检索结果-内蒙古大学图书馆

[email protected] , an ecosystem of virtual environments and tools for realistic indoor robotic simulation

Expert systems with Applications 2022年 208卷

作者： David Fernandez-Chaves Jose-Raul Ruiz-Sarmiento Alberto Jaenal Nicolai Petkov Javier Gonzalez-Jimenez Machine Perception and Intelligent Robotics group (MAPIR) Department of System Engineering and Automation Biomedical Research Institute of Malaga (IBIMA) University of Malaga Spain Johann Bernoulli Institute of Mathematics and Computing Science University of Groningen The Netherlands

Simulations and synthetic datasets have historically empower the research in different service robotics-related problems, being revamped nowadays with the utilization of rich virtual environments. However, with their use, special attention must be paid so the resulting algorithms are not biased by the synthetic data and can generalize to real world conditions. These aspects are usually compromised when the virtual environments are manually designed. This article presents [email protected] , an ecosystem of virtual environments and tools that allows for the management of realistic virtual environments where robotic simulations can be performed. Here “realistic” means that those environments have been designed by mimicking the rooms’ layout and objects appearing in 30 real houses, hence not being influenced by the designer’s knowledge. The provided virtual environments are highly customizable (lighting conditions, textures, objects’ models, etc.), accommodate meta-information about the elements appearing therein (objects’ types, room categories and layouts, etc.), and support the inclusion of virtual service robots and sensors. To illustrate the possibilities of [email protected] we show how it has been used to collect a synthetic dataset, and also exemplify how to exploit it to successfully face two service robotics-related problems: semantic mapping and appearance-based localization.

关键词： Virtual environments Robotic simulation Service robots Semantic maps Robotic dataset Unity

来源：评论

学校读者我要写书评

暂无评论

Design of Muscle Reflex Control for Human Upright Standing Push- recovery based on Series Elastic Actuator

Design of Muscle Reflex Control for Human Upright Standing P...

引用

IEEE International Conference on Cyber Technology in Automation, Control, and intelligent systems

作者： Yuyang Cao Kui Xiang Biwei Tang Zhaojie Ju Muye Pang Intelligent System Research Institute School of Automation Wuhan University of Technology China and Intelligent System & Biomedical Robotics Group School of Computing University of Portsmouth UK Intelligent System Research Institute School of Automation Wuhan University of Technology China Intelligent System & Biomedical Robotics Group School of Computing University of Portsmouth UK

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Ankle joint muscle reflex control plays an important role in the human bipedal posture. With the neuromuscular control mechanism and muscle-tendon biomechanical dynamic properties, our joints exhibit excellent performance in external environment physical interaction. Researching and understanding the mechanism of muscle reflex not only helps to reveal human movement control rules, but also provides a useful tool for robotic system design. In this paper, an ankle joint muscle reflex control strategy for human upright standing push-recovery is proposed. In order to focus attention on muscle reflexes and exclude other control mechanisms from the central nervous system (CNS) as much as possible, only ankle joint strategy without foot tilting is evoked by a limited external disturbance. A proportional derivative-like (PD-like) muscle reflex control algorithm is presented to understand the action mechanism for human upright standing push-recovery. A series elastic actuator (SEA) based mechanical ankle joint is designed as a platform for testing activities. The experimental results show that the proposed reflex control method can help subjects maintain balance, without stepping, while receiving external disturbances. With the unique control mechanism, the ankle joint behaves like a spring-damping system. And, under such a simple and effective control strategy, it is practical to realize human upright standing push-recovery.

关键词： Muscles Springs Actuators intelligent systems Automation Wheels Robots

来源：评论

学校读者我要写书评

暂无评论

Bacterial Memetic Algorithm based Feature Selection for Surface EMG based Hand Motion Recognition in Long-term Use

Bacterial Memetic Algorithm based Feature Selection for Surf...

引用

IEEE Symposium Series on Computational Intelligence

作者： Dalin Zhou Yinfeng Fang János Botzheim Naoyuki Kubota Honghai Liu Intelligent Systems & Biomedical Robotics Group School of Computing University of Portsmouth PO1 3HE UK Graduate School of System Design Tokyo Metropolitan University 6-6 Asahigaoka Hino 191-0065 Japan

ISBN: (纸本)9781509042418

Pattern recognition algorithms have been applied in the surface electromyography (sEMG) based hand motion recognition for their promising accuracy. Research on proposing new features, improving classifiers and their combinations has been extensively conducted in the past decade. Meanwhile, the feature projection methodology, has been routinely exploited between the phases of feature extraction and classification. However, limited publications have been seen addressing the feature selection, which is a vital alternative in dimensionality reduction for pattern recognition. Recent development of sEMG acquisition devices have contributed to more signal capturing sites or even detection arrays of high density in the application. In this paper, the memetic evolutionary method named bacterial memetic algorithm (BMA) has been adopted as the feature selection strategy for sEMG based hand motion recognition. A case study of 4 subjects in long-term use has been conducted to demonstrate the feasibility of the proposed strategy, that comparable recognition accuracy with reduced computation cost has been achieved. A further discussion on the feature redundancy and inter-subject use has also been demonstrated based on the experimental results derived from BMA based feature selection.

