检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yuki Onishi Shuuji Kajita Department of Systems and Control Engineering School of Engineering Tokyo Institute of Technology Tokyo Japan Japan Society for the Promotion of Science Japan Department of Artificial Intelligence and Robotics College of Science and Engineering Chubu University Kasugai Japan

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The CoM-ZMP model represents the dominant behaviour of bipedal locomotion with surface contact. However, once the centre of mass (CoM) position goes out of a predefined spatial plane, the horizontal dynamics of the model can couple with its vertical dynamics to be nonlinear. This study theoretically investigates the properties of the 3-dimensional zero moment point (ZMP), lying apart from the actual ground to resolve the coupling. The presented discussion includes the compatibility of the 3D ZMP with ZMPs used in preceding research, such as the linear inverted pendulum mode, the existence of a virtual repellent point considering the arbitrary vertical CoM motion, the parameter invariance of the CoM-ZMP model, and feasible regions of the ZMP.

关键词： Couplings Solid modeling Three-dimensional displays Dynamics Spatial resolution Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Application of Combined Finite-time State-Dependent Riccati Equation Terminal Sliding Mode control to Robotic Manipulators

Application of Combined Finite-time State-Dependent Riccati ...

引用

Conference on Artificial Intelligence and robotics and Asia-Pacific International Symposium

作者： Neda Nasiri Ahmad Fakharian Mohammad Bagher Menhaj Department. of Electrical Engineering Qazvin Branch Islamic Azad University Qazvin Iran Department of Electrical Engineering The Center of Excelence on Control and Robotics Amirkabir University of Technology (Tehran Polytechnic) Tehran Iran

This paper investigates application of the terminal sliding mode control (TSMC) in conjunction with state-dependent differential Riccati equation (SDDRE) for robotic manipulators in finite time. Due to nature of the terminal sliding mode control, considering finite time as an input control parameter is impossible. Hence, the convergence time could not be determined before completing the task. However, in this method, finite-time gain which is obtained through partitioning and making symmetric positive definite SDDRE control gain is inserted into the sliding surface. This leads to completing the control task in the desired predetermined time. To highlight superiority of the finite-time SDRE-terminal sliding mode control as a robust optimal scheme, we compared with TSMC as a robust control through applying both methods to 3-DoF articulated-joint manipulator. Simulation results are fully discussed.

关键词：

来源：评论

学校读者我要写书评

暂无评论

ROLO-SLAM: Rotation-Optimized LiDAR-Only SLAM in Uneven Terrain with Ground Vehicle

arXiv

引用

arXiv 2025年

作者： Wang, Yinchuan Ren, Bin Zhang, Xiang Wang, Pengyu Wang, Chaoqun Song, Rui Li, Yibin Meng, Max Q.-H. School of Control Science and Engineering Shandong University Jinan China Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

LiDAR-based SLAM is recognized as one effective method to offer localization guidance in rough environments. However, off-the-shelf LiDAR-based SLAM methods suffer from significant pose estimation drifts, particularly components relevant to the vertical direction, when passing to uneven terrains. This deficiency typically leads to a conspicuously distorted global map. In this article, a LiDAR-based SLAM method is presented to improve the accuracy of pose estimations for ground vehicles in rough terrains, which is termed Rotation-Optimized LiDAR-Only (ROLO) SLAM. The method exploits a forward location prediction to coarsely eliminate the location difference of consecutive scans, thereby enabling separate and accurate determination of the location and orientation at the front-end. Furthermore, we adopt a parallel-capable spatial voxelization for correspondence-matching. We develop a spherical alignment-guided rotation registration within each voxel to estimate the rotation of vehicle. By incorporating geometric alignment, we introduce the motion constraint into the optimization formulation to enhance the rapid and effective estimation of LiDAR's translation. Subsequently, we extract several keyframes to construct the submap and exploit an alignment from the current scan to the submap for precise pose estimation. Meanwhile, a global-scale factor graph is established to aid in the reduction of cumulative errors. In various scenes, diverse experiments have been conducted to evaluate our method. The results demonstrate that ROLO-SLAM excels in pose estimation of ground vehicles and outperforms existing state-of-the-art LiDAR SLAM frameworks. Copyright © 2025, The Authors. All rights reserved.

