检索结果-内蒙古大学图书馆

7th International Conference on Information, control, and Communication Technologies, ICCT 2023

作者： Kuzivanov, Dmitriy Stepanova, Kseniya Lobastov, Maxim Fedorov, Alexey Kinzhagulov, Igor Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia Stc 'Etalon' Department of Scientific and Technical Development Saint-Petersburg Russia Jsc 'S&PA Energomash' Desigh Engineering Department Khimki Russia

ISBN: (纸本)9798350340945

This research paper considers the possibility of using an acoustic emission control method in the process of direct laser melting to determine the moment of the development of cracking in the samples being melted under incorrectly selected melting modes. After the samples were made, their metallography was carried out, confirming the presence of defects in one of the samples. The data obtained during post-processing of acoustic emission signals were also compared with the results of metallographic analysis. © 2023 IEEE.

关键词： Melting

来源：评论

学校读者我要写书评

暂无评论

MAD-BA: 3D LiDAR Bundle Adjustment – From Uncertainty Modelling to Structure Optimization

引用

IEEE robotics and Automation Letters 2025年第7期10卷 7254-7261页

作者： Cwian, Krzysztof Giammarino, Luca Di Ferrari, Simone Ciarfuglia, Thomas Grisetti, Giorgio Skrzypczynski, Piotr Poznan University of Technology Institute of Robotics and Machine Intelligence Poznan Poland Sapienza University of Rome Department of Computer Control and Management Engineering "Antonio Ruberti" Italy

The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated separately using implicit representations. This paper introduces a framework for simultaneous optimization of sensor poses and 3D map, represented as surfels. A generalized LiDAR uncertainty model is proposed to address less reliable measurements in varying scenarios. Experimental results on public datasets demonstrate improved performance over most comparable state-of-the-art methods. The system is provided as open-source software to support further research. © 2016 IEEE.

关键词： Open source software

来源：评论

学校读者我要写书评

暂无评论

Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundus Images with 3D UNet

Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundu...

引用

Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Tomasz Marciniak Agnieszka Stankiewicz Przemysław Zaradzki Department of Control Robotics and Electrical Engineering Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland

This paper presents an analysis of the effectiveness of blood vessel segmentation in human retinal images. The segmentation process was carried out for three-dimensional optical coherence tomography (OCT) scans using the author’s publicly available CAVRI-C database. A 3D version of the U-Net artificial neural network was used. Various dimensions of the input blocks were investigated to determine their influence on the segmentation process. The effectiveness of the proposed solutions was evaluated using various metrics and the results obtained were compared with the 2D solution, also based on neural networks. The use of the proposed solutions allowed us to improve the segmentation even by 15% (in the case of the F1-score).

关键词：

来源：评论

学校读者我要写书评

暂无评论

Physics-Informed Deep Learning-Based Monocular Vision and IMU Fusion for Extracting Position and Heading Data of Multirotors

Physics-Informed Deep Learning-Based Monocular Vision and IM...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Arshia Rezaei Erfan Radfar Amin Talaeizadeh Aria Alasty Department of Mechanical Engineering Advanced Research Lab for Control and Agricultural Robotics (Sharif AgRoLab) Sharif University of Technology

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Multirotor Unmanned Aerial Vehicles (UAV)s flight performance rely on accurate estimation of their attitude and position for stable and robust control, which is essential for precise path following and management. Traditional methods for estimating six Degrees of Freedom (DoF) parameters, such as position, orientation, and velocity, often combine data from Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), and vision sensors using complex algorithms for fusion and filtering. This approach can lead to challenges in real-time processing and robustness to environmental variations. In this paper, we propose a novel approach that leverages deep learning and incorporates a physics-informed loss function based on monocular vision data to enhance the accuracy of these sensors by eliciting position and heading data from a trained model of flow detection, enhanced with a mathematical model of optical flow. We implement a fusion of camera, IMU, magnetometer, and ultrasonic sensors for robust and accurate 6 DoF data acquisition in multirotor systems. Our proposed framework utilizes Convolutional Neural Networks (CNN)s to directly learn the mapping between sensor data and 6 DoF parameters. By jointly processing visual and inertial data in an end-to-end manner, our model exploits the complementary information provided by each sensor modality, thereby enhancing estimation accuracy and robustness to external disturbances. We demonstrate the effectiveness of our approach through extensive experiments on real-world multirotor platforms, show-casing significant improvements in pose and motion estimation accuracy compared to conventional methods. Our fusion deep learning framework offers a promising pathway for enhancing the autonomy and performance of multi rotor UAVs.

