检索结果-内蒙古大学图书馆

arXiv 2024年

作者： Brand, Julia Maximova, Ksenia Madden, Steve Rode, Andrei V. Mihankhah, Ehsan Zigman, John Hill, Andrew J. Rapp, Ludovic Laser Physics Centre Department of Quantum Science and Technology Research School of Physics Australian National University CanberraACT2600 Australia Australian Centre for Robotics Faculty of Engineering University of Sydney NSW2006 Australia

This study investigates the possibility of using a femtosecond pulse laser to remove iron ore slurry used to stabilise blast-hole structures by mining industries, intending to preserve the wall's stability and the chemical and compositional properties of the underlying rock. In situ minerals are often coated in other material deposits, such as dust or slurry in blast holes. To analyse the rock materials beneath, its surface must be exposed by removal of the surface layer. The ablation depth per pulse and ablation e?iciency of the slurry were determined using femtosecond laser pulses. Then, the ablation of rocks of economic interest in Australia, including banded iron, limonite, goethite, shale, and hematite, was studied to establish their ablation thresholds and rates. Any damage induced by the laser was investigated by optical microscopy, optical profilometry, colourimetry, VIS/NIR spectroscopy and Fourier Transform Infrared spectroscopy (FTIR). © 2024, CC BY.

关键词： Fourier transform infrared spectroscopy

来源：评论

学校读者我要写书评

暂无评论

Generation of sEMG for Post-stroke Spasticity with Spike-based Neuromorphic Models

Generation of sEMG for Post-stroke Spasticity with Spike-bas...

引用

2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Yan, Jin Chen, Zhi Jin, Sheng Guo, Xinliang Oetomo, Denny Tan, Ying Luo, Qi Niu, Chuanxin M. Shanghai Jiao Tong University School of Medicine Ruijin Hospital Department of Rehabilitation Medicine Shanghai200025 China Shanghai Jiao Tong University School of Medicine Shanghai200025 China Changsha University of Science and Technology School of Automotive and Mechanical Engineering Changsha410000 China The University of Melbourne Fourier Intelligence - Joint Laboratory on Assistive and Rehabilitation Robotics Faculty of Engineering and IT Mechanical Engineering Department ParkvilleVIC Australia

ISBN: (纸本)9798350372601

Spasticity is a disabling condition that frequently occurs after neurological injuries such as stroke. Effective management of spasticity relies on the objective categorization for spasticity. However, there lacks a computational model that captures the physiological underpinning of spasticity, which is essential for the justification of therapeutic plans. Here we explored how to generate the unusual, but realistic, muscle activity seen in post-stroke spasticity using neuromorphic models. The model incorporates spiking neurons, differentiation of motor units, and their action potentials. The baseline condition was determined by comparing 3 distributions of contraction time and potential magnitude. We present the methodology of inferring alpha motor commands from patient surface electromyography, which was used for generation of stretch responses in spasticity. Results suggest that these models can replicate the timing and amplitude features typical in spasticity. It was also found that our model could differentiate the origins of spasticity including an additive or a multiplicative excessive input. This approach is an initial step toward a realistic, generative model that could be integrated in large-scale training of machine learning applications. © 2024 IEEE.

关键词： Electromyography

来源：评论

学校读者我要写书评

暂无评论

Addressing Intermediate Verification Latency in Online Learning Through Immediate Pseudo-labeling and Oriented Synthetic Correction

Addressing Intermediate Verification Latency in Online Learn...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Zixin Zhong Liyan Song Fengzhen Tang Bo Yuan Department of Computer Science and Engineering Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Southern University of Science and Technology Shenzhen China Faculty of Computing Harbin Institute of Technology Harbin China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

