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Attitude Tracking Control for Rigid Spacecraft with Arbitrary Convergence Time

Journal of Systems Science & Complexity 2024年第6期37卷 2579-2594页

作者： XU Yu-Tian WU Ai-Guo Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology(Shenzhen)Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Harbin Institute of Technology(Shenzhen)Shenzhen 518055China Department of Automation Harbin Institute of Technology(Shenzhen)Shenzhen 518055China HIT Wuhu Robot Technology Research Institute Wuhu 241060China

In this paper,attitude tracking control with arbitrary convergence time for rigid spacecraft is ***,a novel time-varying sliding function is proposed to achieve free-will arbitrary time convergence when the system states reside on the sliding *** such a sliding function,an attitude tracking controller is designed to guarantee that the states of the closed-loop system converge to the sliding surface within a predetermined time in the presence of external *** free-will arbitrary time convergences of the closed-loop system and sliding function are illustrated by numerical simulations.

关键词： Attitude tracking free-will arbitrary time stability rigid spacecraft sliding mode control

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A Review of the machine Learning Algorithms used with High-Density Surface Electromyogram Sensors for Lower Extremity Exoskeletons and Prosthetics 5

A Review of the Machine Learning Algorithms used with High-D...

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5th IEEE Research and Applications of Photonics in Defense Conference, RAPID 2022

作者： Dizor, Robert Raj, Anil University of West Florida Department of Intelligent Systems and Robotics PensacolaFL United States University of West Florida Florida Institute of Human and Machine Cognition Department of Intelligent Systems and Robotics PensacolaFL United States

ISBN: (数字)9781665402231

ISBN: (纸本)9781665402231

High-Density Surface Electromyogram (HDsEMG) sensors are increasingly being used to evaluate the neuromusculoskeletal function associated with exoskeletons and prosthetics. The ML algorithms used to sense the intention of movement and to control the assisted movement of exoskeletons or prosthetics in the lower extremity are reviewed. © 2022 IEEE.

关键词： machine learning

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Cancellable Multi-Biometric Feature Veins Template Generation Based on SHA-3 Hashing

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Computers, Materials & Continua 2023年第1期74卷 733-749页

作者： Salwa M.Serag Eldin Ahmed Sedik Sultan S.Alshamrani Ahmed M.Ayoup Department of Computer Engineering College of Computers and Information TechnologyTaif UniversityP.O.Box 11099Taif21944Saudi Arabia Department of Robotics and Intelligent Machine Faculty of Artificial IntelligentKafrelsheikh UniversityEgypt Department of Information Technology College of Computer and Information TechnologyTaif UniversityP.O.Box 11099Taif21944Saudi Arabia Department of Electrical Communications Engineering Faculty of EngineeringMinia UniversityMinia61111Egypt

In this paper,a novel cancellable biometrics technique calledMulti-Biometric-Feature-Hashing(MBFH)is *** MBFH strategy is utilized to actualize a single direction(non-invertibility)biometric *** is a typical model security conspire that is distinguished in the utilization of this protection insurance framework in numerous sorts of biometric feature strategies(retina,palm print,Hand Dorsum,fingerprint).A more robust and accurate multilingual biological structure in expressing human loneliness requires a different format to record clients with inseparable comparisons from individual biographical *** may raise worries about their utilization and security when these spread out designs are subverted as everybody is acknowledged for another biometric *** proposed structure comprises of four sections:input multi-biometric acquisition,feature extraction,Multi-Exposure Fusion(MEF)and secure hashing calculation(SHA-3).Multimodal biometrics systems that are more powerful and precise in human-unmistakable evidence require various configurations to store a comparative customer that can be contrasted with biometric wellsprings of *** top words,biometrics graphs can’t be denied and change to another request for positive Identifications(IDs)while *** biometrics is may be the special procedure used to recognize this issue.

关键词： Feature extraction multi-biometrics SHA-3 MEF

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Deep Reinforcement Learning Control of an Avatar and Exoskeleton

Deep Reinforcement Learning Control of an Avatar and Exoskel...

