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19th International Multidisciplinary Scientific Geoconference, SGEM 2019

作者： Banas, Marian Hilger, Bartlomiej Warzecha, Piotr AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Power Systems and Environmental Protection Krakow Poland

ISBN: (纸本)9786197408768

Source water for water treatment plants can contain various mechanical and biological impurities and are usually removed in sedimentation process. This process highly depend on phase composition and morphology of solid phase which is present in suspension. Due to the fact that morphology of non-grain suspension determines hydrodynamic properties, such as porosity, permeability and even density, it is crucial to identify the primary constituents of that kind of aggregates. The main aim of research presented in this paper is a study of how coagulation process affects the fractal dimension of bentonite floc structure. Experimental results were obtained by investigation of physical and chemical properties of bentonite suspension. During this study fractal dimension of investigated bentonite suspension was obtained. Additionally several measurements such as particle size distributions, chemical and phase analysis were conducted. The results of these measurements were used to calculate fractal dimension of bentonite floc structure. © SGEM2019.

关键词： Suspensions (fluids)

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Influence of geometrical parameters of perforated tube for velocity flow in sedimentation and feed chamber in laboratory settling tank 19

Influence of geometrical parameters of perforated tube for v...

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19th International Multidisciplinary Scientific Geoconference, SGEM 2019

作者： Warzecha, Piotr Hilger, Bartlomiej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Power Systems and Environmental Protection Krakow Poland

ISBN: (纸本)9786197408768

The article presents the laboratory settler tank to realization sedimentation process in counter-current or cross-current variant. The concept of a designed settler tank and showed in this article allows to compare them in these systems, define of the influence construction elements and influence of process parameters e.g. for velocity distribution in sedimentation space of settler tank. One of the researched elements which was presented was influence of geometric parameters of perforated tube and baffle on distribution of the medium stream in the sedimentation chamber. The cross-current variant was determined, where construction elements and parameters have the most important influence. The results of these measurements were used to define of impact of geometrical parameters of construction elements to even load of individual multiflux lamella plates of packet. © SGEM2019.

关键词： Water treatment

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Bebop 2 Quadrotor as a Platform for Research and Education in robotics and Control Engineering

Bebop 2 Quadrotor as a Platform for Research and Education i...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Wojciech Giernacki Piotr Kozierski Jacek Michalski Marek Retinger Rafal Madonski Pascual Campoy Institute of Robotics and Machine Intelligence Faculty of Control Robotics and Electrical Engineering of Poznan University of Technology Poznań Poland Institute of Computing Science (Faculty of Computing and Telecommunications) and with the Institute of Robotics and Machine Intelligence (Faculty of Control Robotics and Electrical Engineering) Poznan University of Technology Poznań Poland International Energy College Energy Electricity Research Center Jinan University Zhuhai China Computer Vision and Aerial Robotics (CVAR) Centre for Automation and Robotics Technical University of Madrid (UPM) Madrid Spain

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

In conducting research and teaching in fields related to unmanned aerial vehicles (UAVs), it is particularly important to select a universal, safe, open research platform and tools for rapid prototyping. Ready-to-use, low-cost micro-class UAVs such as Bebop 2 are successfully used in that regard. This article presents how to use the potential of this flying robot with Robot Operating System (ROS). The most important software solutions for the developed experimental testbed FlyBebop are characterized here. Their capabilities in research and education are exemplified using three distinct cases: 1) research results on the method of optimal, in-flight, iterative self-tuning of UAV position controller parameters (based only on current measurements), 2) the use of the reinforcement learning method in the autonomous landing of a single drone on a moving vehicle, 3) planning the movement of UAVs for autonomous video recording along the planned path in the arrangement: "cameraman drone" and "lighting technician drones".

关键词： Drones Robots Education Cameras Sensors Tools

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Corrections to “Simultaneous Estimation of Upper Limb Pose and Joint Torque Based on Upper Arm Deformation” [Aug 20 374-381]

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2020年第4期2卷 507-508页

作者： Tetsuya Kurasumi Sung-Gwi Cho Ming Ding Gustavo Alfonso Garcia Ricardez Masahiro Yoshikawa Jun Takamatsu Tsukasa Ogasawara Division of Information Science Nara Institute of Science and Technology Ikoma Japan Institute of Innovation for Future Society Nagoya University Nagoya Japan Faculty of Robotics and Design Engineering Osaka Institute of Technology Osaka Japan

We recently realized that we had some mistakes in calculations regarding our published manuscript [1] . We would like to amend the mistakes, as indicated below.