In non-stationary data streams, the challenges of concept drift are further compounded by the issue of Intermediate Verification Latency (IVL), which can impede timely model adaptation. IVL refers to the finite delay between the arrival of data features and their corresponding labels. This delay could pose a significant challenge in adapting models to new concepts, ultimately hindering predictive performance. However, existing IVL approaches exhibit certain limitations. Some approaches passively wait for delayed labels, thereby overlooking temporarily unlabeled data. Other approaches employ pseudo-labeling for immediate model updates, but may risk losing valuable information when reverting model states to rectify previous pseudo-labeling mistakes. To overcome these limitations, we propose a novel approach called Micro-cluster based Immediate Pseudo-Labeling with Oriented Synthetic Correction (MIPLOSC). MIPLOSC leverages micro-cluster systems to effectively capture data distributions, thus facilitating its two core components: immediate pseudo-labeling and oriented synthetic correction. The immediate pseudo-labeling mechanism facilitates immediate utilization of temporarily unlabeled data, and the oriented synthetic correction mechanism enables finergrained rectification from previous erroneous pseudo-labels and concept drift, minimizing the loss of learned information. Experimental studies validated the effectiveness of MIPLOSC in addressing IVL, demonstrating its superiority over competing methods in both space consumption and predictive performance across varying degrees of label delay.

关键词： Adaptation models Costs Concept drift Noise Neural networks Predictive models Robustness

来源：评论

学校读者我要写书评

暂无评论

Analysis of the Biological (EMG) Signal 21

Analysis of the Biological (EMG) Signal

引用

21st IEEE International Carpathian Control Conference, ICCC 2020

作者： Nawrocka, Agata Nawrocki, Marcin Kot, Andrzej Agh University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland Agh University of Science and Technology Faculty of Mechanical Engineering and Robotics Krakow Poland

ISBN: (纸本)9781728119519

Electromyography (EMG) is an electrophysiological field of knowledge that operates through bioelectrical signals from muscles. The signals are registered with the use of surface or needle electrodes and can be later analysed to detect myopathic or neuropathic lesions. The diagnosis might be performed through numerical parameters. This thesis contains the analysis of EMG signals divided into three groups: registered with the use of needle electrodes, generated through computer simulation and registered by surface electrodes. In the first two groups there can be distinguished six signals: Two from healthy muscles, two from muscles with myopathic lesions and two from muscles with neuropathic lesions. All signals registered with surface electrodes come from healthy muscles. Signals gathered by needle electrodes are decomposed through a computer algorithm which brings out motor unit action potentials (MUAPs). Numerical parameters connected with amplitude and time are calculated from MUAPs and compared with nominal values. The analytical method for signals registered by surface electrodes is called the Clustering Index method. The analysis presents that 100 % of signals registered by needle electrodes come from muscles with lesions which is not completely accurate whereas 100 % of the signals remaining are from healthy muscles. © 2020 IEEE.

关键词： Needles

来源：评论

学校读者我要写书评

暂无评论

Extremely Weak Feedback Method for Controlling Chaotic Resonance

Extremely Weak Feedback Method for Controlling Chaotic Reson...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Takahiro Iinuma Yudai Ebato Sou Nobukawa Anh Tu Tran Nobuhiko Wagatsuma Keiichiro Inagaki Hirotaka Doho Teruya Yamanishi Haruhiko Nishimura Graduate School of Information and Computer Science’ Chiba Institute of Technology Chiba Japan Department of Computer Science Chiba Institute of Technology Chiha Japan Department of Information Science Faculty of Science Toho University Chiba Japan Department of Artificial Intelligence and Robotics Chubu University Aichi Japan Faculty of Education Teacher Training Division Kouchi University Kochi Japan Faculty of Data Science Osaka Seikei University Osaka Japan Faculty of Informatics Yamato University Osaka Japan

Chaotic resonance, resembling stochastic resonance, is induced by internal fluctuations (i.e., chaos). This phenomenon has been observed in numerous systems. The most representative form of chaotic resonance is the synchronization with respect to weak applied signals under chaos-chaos intermittency, where a chaotic orbit moves among multiple attractors. Chaotic resonance exhibits higher sensitivity than stochastic resonance, but its engineering applications are limited by concerns such as the requirement to adjust the state of chaos by internal system parameters to induce chaotic resonance rather than the external noise strength. However, achieving this adjustment is challenging, especially in biological systems. Therefore, to handle this limitation, we proposed a novel double-Gaussian-filtered reduced region of orbit (RRO) method (called the DG-RRO method) for obtaining perturbed feedback signals lower than the conventional RRO method. This DG-RRO feedback signal is determined by the inverse sign of the map function and double-Gaussian filters around the local maximum/minimum values of the map. Because of its fine local specification, the DG-RRO feedback signal induces a chaotic resonance by one-third the feedback strength of the conventional signal. This method may pave the way for using chaotic resonance in engineering applications.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Sketch-MoMa: Teleoperation for Mobile Manipulator via Interpretation of Hand-Drawn Sketches