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2024 IEEE Research and Applications of Photonics in Defense Conference, RAPID 2024

作者： Dizor, R. Raj, A. Gonzalez, B. University of West Florida Department Intelligent Systems and Robotics PensacolaFL United States Florida Institute of Human and Machine Cognition PensacolaFL United States Embry-Riddle Aeronautical University Daytona BeachFL United States

We present a novel approach for controlling a unilateral lower extremity exoskeleton with deep reinforcement learning utilizing a Long-term Short-term Memory network with a Proximal Policy Optimization Model. We creat... 详细信息

ISBN: (纸本)9798350373097

关键词： Deep reinforcement learning

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Eyeball Identification and Tracking using Digital Image Processing

Eyeball Identification and Tracking using Digital Image Proc...

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2021 International Conference on Artificial Intelligence and Mechatronics Systems, AIMS 2021

作者： Naeem, Mehreen Khan, Muhammad Jawad Yousf, Talha National University of Engineering and Technology Department of Robotics and Intelligent Machine Engineering Pakistan

ISBN: (纸本)9781665424820

Real-time eyeball recognition and tracking using digital image processing techniques can give a way of communication. This paper presents the algorithm for tracking the position of eyes in real-time. The following method consists of two steps: face detection and eye-tracking. In vision-based human-computer interaction, skin color for face detection provides a useful cue. Firstly, face detection is done by combining RGB pixel color, HSI (Hue Saturation Intensity) and YCbCr (Luminance Chrome Blue Chrome Red) color based techniques. Then crop the colored face image from the image and divide cropped image into horizontal sections. As eyes are on the upper part of the face so we have used the speeded up robust features (SURF) key points based method on that section and select the strongest point which is located on the eye region. The eye region is segmented by pixel color techniques. Based on the proposed algorithm possibility of false eye detection is reduced. Experimental results show satisfactory performance in a real-time video stream with average accuracy of 97.2%. © 2021 IEEE.

关键词： Face recognition

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Unilateral Lower Extremity Exoskeleton Utilizing Sensor Fusion Algorithms 6

Unilateral Lower Extremity Exoskeleton Utilizing Sensor Fusi...

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6th Annual IEEE Research and Applications of Photonics in Defense Conference, RAPID 2023

作者： Dizor, R. Raj, A. Stewart, T. Gonzalez, B. Smith, G. Carter, Z. Domingues, B. Newton, J. University of West Florida Department Intelligent Systems and Robotics PensacolaFL United States Florida Institute of Human and Machine Cognition PensacolaFL United States Embry-Riddle Aeronautical University Daytona BeachFL United States

ISBN: (纸本)9781665423526

Electromyography (EMG) and Inertial Measurement (IMU) sensors are increasingly associated with exoskeletons and prosthetics. Coordination and synchronization of these sensors with a sensor fusion algorithm modifying an array of multiple armband sensors allows sensing the user's intended movement and controlling a unilateral lower extremity exoskeleton. © 2023 IEEE.

关键词： machine learning

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Ultra-flexible graphene/nylon/PDMS coaxial fiber-shaped multifunctional sensor

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Nano Research 2023年第4期16卷 5541-5547页

作者： Peddathimula Puneetha Siva Pratap Reddy Mallem Sung Cheol Park Seoha Kim Dong Hun Heo Cheol Min Kim Jaesool Shim Sung Jin An Dong-Yeon Lee Kwi-Il Park Department of Robotics and Intelligent Machine Engineering/College of Mechanical and IT Engineering Yeungnam UniversityGyeongsan 38541Republic of Korea School of Materials Science and Engineering Kyungpook National UniversityDaegu 41566Republic of Korea Advanced Material Research Center Kumoh National Institute of TechnologyGumi 39177Republic of Korea School of Mechanical Engineering Yeungnam UniversityGyeongsan 38541Republic of Korea Department of Materials Science and Engineering Kumoh National Institute of TechnologyGumi 39177Republic of Korea

