检索结果-内蒙古大学图书馆

15th Annual Undergraduate Research Conference on Applied Computing, URC 2024

作者： Urbanik, Igor Gibiec, Mariusz AGH University of Krakow Faculty of Computer Science Kraków Poland AGH University of Krakow Faculty of Mechanical Engineering and Robotics Kraków Poland

ISBN: (纸本)9798331527341

Omnidirectionality, that is (in the autonomous navigation context), ability to move in any direction at all times without extensive turning provides some nuances that can be leveraged greatly in many scenarios. This paper aims to describe an approach to omnidirectional autonomous navigation and localization based on the Kalman Planetary Rover developed by the AGH Space Systems team at the faculty of Mechanical engineering and robotics at AGH University of Krakow. © 2024 IEEE.

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

CTPU Based MetaMetarial Behaviour as a Soft Strain Sensor

CTPU Based MetaMetarial Behaviour as a Soft Strain Sensor

引用

2025 IEEE International Conference on Mechatronics, ICM 2025

作者： Mutlu, Rahim Asghar, Umar Odriscoll, Ciara Yildirim, Tanju Southern Cross University Faculty of Science and Engineering Lismore Australia School of Engineering University of Wollongong in Dubai Robotics and Automation Research Group United Arab Emirates School of Engineering University of Wollongong in Dubai Robotics and Automation Research Group Dubai United Arab Emirates

ISBN: (纸本)9798331533892

The surge in flexible and wearable electronics, fueled by advancements in smart technologies and growing market demand, has highlighted the importance of auxetic sensors for applications in healthcare, medical rehabilitation, soft robotics, and human-machine interfaces. For widespread adoption, these sensors must offer high sensitivity, substantial stretchability, and long-term durability. This study explores the possibilities of realizing such wearable soft sensors based on conductive thermoplastic polyurethane (cTPU) 3D printing enhanced with auxetic mechanical metamaterials. Following simultaneous empirical mechanical and electrical measurements, auxetic soft sensor designs were compared with numerical simulations. Results suggest that such soft sensors based on metamaterials are great candidates for applications in healthcare and robotics when realized with 3D printing. © 2025 IEEE.

关键词： Flexible electronics

来源：评论

学校读者我要写书评

暂无评论

MangoLeafXNet: An Explainable Deep Learning Model for Accurate Mango Leaf Disease Classification

引用

IEEE Access 2025年 13卷 93977-94008页

作者： Rayed, Md Eshmam Jim, Jamin Rahman Islam, Md Juniadul Mridha, M.F. Kabir, Md Mohsin Hossen, Md. Jakir American International University-Bangladesh Department of Computer Science and Engineering Dhaka1229 Bangladesh Mälardalens University Division of Computer Science and Software Engineering Västerås722 20 Sweden Multimedia University Faculty of Engineering and Technology Department of Robotics and Automation Melaka Malaysia

Addressing the global challenge of ensuring a consistent and abundant supply of fresh fruit, particularly in the context of fruit crops, is hindered by the prevalence of plant diseases. These diseases directly impact the quality of fruits, leading to a decline in overall agricultural production. Mango leaf diseases pose significant threats to global mango production, necessitating accurate and efficient classification techniques for timely disease management. Our study focuses on introducing MangoLeafXNet, a customized Convolutional Neural Network (CNN) architecture specifically tailored for the classification of mango leaf diseases, along with a healthy class. Our proposed model comprises six layers optimized to capture intricate disease patterns, demonstrating superior performance compared with prevalent pre-trained models. The model is trained and evaluated on three publicly available datasets: MangoLeafBD (4000 images across 8 classes), MangoPest (16 pest classes including healthy leaves), and MLDID (3000 high-resolution images across 5 classes). Our model demonstrated exceptional classification performance, attaining 99.8% accuracy, 99.62% recall, 99.5% precision, and an F1-score of 99.56%. Further validation on the MangoPest dataset and the Mango Leaf Disease Identification Dataset (MLDID) resulted in accuracies of 96.31% and 96.33%, respectively, confirming the robustness and adaptability of MangoLeafXNet across different datasets. Additionally, we incorporate Explainable AI techniques, including GRAD-CAM, Saliency Map, and LIME to enhance the interpretability of our model. We deployed Gradio web interface to create an interactive interface that allows users to upload images of mango leaves and get real-time classification and validation results along with confidence scores. This contribution not only advances the state-of-the-art in mango leaf disease classification but also offers promising prospects for real-time disease diagnosis and precision agriculture