arXiv

引用

arXiv 2024年

作者： Tanada, Kosei Iwanaga, Yuka Tsuchinaga, Masayoshi Nakamura, Yuji Mori, Takemitsu Sakai, Remi Yamamoto, Takashi Department of Advanced Robotics Research Toyota Motor Corporation 543 Kirigahora Nishihirose-cho Aichi Toyota Japan Faculty of Information Science Aichi Institute of Technology 1247 Yachigusa Yakusa-cho Aichi Toyota Japan

To use assistive robots in everyday life, a remote control system with common devices, such as 2D devices, is helpful to control the robots anytime and anywhere as intended. Hand-drawn sketches are one of the intuitive ways to control robots with 2D devices. However, since similar sketches have different intentions from scene to scene, existing work needs additional modalities to set the sketches’ semantics. This requires complex operations for users and leads to decreasing usability. In this paper, we propose Sketch-MoMa, a teleoperation system using the user-given hand-drawn sketches as instructions to control a robot. We use Vision-Language Models (VLMs) to understand the user-given sketches superimposed on an observation image and infer drawn shapes and low-level tasks of the robot. We utilize the sketches and the generated shapes for recognition and motion planning of the generated low-level tasks for precise and intuitive operations. We validate our approach using state-of-the-art VLMs with 7 tasks and 5 sketch shapes. We also demonstrate that our approach effectively specifies the detailed motions, such as how to grasp and how much to rotate. Moreover, we show the competitive usability of our approach compared with the existing 2D interface through a user experiment with 14 participants. Our videos and results are available at https://***. io/SketchMoMa-Proj. © 2024, CC BY-NC-ND.

关键词： Remote control

来源：评论

学校读者我要写书评

暂无评论

Exploring the Potential of LLM-based Chatbots for Task Scheduling in Robot Operations 25

Exploring the Potential of LLM-based Chatbots for Task Sched...

引用

25th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2025

作者： Rema, Catarina Sousa, Armando Sobreira, Heber Costa, Pedro Silva, Manuel F. University of Porto (FEUP) Faculty of Engineering Porto 4200-465 Portugal INESC TEC - Institute for Systems and Computer Engineering Technology and Science CRIIS - Centre for Robotics in Industry and Intelligent Systems Porto 4200-465 Portugal ISEP Polytechnic of Porto rua Dr. António Bernardino de Almeida Porto 4249-015 Portugal

ISBN: (纸本)9798331538606

The rise of Industry 4.0 has revolutionized manufacturing by integrating real-time data analysis, artificial intelligence (AI), automation, and interconnected systems, enabling adaptive and resilient smart factories. Autonomous Mobile Robots (AMRs), with their advanced mobility and navigation capabilities, are a pillar of this transformation. However, their deployment in job shop environments adds complexity to the already challenging Job Shop Scheduling Problem (JSSP), expanding it to include task allocation, robot scheduling, and travel time optimization, creating a multi-faceted, non-deterministic polynomial-time hardness (NP-hard) problem. Traditional approaches such as heuristics, meta-heuristics, and mixed integer linear programming (MILP) are commonly used. Recent AI advancements, particularly large language models (LLM), have shown potential in addressing these scheduling challenges due to significant improvements in reasoning and decision-making from textual data. This paper examines the application of LLM to tackle scheduling complexities in smart job shops with mobile robots. Guided by tailored prompts inserted manually, LLM are employed to generate scheduling solutions, being these compared to an heuristic-based method. The results indicate that LLM currently have limitations in solving complex combinatorial problems, such as task scheduling with mobile robots. Due to issues with consistency and repeatability, they are not yet reliable enough for practical implementation in industrial environments. However, they offer a promising foundation for augmenting traditional approaches in the future. © 2025 IEEE.

关键词： Chatbots Large Language Model Mobile Robots Task Scheduling

来源：评论

学校读者我要写书评

暂无评论

Natural Language and LLMs in Human-Robot Interaction: Performance and Challenges in a Simulated Setting

Natural Language and LLMs in Human-Robot Interaction: Perfor...

