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International Conference on Intelligent Transportation

作者： Zhou Jiang Jing Yang Jie Li Dong Zhang Shaoyi Du School of Software Engineering. Faculty of Eletronic and Information Engineering Xi'an Jiaotong University Xi'an China School of Automation Science and Engineering. Faculty of Electronic and Information Engineering Xi'an Jiaotong University Xi'an China National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China

With the extensive research on autonomous driving and intelligent transportation technologies, the analysis and understanding of 3D point cloud data have become increasingly important. In this paper, we propose a point cloud understanding network called PointHGSA, targeting semantic segmentation and object classification tasks on point cloud data. The network introduces an innovative representation using a hypergraph structure, enabling a more flexible capture of complex relationships within the point cloud. This hypergraph structure considers relationships between multiple attributes simultaneously, resulting in a more accurate representation of semantic information in the point cloud. PointHGSA combines hyperedge convolution and self-attention mechanisms for feature encoding. Hyperedge convolution effectively considers the global relationships between points during feature propagation, providing a more comprehensive feature representation. The self-attention mechanism adaptively learns contextual information and captures the correlation between hyperedge and vertex features during feature adjustment, offering a more comprehensive modeling capability. Extensive experiments are conducted on the S3DIS, Semantic3D, and ModelNet40 datasets. The experimental results demonstrate that PointHGSA outperforms mainstream models on multiple datasets, particularly excelling in complex structures and objects with rich semantic information.

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Data Recording for Responsible robotics

Data Recording for Responsible Robotics

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Jon Skerlj Maximilian Braun Sophia Witz Svenja Breuer Marieke Bak Sebastian Scholz Abdeldjallil Naceri Ruth Müller Sami Haddadin Iris Eisenberger Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich Germany Department of Science Technology and Society Department of Economics and Policy School of Social Sciences and Technology School of Management Technical University of Munich Munich Germany Department of Innovation and Digitalisation in Law University of Vienna Juridicum Vienna Austria Institute of History and Ethics in Medicine School of Medicine Technical University of Munich Munich Germany Faculty of Law Institute of Public Law and Political Science University of Graz Graz Austria

The last decades have seen continuous attempts to advance the application of robotics and artificial intelligence (AI) research in several areas such as healthcare environments. However, using (semi)autonomous robots in healthcare also poses risks that need to be addressed throughout the systems' lifecycle. In this work, we present our version of a data recorder, as the output of an interdisciplinary research collaboration that addresses relevant social, ethical, legal, and technical aspects of advanced robotics in healthcare. We use social science insights from interviews and ethnographic fieldwork with relevant stakeholders as well as ethical and legal analyses to derive and implement four technical requirements for a data recorder to enhance accountability and transparency of a service humanoid robot, GARMI, assisting in healthcare. We present a tool to log and visualize data from human-robot interactions as a means of including non-expert users and other relevant stakeholders in accountability relationships, which also helps us to enhance the transparency of advanced robotics in general and to fulfill the examined requirements of the Medical Device Regulation (MDR) and the General Data Protection Regulation (GDPR).

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Design, Development, and Analysis of Validity for a Computer-Based Cognitive Rehabilitation (Cbcr) Program for Children with Specific Learning Disorder (Sld) - Dyslexia: A Design-Based Approach

SSRN

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SSRN 2022年

作者： Shabanali Fami, Faezeh Arjmandnia, Ali Akbar Moradisabzevar, Hadi Psychology and Education of Exceptional Children Department of Psychology Faculty of Psychology Education of Exceptional Children University of Tehran Tehran Iran Department of Psychology Faculty of Psychology Education of Exceptional Children University of Tehran Tehran Iran Department of Electrical and Computer Engineering Faculty of Machine intelligence and robotics University of Tehran Tehran Iran

Abstract Introduction: Dyslexia is a common learning disorder that can make reading difficult. Poor cognition is one of the most important categories of learning ***: This study intends to develop a computer-based cognitive rehabilitation program for children with dyslexia-related special learning issues to improve their cognitive and educational ***: The current research is a sort of developmental research that intends to construct a computer-based cognitive rehabilitation program, identify its components, and descriptively assess its content validity utilizing the theoretical foundation of the issue, an analysis of previously developed rehabilitation programs, and a review of related research. The study's major three steps were background research, program development, and expert validation ***: In the qualitative part of the research, expert comments and opinions were used to improve the developed program, and content validity was established at the quantitative level by valuing the package components. This study's relative content validity coefficient was 0.74, with content validity values of 0.93, 0.97, and 0.94 for simplicity, clarity, and relevance, ***: According to the expert's opinion, computer-based cognitive rehabilitation programs should be valid both in terms of the theoretical model of intervention and the content of the sessions. © 2022, The Authors. All rights reserved.