关键词： Deep learning Accuracy Measurement units Magnetic sensors Motion estimation Estimation Autonomous aerial vehicles Robot sensing systems Robustness Real-time systems

来源：评论

学校读者我要写书评

暂无评论

Data-Driven Dynamics Modeling of Miniature Robotic Blimps Using Neural ODEs With Parameter Auto-Tuning

arXiv

引用

arXiv 2024年

作者： Zhu, Yongjian Cheng, Hao Zhang, Feitian State Key Laboratory of Turbulence and Complex Systems the Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China

Miniature robotic blimps, as one type of lighter-than-air aerial vehicles, have attracted increasing attention in the science and engineering community for their enhanced safety, extended endurance, and quieter operation compared to quadrotors. Accurately modeling the dynamics of these robotic blimps poses a significant challenge due to the complex aerodynamics stemming from their large lifting bodies. Traditional first-principle models have difficulty obtaining accurate aerodynamic parameters and often overlook high-order nonlinearities, thus coming to their limit in modeling the motion dynamics of miniature robotic blimps. To tackle this challenge, this letter proposes the Auto-tuning Blimp-oriented Neural Ordinary Differential Equation method (ABNODE), a data-driven approach that integrates first-principle and neural network modeling. Spiraling motion experiments of robotic blimps are conducted, comparing the ABNODE with first-principle and other data-driven benchmark models, the results of which demonstrate the effectiveness of the proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Airships

来源：评论

学校读者我要写书评

暂无评论

Comparing the Performance of Quaternion, Rotation Matrix, and Euler Angles Based Attitude PID controllers for Quadrotors

Comparing the Performance of Quaternion, Rotation Matrix, an...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Arshia Rezaei Amin Talaeizadeh Aria Alasty Department of Mechanical Engineering Advanced Research Lab for Control and Agricultural Robotics (Sharif AgRoLab) Sharif University of Technology

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Attitude states are critical parameters in the control, navigation, and guidance of aerial robotics. Various models, including Euler angles, rotation matrices, and quaternions, are used to represent the orientation of multirotors. The performance of a quadrotor's attitude controller is significantly influenced not only by optimal gain design but also by the structure and strategy of error allocation and control command management. Given the dynamic behavior of the quadrotor, challenges arise with the Proportional-Integral-Derivative (PID) controller, which, as a Single Input Single Output (SISO) controller, struggles to manage the system's channels independently. This paper presents three attitude control strategies for a quadrotor, focusing on both controller design and state estimation by utilizing three-dimensional spatial rotation models. The aim is to compare and improve quadrotor attitude control strategies by applying diverse criteria through these spatial rotation models. The models are implemented on a 3 Degrees of Freedom (DoF) quadrotor stand. The comparison evaluates tracking error, energy consumption, computational effort, and other key performance metrics.

关键词： Solid modeling Attitude control Quaternions Computational modeling 3-DOF Stability criteria Resource management State estimation Robots Quadrotors

来源：评论

学校读者我要写书评

暂无评论

HCRI: A ROS2 Human Collision Object Interface for Robotic Manipulation Planning

HCRI: A ROS2 Human Collision Object Interface for Robotic Ma...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Wang, Changcong Wei, Chongyi Bai, Shaoping Li, Yibin Tian, Xincheng Zhou, Lelai Shandong University The Center for Robotics School of Control Science and Engineering Jinan250061 China The Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Aalborg University Department of Materials and Production Aalborg9220 Denmark

ISBN: (纸本)9798350327182

Human-Robot Collaboration (HRC) is people and robots work together in the same workspace to achieve shared goals. To ensure safety, robots need to perceive the position of the human body for planning purposes. However, there is no universal method for converting the human body into collision objects. To solve this problem, we propose an interface to convert the human body segments into collision objects in the robot planning scene. The interface estimates the human body Skinned Multi-Person Linear model (SMPL) by RGB image and measures the collision object size of the corresponding body segment. The corresponding size of collision objects are added to the corresponding positions of the human pose estimated by different types of sensors. The accuracy of human size estimation is verified on TotalMocap of AMASS. The interface with OctoMap is compared to evaluate the efficiency and the validity on interface is verified on the robot UR5e. © 2023 IEEE.