关键词： Electromyography Hand Motion Pattern Recognition Feature Selection Bacterial Memetic Algorithm

来源：评论

学校读者我要写书评

暂无评论

Gesture recognition based on sparse representation

引用

International Journal of Wireless and Mobile Computing 2016年第4期11卷 348-356页

作者： Miao, Wei Li, Gongfa Sun, Ying Jiang, Guozhang Kong, Jianyi Liu, Honghai College of Machinery and Automation Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth PortsmouthPO1 3HE United Kingdom

Aiming at the problem that the robustness of gesture recognition is difficult to guarantee, this paper presents a method based on multi-features and sparse representation. Hu invariant moments and HOG features of training samples are extracted in training phase. The K-SVD algorithm is used to train the initial value of dictionary formed by two features so as to obtain two sub-dictionaries. In recognition phase, sparse coefficients of corresponding training dictionary are derived by solving minimum l1-norm. Finally, the overall reconstruction error is calculated to judge the categories of test samples. In experimental simulation, five kinds of grasp gesture are collected to create gesture sample library. After selecting optimal HOG parameters and the weight of two features, the recognition effect of the method is analysed. Compared with the commonly used classification, the results show that the method has better recognition rate and robustness. Copyright © 2016 Inderscience Enterprises Ltd.

关键词： Gesture recognition

来源：评论

学校读者我要写书评

暂无评论

Gene expression imputation across multiple brain regions provides insights into schizophrenia risk (vol 51, pg 659, 2019)

引用

NATURE GENETICS 2019年第6期51卷 1068-1068页

作者： Huckins, Laura M. Dobbyn, Amanda Ruderfer, Douglas M. Hoffman, Gabriel Wang, Weiqing Pardinas, Antonio F. Rajagopal, Veera M. Als, Thomas D. Nguyen, Hoang T. Girdhar, Kiran Boocock, James Roussos, Panos Fromer, Menachem Kramer, Robin Domenici, Enrico Gamazon, Eric R. Purcell, Shaun Demontis, Ditte Borglum, Anders D. Walters, James T. R. O'Donovan, Michael C. Sullivan, Patrick Owen, Michael J. Devlin, Bernie Sieberts, Solveig K. Cox, Nancy J. Im, Hae Kyung Sklar, Pamela Stahl, Eli A. Pamela Sklar Division of Psychiatric Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Genetics and Genomics Icahn School of Medicine at Mount Sinai New York NY USA Department of Psychiatry Icahn School of Medicine at Mount Sinai New York NY USA Icahn Institute for Genomics and Multiscale Biology Icahn School of Medicine at Mount Sinai New York NY USA Vanderbilt University Medical Center Nashville TN USA MRC Centre for Neuropsychiatric Genetics and Genomics Cardiff University Cardiff UK Department of Biomedicine Aarhus University Aarhus Denmark The Lundbeck Foundation Initiative for Integrative Psychiatric Research iPSYCH Denmark Center for Integrative Sequencing Aarhus University Aarhus Denmark Department of Human Genetics David Geffen School of Medicine University of California Los Angeles Los Angeles CA USA Human Brain Collection Core National Institute of Mental Health Bethesda MD USA Laboratory of Neurogenomic Biomarkers Centre for Integrative Biology (CIBIO) University of Trento Trento Italy Clare Hall University of Cambridge Cambridge UK University of North Carolina at Chapel Hill Chapel Hill NC USA Karolinska Institutet Stockholm Sweden Department of Psychiatry University of Pittsburgh Pittsburgh PA USA Systems Biology Sage Bionetworks Seattle WA USA Section of Genetic Medicine Department of Medicine University of Chicago Chicago IL USA Integrated Technology Research Laboratories Pharmaceutical Research Division Takeda Pharmaceutical Company Limited Fujisawa Japan Neuropsychiatry Section Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Neuropsychiatric Signaling Program Department of Psychiatry Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Psychiatry JJ Peters Virginia Medical Center Bronx NY USA Department of Neuroscience Icahn School of Medicine at Mount Sinai New York New York NY USA Friedman Brain Institute

Transcriptomic imputation approaches combine eQTL reference panels with large-scale genotype data in order to test associations between disease and gene expression. These genic associations could elucidate signals in complex genome-wide association study (GWAS) loci and may disentangle the role of different tissues in disease development. We used the largest eQTL reference panel for the dorso-lateral prefrontal cortex (DLPFC) to create a set of gene expression predictors and demonstrate their utility. We applied DLPFC and 12 GTEx-brain predictors to 40,299 schizophrenia cases and 65,264 matched controls for a large transcriptomic imputation study of schizophrenia. We identified 413 genic associations across 13 brain regions. Stepwise conditioning identified 67 non-MHC genes, of which 14 did not fall within previous GWAS loci. We identified 36 significantly enriched pathways, including hexosaminidase-A deficiency, and multiple porphyric disorder pathways. We investigated developmental expression patterns among the 67 non-MHC genes and identified specific groups of pre- and postnatal expression.