引用

Human-Computer Interaction, Optimization and Robotic Applications (HORA), International Congress on

作者： Kelvin Olaiya Giovanni Delnevo Chiara Ceccarini Chan-Tong Lam Giovanni Pau Paola Salomoni Dept. of Computer Science and Engineering University of Bologna Italy Faculty of Applied Sciences Macao Polytechnic University Macao SAR China Autonomous Robotics Research Center Technology Innovation Institute Abu Dhabi United Arab Emirates

ISBN: (数字)9798331510886

ISBN: (纸本)9798331510893

Natural language provides an intuitive and accessible way for humans to communicate with robots, fostering more natural and flexible interaction across a range of tasks. This study investigates how effectively users can command a robot using natural language within a simulated environment. By employing Gemini Flash 2.0 as the underlying Large Language Model (LLM) to interpret and translate user prompts into executable plans, we explore both the strengths and limitations of this approach. The experiments evaluated user-generated prompts across multiple predefined tasks, revealing a spectrum of outcomes — from successful task completions to errors such as misinterpretations, spatial failures, and hallucinated behaviors where the robot acted on non-existent information. The results highlight how different communication strategies, combining directive and conversational phrasing, influenced task performance. This work contributes to advancing Human-Robot Interaction (HRI) design by emphasizing the potential of LLM-powered systems while addressing the challenges of ambiguity and error resilience in user-driven command structures.

关键词： Human computer interaction Translation Large language models Zero shot learning Human-robot interaction Robots Optimization Resilience

来源：评论

学校读者我要写书评

暂无评论

Parallel Path Planning for Multi-Robot Coordination

Parallel Path Planning for Multi-Robot Coordination

引用

IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Jorge Ribeiro Marina Brilhante Diogo Miguel Matos Carlos A. Silva Héber Sobreira Pedro Costa CRIIS - Centre of Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal Faculty of Engineering University of Porto Porto Portugal Flowbotic Mobile Systems S.A Viseu Portugal

ISBN: (数字)9798331538606

ISBN: (纸本)9798331538613

Multi-robot coordination aims to synchronize robots for optimized, collision-free paths in shared environments, addressing task allocation, collision avoidance, and path planning challenges. The Time Enhanced A* (TEA*) algorithm addresses multi-robot pathfinding offering a centralized and sequential approach. However, its sequential nature can lead to order-dependent variability in solutions. This study enhances TEA* through multi-threading, using thread pooling and parallelization techniques via OpenMP, and a sensitivity analysis enabling parallel exploration of robot-solving orders to improve robustness and the likelihood of finding efficient, feasible paths in complex environments. The results show that this approach improved coordination efficiency, reducing replanning needs and simulation time. Additionally, the sensitivity analysis assesses TEA*'s scalability across various graph sizes and number of robots, providing insights into how these factors influence the efficiency and performance of the algorithm.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A New, Reconfigurable Circuit Offering Functionality of AND and OR Logic Gates for Use in Algorithms Implemented in Hardware

A New, Reconfigurable Circuit Offering Functionality of AND ...

引用

International Conference on Microelectronics, MIEL

作者： Tomasz Talaśka Rafał Długosz Tatjana Nikolić Goran Nikolić Tomasz Stefanśki Michał Długosz Michał Talaśka Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz University of Science and Technology Bydgoszcz Poland Aptiv Services Poland Kraków Poland Faculty of Electronic Engineering University of Niš Niš Serbia Faculty of Electronics Telecommunications and Informatics Gdanśk Univeristy of Technology Gdanśk Poland Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland Complex of Electronics Schools Bydgoszcz Poland

The paper presents a programmable (using a 1-bit signal) digital gate that can operate in one of two OR or AND modes. A circuit of this type can also be implemented using conventional logic gates. However, in the case of the proposed circuit, compared to conventional solutions, the advantage is a much smaller number of transistors necessary for its implementation. Circuit is also much faster than its conventional counterpart. The logic gate was implemented in the 180nm CMOS technology and verified using Hspice simulations. There are many possible applications for this gate, mostly in artificial intelligence and pattern recognition algorithms implemented at the transistor level.

关键词：

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：