关键词： Fruits

来源：评论

学校读者我要写书评

暂无评论

Network-aware Shared Autonomy in Bilateral Teleoperation 23

Network-aware Shared Autonomy in Bilateral Teleoperation

引用

23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Chen, Xiao Michel, Youssef Sadeghian, Hamid Haddadin, Sami Technical University of Munich Human-centered Assistive Robotics Munich Germany Munich Institute of Robotics and Machine Intelligence Robotics Science and Systems Intelligence Technical University of Munich Munich Germany University of Isfahan Faculty of Engineering Isfahan*** Iran

ISBN: (纸本)9798350373578

In this paper, an autonomy allocation approach is proposed for bilateral teleoperation systems to improve user performance under suboptimal communication networks. To achieve this, time-varying communication quality metrics such as delay and jitter are continuously monitored on the teleoperated side, and the autonomy level is dynamically adjusted based on the communication network quality. An autonomous agent is also deployed on the teleoperated side, leveraging preexisting task knowledge for shared autonomy. Additionally, a time-domain passivity approach is employed to maintain communication channel passivity, mitigating the impact of adverse network behavior on task performance. The proposed approach is validated through extensive experiments and user studies, and the result shows our approach significantly improved the performance of the subjects (p © 2024 IEEE.

关键词： Teleconferencing

来源：评论

学校读者我要写书评

暂无评论

Minimal length scale in quantum mechanics from a deformation quantization perspective 28

Minimal length scale in quantum mechanics from a deformation...

引用

28th International Conference on Integrable Systems and Quantum Symmetries, ISQS 2024

作者： Domański, Ziemowit Poznań University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Mathematics Piotrowo 3A Poznań Poland

We develop a deformation quantization approach to quantum mechanics that exhibits a nonzero minimal uncertainty in position through the modification of commutation relations for the operators of position and momentum. Deformation quantization is a method of quantizing a classical Hamiltonian system by suitably deforming the Poisson algebra of the system. The developed theory of deformation quantization is non-formal. An appropriate integral formula for the star-product is introduced, along with a suitable space of functions on which the star-product is well defined. A C*-algebra of observables and a space of states are constructed. Moreover, an operator representation in momentum space is presented. Finally, an example of states of maximal localization is given in terms of generalized Wigner functions. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Hamiltonians

来源：评论

学校读者我要写书评

暂无评论

General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

引用

engineering 2024年第2期33卷 63-76页

作者： Heye Huang Yicong Liu Jinxin Liu Qisong Yang Jianqiang Wang David Abbink Arkady Zgonnikov School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China Department of Cognitive Robotics Faculty of MechanicalMaritime and Materials Engineering(3mE)Delft University of TechnologyDelft 2628Netherlands Department of Software Technology Faculty of Electrical EngineeringMathematics and Computer ScienceDelft University of TechnologyDelft 2628Netherlands Xi’an Institute of High-Technology Xi’an 710051China

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and ***,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road *** coordinates are then transformed to achieve the curvature continuity of the generated *** the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate ***,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and *** simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic ***,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

关键词： Autonomous vehicle Trajectory planning Multi-performance objectives Principle of least action

来源：评论

学校读者我要写书评

暂无评论

Control Aspects in Programming by Demonstation for Robotic Deep- Micro- Hole Drilling 32

Control Aspects in Programming by Demonstation for Robotic D...

引用

32nd Mediterranean Conference on Control and Automation, MED 2024

作者： Maric, Bruno Petric, Frano Orsag, Matko University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (纸本)9798350395440

This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling. © 2024 IEEE.

关键词： Molds

来源：评论

学校读者我要写书评

暂无评论

Uncertainty propagation in the internet of things

引用

Discover Internet of Things 2024年第1期4卷 1-20页

作者： Pal, Shantanu Khalifa, Sara Miller, Dimity Dedeoglu, Volkan Dorri, Ali Ramachandran, Gowri Moghadam, Peyman Kusy, Brano Jurdak, Raja The School of Information Technology Faculty of Science Engineering and Built Environment Deakin University MelbourneVIC 3125 Australia The School of Information Systems Faculty of Science Queensland University of Technology BrisbaneQLD4000 Australia The School of Electrical Engineering and Robotics Faculty of Engineering Queensland University of Technology BrisbaneQLD4000 Australia The Distributed Sensing Systems Group Data61 CSIRO PullenvaleQLD 4069 Australia The School of Computer Science Faculty of Science Queensland University of Technology BrisbaneQLD 4000 Australia The CSIRO Robotics Data61 CSIRO PullenvaleQLD 4069 Australia