关键词： Image segmentation

来源：评论

学校读者我要写书评

暂无评论

Transfer Learning Based Multi-Perception Safety Strategy for Human-Robot Collaboration

Transfer Learning Based Multi-Perception Safety Strategy for...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Wei, Chongyi Wang, Changcong Bai, Shaoping Li, Yibin Tian, Xincheng Zhou, Lelai Shandong University Center for Robotics School of Control Science and Engineering Jinan250061 China Ministry of Education Engineering Research Center of Intelligent Unmanned System Jinan250061 China Aalborg University Department of Materials and Production Aalborg9220 Denmark

ISBN: (纸本)9798350327182

Human-robot collaboration (HRC) is vital to adapt to the significant change in manufacturers' demands for automation, and safety is a primary and major challenge that must be addressed for it. In this paper, a muti-perception safety strategy and framework are introduced to ensure human safety while trying to avoid reducing the work efficiency of the robot by taking human activity intentions and human-robot distance into account. To realize the safety strategy, an LSTM-CNN based neural network is built for human activity classification. To improve the generalization ability and performance of the network with data scarcity for existing deep learning-based human activity recognition methods, transfer learning-enabled activity recognition is proposed. Based on the studies, a feasible security system is implemented in the human-robot collaboration scenario. © 2023 IEEE.

关键词： Long short-term memory

来源：评论

学校读者我要写书评

暂无评论

Trustworthy AI in Video Surveillance: The IMMAGINA Project

Trustworthy AI in Video Surveillance: The IMMAGINA Project

引用

2023 Italia Intelligenza Artificiale - Thematic Workshops, Ital-IA 2023

作者： Ledda, Emanuele Putzu, Lorenzo Delussu, Rita Fumera, Giorgio Roli, Fabio Department of Computer Control and Management Engineering Sapienza University of Rome Via Ariosto 25 Rome00185 Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Via Dodecaneso 35 Genova16146 Italy Department of Electric and Electronic Engineering University of Cagliari Via Marengo 3 Cagliari09100 Italy

The increasing adoption of machine learning and deep learning models in critical applications raises the issue of ensuring their trustworthiness, which can be addressed by quantifying the uncertainty of their predictions. However, the black-box nature of many such models allows only to quantify uncertainty through ad hoc superstructures, which require to develop and train a model in an uncertainty-aware fashion. However, for applications where previously trained models are already in operation, it would be interesting to develop uncertainty quantification approaches acting as lightweight "plug-ins" that can be applied on top of such models without modifying and re-training them. In this contribution we present a research activity of the Pattern Recognition and Applications Lab of the University of Cagliari related to a recently proposed post hoc uncertainty quantification method, we named dropout injection, which is a variant of the well-known Monte Carlo dropout, and does not require any re-training nor any further gradient descent-based optimization;this makes it a promising, lightweight solution for integrating uncertainty quantification on any already-trained neural network. We are investigating a theoretically grounded solution to make dropout injection as effective as Monte Carlo dropout through a suitable rescaling of its uncertainty measure;we are also evaluating its effectiveness in the computer vision tasks of crowd counting and density estimation for intelligent video surveillance, thanks to our participation in a project funded by the European Space Agency. © 2022 Copyright for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Pattern recognition

来源：评论

学校读者我要写书评

暂无评论

On the Predefined, Prescribed and Arbitrary Time Convergence 48

On the Predefined, Prescribed and Arbitrary Time Convergence

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Kumar Pal, Anil Kamal, Shyam Bandyopadhyay, Bijnan Fridman, Leonid University of Calgary Department of Electrical and Software Engineering Calgary Canada Varanasi Department of Electrical Engineering Varanasi India Iit Jodhpur Department of Electrical Engineering Jodhpur India Department of Control Engineering and Robotics Coyoacán D.F.04510 Mexico

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

Over the past few years, rated convergence has gained importance and has acquired tremendous interest from the research community. In this regard, some nomenclatures have emerged, broadly falling under the spectrum of finite time stability. However, these notions have certain aspects which differentiate them. Therefore it becomes imperative to bring out a comparative study among these notions. Moreover, such recent concepts are being applied to several application problems. Thus it is essential to understand even the small details associated with them. The purpose of the present paper is to address these objectives. In addition, the convergence of states and boundedness of the control in case of arbitrary time convergence has also been discussed. © 2022 IEEE.

关键词： Industrial electronics Convergence

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：