The development of flexible and wearable devices is mainly required for tactile sensing;as such devices can adapt to complicated nonuniform surfaces,they can be applied to the human ***,it remains necessary to simultaneously achieve small-scale,portable,and stable developments in such ***,this work aims at fabricating a novel,lightweight,ultra-flexible,and fiber-shaped coaxial structure with a diameter of 0.51 mm using polydimethylsiloxane/graphene/nylon material,based on piezoresistive and triboelectric *** piezoresistive-based robotic-hand-controlled sensor thus realized exhibits a response time of 120 ms and a fast recovery time of 55 ***,the piezoresistive-based sensors effectively feature whisker/joystick-guided behaviors and also sense the human finger *** to the triboelectric-based selfpowered nanogenerator behavior,the resulting sensor can convert mechanical motion into electrical energy,without adversely affecting human ***,this triboelectric-based human finger sensor can be operated under different bending modes at specific ***,this multifunctional sensor is cost-effective and suitable for various applications,including robotichand-controlled operations in medical surgery,whisker/joystick motions in lightweight drone technology,and navigation with highsensitivity components.

关键词： extremely lightweight ultra-flexible piezoresistive/triboelectric sensor human-machine whisker

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Doppler-only Single-scan 3D Vehicle Odometry

Doppler-only Single-scan 3D Vehicle Odometry

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IEEE International Conference on robotics and Automation (ICRA)

作者： Andres Galeote-Luque Vladimír Kubelka Martin Magnusson Jose-Raul Ruiz-Sarmiento Javier Gonzalez-Jimenez System Engineering and Automation Department Machine Perception and Intelligent Robotics (MAPIR) Group University of Malaga Spain Mobile Robotics & Olfaction (MRO) AASS Research Centre Örebro University Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We present a novel 3D odometry method that recovers the full motion of a vehicle only from a Doppler-capable range sensor. It leverages the radial velocities measured from the scene, estimating the sensor’s velocity from a single scan. The vehicle’s 3D motion, defined by its linear and angular velocities, is calculated taking into consideration its kinematic model which provides a constraint between the velocity measured at the sensor frame and the vehicle *** carried out prove the viability of our single-sensor method compared to mounting an additional IMU. Our method provides a more reliable translation of the sensor, compared to the errors linked to IMUs due to noise and biases. Its short-term accuracy and fast operation (∼5ms) make it a proper candidate to supply the initialization to more complex localization algorithms or mapping pipelines. Not only does it reduce the error of the mapper, but it does so at a comparable level of accuracy as an IMU would. All without the need to mount and calibrate an extra sensor on the vehicle.

关键词： Accuracy Three-dimensional displays Roads Heuristic algorithms Pipelines Kinematics Odometry

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Towards Efficient Aerial Object Detection: Techniques, Datasets and Challenges 3

Towards Efficient Aerial Object Detection: Techniques, Datas...

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3rd International Conference on Communication Technologies, ComTech 2021

作者： Anwar, Hirra Javed, Kashif Rubab, Saddaf Khan, Muhammad Jawad Department of Robotics and Intelligent Machine Engineering SMME Islamabad Pakistan Military College of Signals Department of Computer Software Engineering Islamabad Pakistan

ISBN: (纸本)9781665419017

In the past decade, object detection has gained significant attention in computer vision due to variety of its applications including picture retrieval, object tracking, self-driving cars, security, activity recognition, traffic surveillance and many more. Latest research in computer vision is making remarkable progress in multiple directions;aerial object detection is one of the foremost. Object detection in natural scenes has been extensively researched however, challenges remain in aerial object detection due to factors such as variation in scale and shape of objects, occlusion, monotonic appearance, and arbitrary orientation of objects in a scene. Literature highlights deep learning models surpass all others in terms of accuracy and efficiency for aerial object detection and recognition. It is well-known that datasets directly impact deep learning models as deep learning itself is a data driven approach. It is therefore crucial to analyze not only the object detection algorithms in aerial imagery, but also the remote sensing datasets that are available. In this paper, we analyze multiple state-of-the-art models that are used in the field of object detection specific to aerial images. We also present a detailed timeline of the prominent aerial imagery datasets;analyze them in detail and present their strengths and weaknesses. At the end, we discuss various challenges present and future research directions in this field. This research work will further pave way for future advancement in the field of aerial object detection and recognition. © 2021 IEEE.

关键词： Antennas

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