关键词： Patient rehabilitation

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Correction to: On the use of adjoint gradients for time-optimal control problems regarding a discrete control parameterization

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Multibody System Dynamics 2023年第3期59卷 335-336页

作者： Lichtenecker, Daniel Rixen, Daniel Eichmeir, Philipp Nachbagauer, Karin TUM School of Engineering and Design Department of Mechanical Engineering Chair of Applied Mechanics Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Munich Germany Institute of Mechanics and Mechatronics Vienna University of Technology Wien Austria Faculty of Engineering and Environmental Sciences University of Applied Sciences Upper Austria Wels Austria Institute for Advanced Study Technical University of Munich Garching Germany

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Modeling and closed-loop control of ferromagnetic nanoparticles microrobots 22

Modeling and closed-loop control of ferromagnetic nanopartic...

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22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： Hao, Zhiming Xu, Tiantian Huang, Chenyang Lai, Zhengyu Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Faculty of Information Technology Beijing University of Technology Engineering Research Center of Digital Community Ministry of Education Beijing China Key Laboratory of Human-Machine Intelligence-Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

Microrobots capable of performing minimally invasive surgery, targeted drug delivery, and manipulation of micro-objects have shown great potentials in multiple application areas. However, microrobots assembled by nanoparticles with stable configuration and good performance on closed-loop control are still to be further studied. In this paper, ferromagnetic nanoparticles are used as experimental materials, rather than paramagnetic nanoparticles that require complex synthesis processes, and the advantage is demonstrated, for example, high pattern stability. The locomotion velocity as a function of the magnetic field frequency is modeled, analyzed and verified by experiment. Moreover, a path following experiment based on the arbitrary planar path following algorithm is performed. The nanoparticle microrobots are of great significance for biomedical applications. In the future works, experiments in bio-fluids, multimodal locomotion, and targeted drug delivery tasks will be investigated. © 2021 IEEE.

关键词： Targeted drug delivery

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Active Disturbance Rejection Control (ADRC) Toolbox for MATLAB/Simulink

arXiv

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arXiv 2021年

作者： Lakomy, Krzysztof Giernacki, Wojciech Michalski, Jacek Madonski, Rafal Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Energy and Electricity Research Center Jinan University Zhuhai519070 China

In this study, an active disturbance rejection control (ADRC) toolbox for MATLAB/Simulink is introduced. Although ADRC has already been established as a powerful robust control framework with successful industrial implementations and strong theoretical foundations, a comprehensive tool for computer-aided design of ADRC has not been developed until now. The proposed open-source ADRC Toolbox is a response to the growing need in the scientific community and the control industry for a straightforward software application of the ADRC methodology. Its main purpose is to fill the gap between the current theories and applications of ADRC and to provide an easy-to-use solution for users in various control fields who want to employ the ADRC scheme in their applications. The ADRC Toolbox contains a single, general-purpose, drag-and-drop function block that allows the synthesis of a predefined ADRC-based strategy with minimal design effort. Additionally, its open structure allows creation of custom control solutions. The efficacy of the ADRC Toolbox is validated through both simulations and hardware experiments, which were conducted using a variety of problems known in the motion, process, and power control areas1 Copyright © 2021, The Authors. All rights reserved.

关键词： Robust control

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Comparison of camera-based and 3D LiDAR-based loop closures across weather conditions

arXiv

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arXiv 2020年

作者： Zywanowski, Kamil Banaszczyk, Adam Nowicki, Michal R. Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

Loop closure based on camera images provides excellent results on benchmarking datasets, but might struggle in real-world adverse weather conditions like direct sun, rain, fog, or just darkness at night. In automotive applications, the sensory setups include 3D LiDARs that provide information complementary to cameras. The presented article focuses on the evaluation of camera-based, LiDAR-based, and joint camera-LiDAR-based loop closures applying a similar processing pipeline consisting of a neural network under varying weather conditions using the newly available USyd dataset. The experiments performed on the same trajectories in diverse weather conditions over 50 weeks prove that a 16-line 3D LiDAR can be used to supplement image-based loop closure to increase loop closure performance. This proves that there is a need for more research into loop closures performed with multi-sensory setups. Copyright © 2020, The Authors. All rights reserved.