关键词： Gene expression Genome-wide association studies Schizophrenia Transcriptomics

来源：评论

学校读者我要写书评

暂无评论

Finger Pinch Force Estimation Through Muscle Activations Using A Surface EMG Sleeve On the Forearm

Finger Pinch Force Estimation Through Muscle Activations Usi...

引用

IEEE International Conference on Fuzzy systems

作者： Yinfeng Fang Zhaojie Ju Xiangyang Zhu Honghai Liu Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

ISBN: (纸本)9781479920747

For prosthetic hand manipulation, the surface Electromyography (sEMG) has been widely applied. Researchers usually focus on the recognition of hand grasps or gestures, but ignore the hand force, which is equally important for robotic hand control. Therefore, this paper concentrates on the methods of finger forces estimation based on multi-channel sEMG signal. A custom-made sEMG sleeve system omitting the stage of muscle positioning is utilised to capture the sEMG signal on the forearm. A mathematic model for muscle activation extraction is established to describe the relationship between finger pinch forces and sEMG signal, where the genetic algorithm is employed to optimise the coefficients. The results of experiments in this paper shows three main contributions: 1) There is a systematical relationship between muscle activations and the pinch finger forces. 2) To estimate the finger force, muscle precise positioning for electrodes placement is not inevitable. 3) In a multi-channel EMG system, selecting specific combinations of several channels can improve the estimation accuracy for specific gestures.

关键词： Muscles Force Electromyography Electrodes Channel estimation Mathematical model Estimation

来源：评论

学校读者我要写书评

暂无评论

Development of a surface EMG acquisition system with novel electrodes configuration and signal representation

Development of a surface EMG acquisition system with novel e...

引用

6th International Conference on intelligent robotics and Applications, ICIRA 2013

作者： Fang, Yinfeng Zhu, Xiangyang Liu, Honghai Group of Intelligent System and Biomedical Robotics School of Creative Technologies University of Portsmouth Portsmouth United Kingdom State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9783642408519

Surface EMG signal is a quite useful tool for both the clinical application and human-machine interface. This paper proposes a multi-channel sEMG acquisition system with a novel sEMG electrodes array using improved bipolar montage. The proposed array employs elastic fabric to fix 18 dry electrodes, which make it own the advantages of reusability, wearability and flexibility. Moreover, a new graphic presentation of forearm sEMG signal is proposed, from which muscular activities can be observed instinctively in the form of round image patterns. At the end of this paper, several groups of hand gestures are studied to show the potential of the proposed system. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Reusability

来源：评论

学校读者我要写书评

暂无评论

Optimizing feature selection using laplace similarity in occluded human motion recognition

Optimizing feature selection using laplace similarity in occ...

引用

Proceedings of the Biannual World Automation Congress

作者： Mehdi Khoury Naoyuki Kubota Honghai Liu Intelligent Systems and Biomedical Robotics Group School of Creative Technologies University of Portsmouth UK Graduate School of System Design Tokyo Metropolitan University Tokyo Japan

In this paper, feature selection is used to allow the identification of critical attributes before the reconstruction of occluded data in 3d human motion classification. This work presents Fuzzy Laplace Similarity: a new fuzzy similarity relation used in the context of fuzzy rough feature selection. The measure of similarity is critical to the performance of the selection phase, which in turn will determine the performance of a classifier. Results over various datasets show that Fuzzy Laplace Similarity improves consistently the quality of the fuzzy rough feature selection process and performs well compared to other fuzzy similarity relations.

关键词： Joints Accuracy Humans Equations Context Shape Bayesian methods

来源：评论

学校读者我要写书评

暂无评论

intelligent robotics and Applications 1

引用

丛书名： Lecture Notes in Computer Science

1000年

作者： Xianmin Zhang Zhong Chen Nianfeng Wang Honghai Liu

ISBN: (数字)9783319139630

ISBN: (纸本)9783319139623

This two volume set LNAI 8917 and 8918 constitutes the refereed proceedings of the 7th International Conference on intelligent robotics and Applications, ICIRA 2014, held in Guangzhou, China, in December 2014. The 109 revised full papers presented were carefully reviewed and selected from 159 submissions. The papers aim at enhancing the sharing of individual experiences and expertise in intelligent robotics with particular emphasis on technical challenges associated with varied applications such as biomedical applications, industrial automations, surveillance, and sustainable mobility.

关键词： Artificial Intelligence Computer Imaging, Vision, Pattern Recognition and Graphics Control, robotics, Mechatronics Computers and Society Computer Applications Special Purpose and Application-Based systems

来源：评论

学校读者我要写书评

暂无评论

intelligent robotics and Applications 1

引用

丛书名： Lecture Notes in Computer Science

1000年

作者： Xianmin Zhang Zhong Chen Nianfeng Wang Honghai Liu

ISBN: (数字)9783319139661

ISBN: (纸本)9783319139654

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：