检索结果-内蒙古大学图书馆

Chinese Automation Congress (CAC)

作者： Qingwei Dong Peng Zeng Chuanzhi Zang Guangxi Wan Xiaoting Dong Shijie Cui State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang University of Technology Shenyang China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Reinforcement learning methods have demonstrated advanced capabilities in training neural network controllers for specific tasks. In the industrial domain, where model discrepancies and state disturbances occur, robot control strategies must exhibit adaptability. Existing studies, such as Generative Motor Reflexes (GMR), employ Variational Autoencoders (VAE) to approximate the latent variable space distribution to a standard normal distribution. However, this method, while straightforward, offers limited capability in representing data. The Gaussian Mixture Variational Autoencoder (GMVAE) algorithm leverages a Gaussian Mixture Model (GMM) as the prior distribution for data generation, enhancing the representation of the original state distribution. To increase the robustness of the trained neural network controllers against unknown states, we utilize GMVAE to represent the original state space, subsequently learning the mapping from latent variables to actions. We further accelerate the policy search process by integrating state representation learning with Guided Policy Search (GPS) methods. Our method was evaluated on robotic reaching tasks. Experimental results validate the robustness of our method against state perturbations.

关键词： Representation learning Training Visualization Autoencoders Robot control Neural networks Aerospace electronics Robustness Standards Global Positioning System

来源：评论

学校读者我要写书评

暂无评论

A Recurrent Attention and Interaction Model for Pedestrian Trajectory Prediction

引用

IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1361-1370页

作者： Xuesong Li Yating Liu Kunfeng Wang Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190and also with the University of Chinese Academy of SciencesBeijing 100049China College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE

The movement of pedestrians involves temporal continuity,spatial interactivity,and random *** a result,pedestrian trajectory prediction is rather *** existing trajectory prediction methods tend to focus on just one aspect of these challenges,ignoring the temporal information of the trajectory and making too many *** this paper,we propose a recurrent attention and interaction(RAI)model to predict pedestrian *** RAI model consists of a temporal attention module,spatial pooling module,and randomness modeling *** temporal attention module is proposed to assign different weights to the input sequence of a target,and reduce the speed deviation of different *** spatial pooling module is proposed to model not only the social information of neighbors in historical frames,but also the intention of neighbors in the current *** randomness modeling module is proposed to model the uncertainty and diversity of trajectories by introducing random *** conduct extensive experiments on several public *** results demonstrate that our method outperforms many that are state-ofthe-art.

关键词： Deep learning long short-term memory(LSTM) recurrent attention and interaction(RAI)model trajectory prediction

来源：评论

学校读者我要写书评

暂无评论

Spatial distribution and risk assessments of mercury in topsoils of Central Asia

引用

Geoscience Frontiers 2023年第4期14卷 270-279页

作者： Zhengzheng Yang Junming Guo Shiwei Sun Dingming Ni Pengfei Chen Dipesh Rupakheti Huhu Kang Sabur F Abdullaev Salamat Abdyzhapar uulu Shichang Kang Key Laboratory of Western China's Environmental Systems(Ministry of Education) College of Earth and Environmental SciencesLanzhou UniversityLanzhou 730000China State Key Laboratory of Cryospheric Science Northwest Institute of Eco-Environment and ResourcesChinese Academy of SciencesLanzhou 730000China Research Center for Eco-Environmental Sciences Chinese Academy of SciencesBeijing 100085China University of Chinese Academy of Sciences Beijing 100049China Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Collaborative Innovation Center of Atmospheric Environment and Equipment TechnologySchool of Environmental Science and EngineeringNanjing University of Information Science&TechnologyNanjing 210044China S.U.Umarov Physical Technical Institute of the National Academy of Sciences of Tajikistan Dushanbe 734063Tajikistan Research Center for Ecology and Environment of Central Asia(Bishkek) 720001Kyrgyzstan Geography Department Geology InstituteNational Academy of Sciences720001Kyrgyzstan