关键词： Biomechanics Manipulators Medical robotics Neural networks Biomedical signal processing Robot sensing systems Estimation

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Global Practical Tracking for a Hovercraft with Unmeasured Linear Velocity and Disturbances

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IFAC-PapersOnLine 2020年第2期53卷 8959-8964页

作者： Wei Xie David Cabecinhas Rita Cunha Carlos Silvestre Faculty of Science and Technology University of Macau Macau China Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa 1049-001 Lisboa Portugal

This paper addresses the design and experimental validation of a trajectory tracking controller for an underactuated hovercraft with unmeasured linear velocity and subject to time-varying disturbances. The unmeasured linear velocity and disturbances are recovered by designing nonlinear observers. A control law is proposed that, in closed-loop with the velocity and disturbance observers, can robustly steer the hovercraft toward and stay within a neighborhood of a reference trajectory. To demonstrate the performance and robustness of the proposed control strategy, we present and analyze experimental results obtained with a model-scale hovercraft.

关键词： Nonlinear control robust control underactuated hovercraft observers

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Switched-capacitor finite impulse response rotator filter

Switched-capacitor finite impulse response rotator filter

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

作者： Paweł Pawłowski Rafał Długosz Adam Dąbrowski Division of Signal Processing and Electronic Systems Jana Pawł a II 24 Poznan University of Technology Faculty of Control Robotics and Electrical Engineering and Institute of Automation and Robotics Poznań Poland Faculty of Telecommunication Computer Science and Electrical Engineering Kaliskiego 7 UTP University of Science and Technology Bydgoszcz Poland

ISBN: (数字)9788362065394

ISBN: (纸本)9781728177465

Design of the topology and layout for an analog finite impulse response (FIR) filter realized in the CMOS technology using the switched capacitor (SC) technique, is presented. The filter is based on the so called “rotator structure” supplemented with the programmable capacitor array. This array makes the on-line adjusting of the frequency response of the filter possible in a very wide range, thus, enlarges the area of applications of this circuit, e.g., to multi-standard wireless communication, software-defined radio, adaptive systems, etc. The presented circuit realizes filters of orders up to 15 (16 filter coefficients). The maximum frequency range approaches ca. 2 MHz. The circuit dissipates ca. 8 mW from the power supply.

关键词： Finite impulse response filters Capacitors IIR filters Clocks Operational amplifiers Switches Capacitance

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HIPA: Hierarchical Patch Transformer for Single Image Super Resolution

arXiv

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arXiv 2022年

作者： Cai, Qing Qian, Yiming Li, Jinxing Lyu, Jun Yang, Yee-Hong Wu, Feng Zhang, David The Faculty of Information Science and Engineering Ocean University of China Shandong Qingdao266100 China The Department of Computer Science University of Manitoba WinnipegMBR3T 2N2 Canada The School of Computer Science and Technology Harbin Institute of Technology Guangdong Shenzhen518055 China The School of Nursing The Hong Kong Polytechnic University Hong Kong The Department of Computing Science University of Alberta EdmontonABT6G 2E9 Canada The School of Information Science and Technology University of Science and Technology of China Anhui Hefei230026 China The School of Data Science The Chinese University of Hong Kong Guangdong Shenzhen518172 China The Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Shenzhen518000 China Linklogis Joint Laboratory of Computer Vision and Artificial Intelligence Guangdong Shenzhen518172 China

Transformer-based architectures start to emerge in single image super resolution (SISR) and have achieved promising performance. However, most existing vision Transformer-based SISR methods still have two shortcomings: (1) they divide images into the same number of patches with a fixed size, which may not be optimal for restoring patches with different levels of texture richness;and (2) their position encodings treat all input tokens equally and hence, neglect the dependencies among them. This paper presents a HIPA, which stands for a novel Transformer architecture that progressively recovers the high resolution image using a hierarchical patch partition. Specifically, we build a cascaded model that processes an input image in multiple stages, where we start with tokens with small patch sizes and gradually merge them to form the full resolution. Such a hierarchical patch mechanism not only explicitly enables feature aggregation at multiple resolutions but also adaptively learns patch-aware features for different image regions, e.g., using a smaller patch for areas with fine details and a larger patch for textureless regions. Meanwhile, a new attention-based position encoding scheme for Transformer is proposed to let the network focus on which tokens should be paid more attention by assigning different weights to different tokens, which is the first time to our best knowledge. Furthermore, we also propose a multi-receptive field attention module to enlarge the convolution receptive field from different branches. The experimental results on several public datasets demonstrate the superior performance of the proposed HIPA over previous methods quantitatively and qualitatively. We will share our code and models when the paper is accepted. Copyright © 2022, The Authors. All rights reserved.

关键词： Image reconstruction

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Evaluation of CR2-Haptic Movement Quality Assessment Module for Hand 3rd

Evaluation of CR2-Haptic Movement Quality Assessment Module ...