关键词： Magnetic levitation vehicles

来源：评论

学校读者我要写书评

暂无评论

Deep Learning-Based Prediction of Subsurface Oil Reservoir Pressure Using Spatio-Temporal Data 49

Deep Learning-Based Prediction of Subsurface Oil Reservoir P...

引用

49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Cheng, Haibo He, Yunpeng Zeng, Peng Li, Shichao Vyatkin, Valeriy Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Luleå University of Technology Department of Computer Science Electrical and Space Engineering Luleå Sweden Aalto University Department of Electrical Engineering and Automation Helsinki Finland

ISBN: (纸本)9798350331820

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction. © 2023 IEEE.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

Signal Processing for Acoustic Emission Signature Analysis and Defect Detection

Signal Processing for Acoustic Emission Signature Analysis a...

引用

Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Yeldos A. Altay Dmitry O. Kuzivanov Dinara A. Altay Alexey V. Fedorov Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation Department of Natural Sciences Military Engineering Institute of Radio Electronics and Communications Almaty Kazakhstan

This article presents the results of implementing a digital signal processing method for analyzing the acoustic emission (AE) signature and detecting defects such as cracks and pores. The signal processing method is based on a cascade connection of digital high-pass filters and ensures the selection of informative signals and increases the signal-to-interference ratio. In order to control the formation of defects in the process of selective laser melting, the paper presents the results of experimental testing of the cascade filtration method for detecting defects in the internal structure such as cracks and pores. The signal components recorded during the development of defects during the growth of additive manufacturing products were extracted. AE signatures were analyzed and statistical relationships were assessed. The relationship between the parameters of the AE signal and the values of laser radiation power has been identified, which characterizes the process of defect formation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

The Journey/DAO/TAO of Embodied Intelligence: From Large Models to Foundation Intelligence and Parallel Intelligence

引用

IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1313-1316页

作者： Tianyu Shen Jinlin Sun Shihan Kong Yutong Wang Juanjuan Li Xuan Li Fei-Yue Wang College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China School of Electrical and Information Engineering Jiangsu UniversityZhenjiang 212013China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Peng Cheng Laboratory Shenzhen 518000China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China IEEE

THE tremendous impact of large models represented by ChatGPT[1]-[3]makes it necessary to con-sider the practical applications of such models[4].However,for an artificial intelligence(AI)to truly evolve,it needs to possess a physical“body”to transition from the virtual world to the real world and evolve through interaction with the real *** this context,“embodied intelligence”has sparked a new wave of research and technology,leading AI beyond the digital realm into a new paradigm that can actively act and perceive in a physical environment through tangible entities such as robots and automated devices[5].

关键词： Intelligence DAO TAO

来源：评论

学校读者我要写书评

暂无评论

On the Existence of Static Equilibria of a Cable-Suspended Load with Non-stopping Flying Carriers

On the Existence of Static Equilibria of a Cable-Suspended L...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede AE The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This work answers positively the question whether non-stop flights are possible for maintaining constant the pose of cable-suspended objects. Such a counterintuitive answer paves the way for a paradigm shift where energetically efficient fixed-wing flying carriers can replace the inefficient multirotor carriers that have been used so far in precise cooperative cable-suspended aerial manipulation. First, we show that one or two flying carriers alone cannot perform non-stop flights while maintaining a constant pose of the suspended object. Instead, we prove that three flying carriers can achieve this task provided that the orientation of the load at the equilibrium is such that the components of the cable forces that balance the external force (typically gravity) do not belong to the plane of the cable anchoring points on the load. Numerical tests are presented in support of the analytical results.

关键词： Task analysis Aircraft Gravity

来源：评论

学校读者我要写书评

暂无评论

Development of a Lightweight Real-Time Application for Dynamic Hand Gesture Recognition

Development of a Lightweight Real-Time Application for Dynam...

