Ceiling Environments

引用

Journal of Institute of Control, robotics and Systems 2025年第4期31卷 334-342页

作者： Jeon, Jae Woo Kim, Sung Jae Suh, Jin Ho Department of Intelligent Robot Engineering Pukyong National University Korea Republic of The Industrial Science Technology Research Center Pukyong National University Korea Republic of Major of Mechanical System Engineering Pukyong National University Korea Republic of

We propose a background subtraction-based algorithm that uses images from an RGB-D camera to detect unlearned hazardous objects in ceiling environments, thereby facilitating efficient ceiling exploration. We constructed a dataset by compiling various images of ceiling structures and employed the YOLOv8s-seg model to recognize ceiling components. Recognized ceiling structures and regions exceeding a specified depth threshold were designated as background and removed in the first stage. A U-map based on depth information was then used to detect object regions, which enabled the identification of various types of potentially hazardous objects. The positions of the detected objects were continuously updated using a Kalman filter based tracking model, and their relative positions were visually displayed on a 2D map. To validate the performance of the algorithm, we implemented it in a system and conducted hazardous object detection experiments in a ceiling-simulated testbed and an actual ceiling environment. The findings confirmed the applicability of the algorithm in real-world settings. © ICROS 2025.

关键词： Kalman filters

来源：评论

学校读者我要写书评

暂无评论

Long-Range Vehicle Detection of LiDAR using Adaboost Classification

Long-Range Vehicle Detection of LiDAR using Adaboost Classif...

引用

2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Lim, Na-Young Lee, Jeon-Hyeok Park, Tae-Hyoung Chungbuk National University Department of Intelligent Systems & Robotics Cheongju Korea Republic of Chungbuk National University Department of Control & Robot Engineering Cheongju Korea Republic of

ISBN: (纸本)9798331531614

In recent developments, autonomous racing has garnered attention as it aims to overcome the limitations of standard autonomous driving systems. Achieving safe racing conditions necessitates both fast and long-range perception. However, current 3D LiDAR object detection methods face challenges with high computational costs and limited detection ranges. These issues make them unsuitable for racing scenarios. To address these challenges, this paper proposes a clustering-based long-range vehicle detection method that relies solely on LiDAR. First, the method removes ground points and foreground points and clusters the remaining points. Subsequently, these clusters are classified as vehicles using AdaBoost, generating 2D bounding boxes in the range view. Experimental results demonstrate superior performance, achieving a computational efficiency of 53 Hz and a long-range detection accuracy of over 80%, compared to voxel-based and range-based methods. This approach offers a viable solution for autonomous racing environments. © 2025 IEEE.

关键词： Autonomous vehicles

来源：评论

学校读者我要写书评

暂无评论

Advancing general robotic manipulation with multimodal foundation models: An embodied AI paradigm

引用

Science China Technological Sciences 2025年第5期68卷 294-296页

作者： Shifeng HUANG He WANG Xing ZHOU Wenkai CHEN Haibin YANG Jianwei ZHANG Department of Mechanical and Aerospace Engineering Hong Kong University of Science and Technology Foshan Institute of Intelligent Equipment Technology Foshan Huashu Robot Co. Ltd. Center on Frontiers of Computing Studies (CFCS) School of Computer SciencePeking University Beijing Academy of Artificial Intelligence Department of Informatics Universit?t Hamburg

Can current robotic technologies truly replicate the full scope and intricacies of human labour? In practice, the adoption of robots remains limited, especially in open, unstructured environments commonly encountered in everyday scenarios such as services, healthcare, agriculture,construction, and numerous other fields. From the perspective of general robotic manipulation, the challenges arise from three factors.

关键词：

来源：评论

学校读者我要写书评

暂无评论

intelligent User Localization Application in Open-RAN Framework

Intelligent User Localization Application in Open-RAN Framew...