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3rd International Conference for Innovation in Biomedical Engineering and Life sciences, ICIBEL 2020

作者： Khor, Kang Xiang Chin, Patrick Jun Hua Yeong, Che Fai Su, Eileen Lee Ming Narayanan, Aqilah Leela T. Rahman, Hisyam Abdul Abdullah, Najib bin Mustar, Muhammad Farhan bin Khor, Yvonne Yee Woon Latip, Hadafi Fitri Mohd Khan, Qamer Iqbal Silvadorai, Yashitha Devi Chan, Tracy Arumugam, Nimalan Skudai Johor81300 Malaysia Center of Artificial Intelligence and Robotics UTM Kuala Lumpur54100 Malaysia School of Biomedical Engineering and Health Science Faculty of Engineering UTM Skudai Johor81300 Malaysia Universiti Tun Hussein Onn Malaysia Parit Raja Johor86400 Malaysia Sports Innovation and Technology Centre UTM Skudai Johor81300 Malaysia UTM Skudai Johor81310 Malaysia Petaling Jaya Selangor46050 Malaysia

ISBN: (纸本)9783030650919

Objective assessment is crucial in the rehabilitation process for physiotherapists to determine the progress of the patient and to provide the best treatment in therapy. However, current rehabilitations rely heavily on manual labour and lack objective assessments, as well as quantitative diagnosis and evaluation. This project aims to evaluate the movement assessment modules of CR2-Haptic, a portable and reconfigurable rehabilitation robot that can be used to provide an objective assessment for the targeted movement of upper limb. Both wrist and forearm movement performance were assessed in the study. Centre-out-point-to-point (CO-PTP) approach was used in the movement quality assessment module of CR2-Haptic and the proposed coordination score showed high correlation with four kinematic variables of the movement including total trial time which has the strongest relation with r2 value of 0.85, followed by smoothness (r2 = 0.80), mean velocity (r2 = 0.78) and path ratio (r2 = 0.70). © 2021, Springer Nature Switzerland AG.

关键词： Patient treatment

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Self-supervised Depth Estimation to Regularise Semantic Segmentation in Knee Arthroscopy

arXiv

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arXiv 2020年

作者： Liu, Fengbei Jonmohamadi, Yaqub Maicas, Gabriel Pandey, Ajay K. Carneiro, Gustavo Australian Institute for Machine Learning School of Computer Science University of Adelaide School of Electrical Engineering and Robotics Science and Engineering Faculty Queensland University of Technology

Intra-operative automatic semantic segmentation of knee joint structures can assist surgeons during knee arthroscopy in terms of situational awareness. However, due to poor imaging conditions (e.g., low texture, overexposure, etc.), automatic semantic segmentation is a challenging scenario, which justifies the scarce literature on this topic. In this paper, we propose a novel self-supervised monocular depth estimation to regularise the training of the semantic segmentation in knee arthroscopy. To further regularise the depth estimation, we propose the use of clean training images captured by the stereo arthroscope of routine objects (presenting none of the poor imaging conditions and with rich texture information) to pre-train the model. We fine-tune such model to produce both the semantic segmentation and self-supervised monocular depth using stereo arthroscopic images taken from inside the knee. Using a data set containing 3868 arthroscopic images captured during cadaveric knee arthroscopy with semantic segmentation annotations, 2000 stereo image pairs of cadaveric knee arthroscopy, and 2150 stereo image pairs of routine objects, we show that our semantic segmentation regularised by self-supervised depth estimation produces a more accurate segmentation than a state-of-the-art semantic segmentation approach modeled exclusively with semantic segmentation annotation. Copyright © 2020, The Authors. All rights reserved.

关键词： Endoscopy

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RobotAtFactory 4.0: a ROS framework for the SimTwo simulator

RobotAtFactory 4.0: a ROS framework for the SimTwo simulator

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

作者： Joã o Braun Alexandre Oliveira Jú nior Guido S. Berger José Lima Ana I. Pereira Paulo Costa Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Polit&#x00E9 cnico de Bragan&#x00E7 a Campus de Santa Apol&#x00F3 nia Bragança Portugal Mountains of Research Collaborative Laboratory Portugal Universidade de Tr&#x00E1 s-os-Montes e Alto Douro Vila Real Portugal INESC Technology and Science Porto Portugal Faculty of Engineering of University of Porto Portugal

robotics competitions encourage the development of solutions to new challenges that emerge in sync with the rise of Industry 4.0. In this context, robotic simulators are employed to facilitate the development of these solutions by disseminating knowledge in robotics, Education 4.0, and STEM. The RobotAtFactory 4.0 competition arises to promote improvements in industrial challenges related to autonomous robots. The official organization provides the simulation scene of the competition through the open-source SimTwo simulator. This paper aims to integrate the SiwTwo simulator with the Robot Operating System (ROS) middleware by developing a framework. This integration facilitates the design of robotic systems since ROS has a vast repository of packages that address common problems in robotics. Thus, competitors can use this framework to develop their solutions through ROS, allowing the simulated and real systems to be integrated.

关键词： Location awareness Industries Service robots Operating systems Organizations Fourth Industrial Revolution Synchronization

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