关键词： Meteorology

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Comparison of camera-based and 3D LiDAR-based place recognition across weather conditions

Comparison of camera-based and 3D LiDAR-based place recognit...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Kamil Żywanowski Adam Banaszczyk Michał R. Nowicki Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Place recognition based on camera images provides excellent results on benchmarking datasets but might struggle in real-world adverse weather conditions like direct sun, rain, fog, or just darkness at night. In automotive applications, the sensory setups include 3D LiDARs that provide information complementary to cameras. The presented article focuses on the evaluation of camera-based, LiDAR-based, and joint camera-LiDAR-based place recognition. The processing for all data inputs is performed using a similar architecture of a neural network and is evaluated under varying weather conditions using the newly available USyd dataset. The experiments performed on the same trajectories in diverse weather conditions over 50 weeks prove that a 16-line 3D LiDAR can be used to supplement image-based place recognition to increase its performance. This proves that there is a need for more research into place recognition performed with multi-sensory setups.

关键词： Laser radar Three-dimensional displays Cameras Meteorology Training Pipelines Image recognition

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Fine- and hyperfine structure semi-empirical studies of singly ionized niobium. Odd-parity configurations system

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Journal of Quantitative Spectroscopy and Radiative Transfer 2025年 344卷

作者： Ruczkowski, J. Elantkowska, M. Klempka, M. Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Institute of Materials Research and Quantum Engineering Faculty of Materials Engineering and Technical Physics Poznan University of Technology Piotrowo 3 Poznan60-965 Poland

We report the results of semi-empirical calculations of the fine structure (fs) and the hyperfine structure (hfs) for the odd-parity level system of the niobium ion (Nb II), using all available experimental data. The calculations performed showed, in most cases, a very good agreement, within the experimental uncertainty or slightly above it, between the total of 156 experimental hfs A values and the calculated ones. The predicted energies of electronic levels, together with their Landé gJ factors, as well as the magnetic dipole A hfs constants for unknown levels, are also presented. © 2025 Elsevier Ltd

关键词： Crystal atomic structure

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Myoelectric Prosthetic Hand with Adjustable Tightening Socket for Varied Residual Limb Shapes*

Myoelectric Prosthetic Hand with Adjustable Tightening Socke...

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Yuki Inoue Yuki Kuroda Yoshiko Yabuki Yusuke Yamanoi Xu Yong Xiaobei Jing Hiroshi Yokoi Department of Mechanical and Intelligent Engineering The University of Electro-Communications Chofu Tokyo JAPAN OMRON SINIC X Corporation Bunkyo-ku Tokyo JAPAN department of Electrical Engineering Faculty of Engineering Tokyo University of Science Katushika-ku Tokyo JAPAN CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences (CAS) and the SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen CHINA Department of Mechanical and Intelligent Engineering Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Chofu Tokyo JAPAN Mu-BORG K.K. Chofu JAPAN

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

The prosthetic socket serves as an interface between the body and the machine. If the socket is not well-fitted to the residual limb, pain can occur. The shape of the residual limb changes over time as surgical scars stabilize or the patient’s body weight fluctuates. A socket with a cutout on the side can be tightened from the outside to adjust its circumference and accommodate these changes. However, when the circumference of the rigid socket is adjusted to fit, soft skin can become trapped due to friction between the skin and the socket. This phenomenon causes pain due to pinching. Consequently, this mechanism cannot be used for myoelectric prosthetic hands, where direct contact between the socket and the skin is necessary. In this study, we developed a socket with a variable circumference that suppresses skin pinching. We applied it to participants with different residual limb shapes. A Box and Block Test (BBT) was performed using two types of sockets. The first used a conventional socket designed to fit their residual limb shape. The second used the proposed socket, which was designed to fit the residual limb’s shape of one out of two participants and adapted to the residual limb’s changing shape. The results of the BBT showed not much difference in the number of blocks moved between the conventional socket and the proposed socket. Therefore, the performance of the proposed socket was comparable to that of conventional sockets and could be applied to different residual limbs. In other words, the proposed socket was shown to adapt to changes in the residual limb without causing pain. Sockets with the proposed functionality could be used in a variety of bio-interfaces, allowing for flexible connections between the body and machines.

关键词： Limbs Shape Pain Sockets Human-machine systems Friction Surgery Skin Interviews Prosthetic hand

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