The Internet of Things (IoT) detects context through sensors capturing data from dynamic physical environments, in order to inform automation decisions within cyber physical systems (CPS). Diverse types of uncertainty in the IoT pipeline can propagate within and across nodes, involving complex interactions with security, privacy, and trust that remain largely unexplored. This paper conducts an in-depth analysis of the types of uncertainties in IoT and how they propagate within IoT nodes and networks. We consider adversarial uncertainty in the context of distributed IoT networks to capture perturbations due to malicious actors in the network that can influence IoT security, privacy and trust. We examine the propagation of adversarial uncertainty and well-known uncertainty types, namely aleatoric and epistemic uncertainty, within the five distinct stages of sensing, communication, storage, processing and decision-making in an IoT pipeline, across network layer boundaries, and across nodes within an IoT network. Using this mapping, we analyse the interactions between the uncertainty types and their propagation, and security, privacy, and trust in IoT. Based on this analysis, we discuss guidelines and considerations for mitigating uncertainty in IoT through a smart grid use case study. © The Author(s) 2024.

关键词： Differential privacy

来源：评论

学校读者我要写书评

暂无评论

Robot Arm Control System via Ethernet with Kinect V2 Camera for use in Hazardous Areas 1

Robot Arm Control System via Ethernet with Kinect V2 Camera ...

引用

1st International Conference on robotics, engineering, Science, and Technology, RESTCON 2024

作者： Suphalak, Kanok Klanpet, Nattapol Sikaressakul, Nuttakit Prongnuch, Sethakarn Suan Sunandha Rajabhat University Faculty of Industrial Technology Department of Computer Engineering Bangkok Thailand Suan Sunandha Rajabhat University Faculty of Industrial Technology Department of Robotics Engineering Bangkok Thailand

ISBN: (纸本)9798350348842

This paper introduces the Ethernet robot arm control system with Kinect V2 camera for use in hazardous areas. The goal is to evaluate the performance of Ethernet communication and robot arm control in picking and placing objects. This system is divided into two architectures. Hardware includes an AMBER B1 robot arm and gripper, a Kinect V2 camera, AMBER robot arm control system, a router, and a PC/laptop. Software includes the C# software client, ROS2, Kinect for Windows SDK 2.0, and ARS. The experiment is separated into two parts: An Ethernet UDP performance evaluation and an object pick and place test. Maximum Ethernet UDP bandwidth is 4.20 Mbits/sec and there is no packet loss. There is a 15% error for picking objects. The movement of the robot arm follows the user's movement and object placement with 100% success. The robot arm control system from this research can help access dangerous areas after accidents. © 2024 IEEE.

关键词： Ethernet

来源：评论

学校读者我要写书评

暂无评论

Experimental and Finite Element Analysis of Corroded High-Pressure Pipeline Repaired by Laminated Composite

引用

Computer Modeling in engineering & Sciences 2024年第8期140卷 1783-1806页

作者： Seyed Mohammad Reza Abtahi Saeid Ansari Sadrabadi Gholam Hosein Rahimi Gaurav Singh Hamid Abyar Daniele Amato Luigi Federico Faculty of Mechanical Engineering Tarbiat Modares UniversityTehran***Iran A.Leon Linton Department of Mechanical Robotics and Industrial EngineeringLawrence Technological UniversitySouthfieldMI48075USA Department of Mechanical Engineering Faculty of EngineeringMeybod UniversityYazd***Iran Department of Industrial Engineering University of SalernoVia Giovanni PaoloⅡFiscianoItaly Italian Aerospace Research Center(C.I.R.A.) Via MaioriseCapuaCE81043Italy

Repairs of corroded high-pressure pipelines are essential for fluids transportation under high *** of the methods used in their repairs is the use of layered *** composite used must have the necessary ***,the experiments and analytical solutions presented in this paper are performed according to the relevant standards and codes,including ASME PCC-2,ASME B31.8S,ASME B31.4,ISO 24817 and ASME *** addition,the experimental tests are replicated numerically using the finite element *** the strain gauges at different distances from the defect location,can reduce the nonlinear effects,deformation,and fluctuations due to the high *** direct relationship between the depth of an axial defect and the stress concentration is observed at the inner side edges of the *** reparation reduces the non-linearities related to the sharp variation of the geometry and a more reliable numerical simulation could be performed.

关键词： High-pressure pipeline composite repair ASME PCC-2 ISO 24817

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：