引用

IEEE International Conference on Mechatronics and Automation

作者： Oluwaleke Yusuf Maki Habib Department of Mechanical Engineering Robotics Control and Smart Systems (RCSS) Program The American University in Cairo (AUC) Cairo Egypt

Hand Gesture Recognition (HGR) is a form of perceptual computing with applications in human-machine interaction, virtual/augmented reality, and human behavior analysis. Within the HGR domain, several frameworks have been developed with different combinations of input modalities and network architectures with varying levels of efficacy. Such frameworks maximized performance at the expense of increased hardware and computational requirements. These drawbacks can be tackled by transforming the relatively complex dynamic hand gesture recognition task into a simpler image classification task. This paper presents a skeleton-based HGR framework that implements data-level fusion for encoding spatiotemporal information from dynamic gestures into static representational images. Said static images are subsequently processed by a custom, end-to-end trainable multi-stream CNN architecture for gesture classification. Our framework reduces the hardware and computational requirements of the HGR task while remaining competitive with the state-of-the-art on the CNR, FPHA, LMDHG, SHREC2017, and DHG142S benchmark datasets. We demonstrated the practical utility of our framework by creating a lightweight real-time application that makes use of skeleton data extracted from RGB video streams captured by a standard inbuilt PC webcam. The application operates successfully with minimal CPU and RAM footprint while achieving 93.46% classification accuracy with approximately 2s latency at 15 frames per second.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Study on Impact-Aware Aerial Robots Colliding with the Environment at Non-Vanishing Speed

A Study on Impact-Aware Aerial Robots Colliding with the Env...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Gayatri Indukumar Alessandro Saccon Antonio Franchi Chiara Gabellieri Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Mechanical Engineering Eindhoven University of Technology Eindhoven The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Enabling aerial robots to handle dynamic contacts happening at non-vanishing speeds can enlarge the range of their applications. In this work, we propose an impactaware strategy to allow aerial multirotor robots to recover from impacts. The method leverages a reactive strategy not requiring low-level changes to the motion controller commonly implemented onboard quadrotors, which might be not viable or not desirable for most users. Extensive simulation tests show that the proposed strategy considerably increases the tolerated velocity at impact in tasks in which the robot either picks an object up or collides against an object to clear its way. Preliminary experimental results using Crazyflie UAVs are also presented.

关键词： Trajectory tracking Dynamics Lead Autonomous aerial vehicles Stability analysis Robustness Computer crashes Trajectory Robots Quadrotors

来源：评论

学校读者我要写书评

暂无评论

A Haptic Exploration and Surface Classification of Objects with Four Typical Surface Properties 8

A Haptic Exploration and Surface Classification of Objects w...

引用

8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Qi, Peng Wu, Yunfeng Yao, Tianliang Lu, Bo Sun, Yi Dai, Jian S. College of Electronics and Information Engineering Tongji University Department of Control Science and Engineering Shanghai China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Jiangsu Suzhou China Ecole Polytechnique Federale de Lausanne Laboratory of Intelligent Systems Lausanne1015 Switzerland College of Engineering Southern University of Science and Technology Department of Mechanical and Energy Engineering Shenzhen518055 China School of Natural Mathematical and Engineering Sciences King's College London United Kingdom

ISBN: (纸本)9798350300178

To effectively interact with the physical world, an intelligent robot is required to have the ability to obtain the detailed features of an unknown object. Visual devices are commonly used to detect the global geometry of an object;however, detailed information such as surface properties cannot be identified using these devices. The current study proposes an efficient haptic exploration method to recognize the physical properties of surfaces using an intelligent fingertip. Our surface-following algorithm utilizes the normal force vector and the tangential force vector at the contact point between the fingertip and the target object to predict the moving direction and implement the surface exploration. And a correction index K is introduced to adjust the sliding velocity. The algorithm is proved to be robust and high performance both in simulation and lab experiments. Finally, we propose and explore a haptic prediction neural network, which enables our robot to have an accurate feel through physical interaction. In the classification experiment of four types of objects with different surface properties, the average accuracy of the proposed model is 90.2%. © 2023 IEEE.

关键词： Surface properties

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：