引用

International Conference on Information Networking

作者： Sanghui Lee Jaewook Lee Department of Intelligent Robot Engineering Pukyong National University Busan Korea Department of Information and Communication Engineering Pukyong National University Busan Korea

ISBN: (数字)9798331506940

ISBN: (纸本)9798331506957

In this paper, we propose an intelligent user localization application that adjusts based on the number of active base stations in the mobile network. To achieve this, we collect mobile network data using a simulator that supports the Open-RAN framework. Evaluation results demonstrate that the proposed application accurately predicts user locations when the number of active gNodeBs (gNBs) exceeds three.

关键词： Location awareness Base stations Accuracy Energy efficiency Artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

Hyperbolic cosine transformer for LiDAR 3D object detection

引用

Optoelectronics Letters 2025年

作者： Tong Jigang Yang Fanhang Yang Sen Du Shengzhi Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory， Tianjin University of Technology Department of Electrical Engineering， Tshwane University of Technology

Recently， Transformer has achieved great success in computer vision. However， it is constrained because the spatial and temporal complexity grows quadratically with the number of large points in 3D object detection applications from point clouds. Previous point-wise methods are suffering from time consumption and limited receptive fields to capture information among points. To address these limitations， we propose the cosh-attention， which reduces the computation complexity of space and time from the quadratic order to linear order with respect to the number of points. In the cosh-attention， the traditional softmax operator is replaced by non-negative ReLU activation and hyperbolic-cosine-based operator with re-weighting mechanism. Then based on the key component， cosh-attention， we present a two-stage hyperbolic cosine transformer (ChTR3D) for 3D object detection from point clouds. It refines proposals by applying cosh-attention in linear computation complexity to encode rich contextual relationships among points. Extensive experiments on the widely used KITTI dataset and Waymo Open Dataset demonstrate that， compared with vanilla attention， the cosh-attention significantly improves the inference speed with competitive performance. Experiment results show that， among two-stage state-of-the-art methods using point-level features to refine proposals， the proposed ChTR3D is the fastest one.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Optimization design of welding parameters of key components of car body based on finite element 5

Optimization design of welding parameters of key components ...

引用

2024 5th International Conference on Advanced Materials and intelligent Manufacturing, ICAMIM 2024

作者： Li, Lina Fa, Ping Sun, Hongchang He, Chuan Qiao, Zhiliang Department of Automobile Engineering Tianjin Transportation Technical College Tianjin China Huaiyuan County Vocational and Technical School Anhui Province Bengbu City China School of Mechanical Engineering Tianjin University of Technology and Education Tianjin China Tianjin Key Laboratory of Intelligent Robot Technology and Application Enterprises Tianjin China

The characteristics of the welding heat source, the morphology of the molten pool, the formation mechanism of the weld, and the amount of heat input have an important and direct influence on the welding quality and performance of the joint. At present, the empirical curve that depends on the experimental results or the calculation formula of statistics cannot comprehensively evaluate the impact of welding on the mechanical properties of the whole structure. Therefore, this research is based on the finite element analysis technique of Simufact Welding software and analyzes the evolution of the temperature field, stress field, and the deformation of the residual stress in the welding process, and provides a powerful tool and a lot of support for welding technology. The aim of the study is to develop an accurate numerical simulation method for the weld temperature field and a dynamic simulation analysis system for the weld stress field and deformation. 2025 Published under licence by IOP Publishing Ltd.

关键词： Residual stresses

来源：评论

学校读者我要写书评

暂无评论

Distributed Source Localization Under Anchor Position Uncertainty

引用

Chinese Journal of Electronics 2025年第1期23卷 93-96页

作者： Hongqing Liu Yuntao Wu Department of Electronic and Computer Engineering National University of Singapore Singapore Key Laboratory of Intelligent Robot in Hubei Province Wuhan Institute of Technology Wuhan China

In this work, a distributed source positioning approach is developed based on Alternating direction method of multipliers (ADMM). First, a centralized positioning method is developed under case of the anchor uncertainty. And then, the method is realized in a distributed way using ADMM. Simulation results show that the centralized one is robust to the anchor errors and distributed one has similar performance as the centralized one.

关键词： Location awareness Uncertainty Codes Simulation robot sensing systems Convex functions intelligent robots

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：