Central Asia is one of the largest arid areas on earth,yet little is known about the concentration levels and risks of mercury(Hg)in the soils of this *** this study,extensive sampling of topsoils(0-10 cm)from representative landscapes was carried out over Central Asia(i.e.,Tajikistan,Uzbekistan,and Kyrgyzstan).The total mercury(THg)concentrations in topsoils varied widely from 1.6 to 908.0 ng/g,with high values observed in samples collected in the capital cities and urban *** THg concentrations among different landscapes showed a decreasing order of urban(79.8±184.0 ng/g)>woodland(27.3±28.9 ng/g)>grassland(20.6±15.9 ng/g)>farmland(18.3±9.5 ng/g)>desert(12.3±8.0 ng/g).High THg concentrations were found in the capital cities/urban clusters,followed by a gradual decrease towards the *** concentrations were found to be negatively correlated with the distance from the sampling sites to their nearest cities,indicating that anthropogenic emissions significantly influenced the spatial distribution of topsoil Hg.A significant correlation between THg concentrations and topsoil total organic carbon(TOC)contents was also observed,suggesting that TOC played an essential role in the spatial distribution of topsoil *** assessments of pollution and potential ecological risk suggested that topsoils in highly densely-populated areas were contaminated by Hg and had higher degrees of potential ecological *** health risk assessment results showed that the exposure risk of topsoil Hg to children was higher than that to ***,there was no unacceptable human health risk of topsoil *** study clarified the spatial distribution and risks of Hg in the Central Asian topsoils,offering new insight into the risk prevention and control of soil Hg.

关键词： Mercury Topsoil Landscape Spatial distribution Risk assessment Central Asia

来源：评论

学校读者我要写书评

暂无评论

Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

引用

2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

来源：评论

学校读者我要写书评

暂无评论

DeCASA in AgriVerse: Parallel Agriculture for Smart Villages in Metaverses

引用

IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2055-2062页

作者： Xiujuan Wang Mengzhen Kang Hequan Sun Philippe de Reffye Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Beijing Engineering Research Center of Intelligent Systems and Technology Beijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 Department of Chromosome Biology Max Planck Institute for Plant Breeding ResearchBeijing 100049China Faculty of Biology LMU MunichGroßhaderner Str.2Planegg-Martinsried D-82152Germany AMAP Univ MontpellierCIRADCNRSINRAEIRDMontpellier F-34398France IEEE Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

The demand for food is tremendously increasing with the growth of the world population,which necessitates the development of sustainable agriculture under the impact of various factors,such as climate *** fulfill this challenge,we are developing Metaverses for agriculture,referred to as Agri Verse,under our Decentralized Complex Adaptive systems in Agriculture(De CASA)project,which is a digital world of smart villages created alongside the development of Decentralized Sciences(De Sci)and Decentralized Autonomous Organizations(DAO)for cyber-Physical-Social systems(CPSSs).Additionally,we provide the architectures,operating modes and major applications of De CASA in *** achieving sustainable agriculture,a foundation model based on ACP theory and federated intelligence is ***,we discuss the challenges and opportunities.

关键词： Parallel Agriculture Management and control AgriVerse Agriculture CPSS ACP DAO-Based Platform Precision Agriculture

来源：评论

学校读者我要写书评

暂无评论

A Meta-Design of Hollow-Square-Frustum-Core Sandwich Structures for Improved Compression and Vibration Isolation Properties

SSRN

引用

SSRN 2024年

作者： Zhang, Kai Ding, Bin Shi, Haizhou Hong, Fang Gu, Xudong Deng, Zichen School of Mechanics Civil Engineering and Architecture Northwestern Polytechnical University Xi’an710072 China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi’an710072 China State Key Laboratory of Structural Analysis for Industrial Equipment Dalian University of Technology Dalian116024 China

Metamaterials can satisfy the demand for lightweight and multifunctional structures. In this study, we propose a double hollow-square-frustum-core sandwich meta-structure (meta-DHSFCSS) for vibration isolation. The out-of-plane compressive performance of the sandwich meta-structure specimen is experimentally and numerically studied. The bandgap in the band structure for out-of-plane vibration of the meta-DHSFCSS is numerically computed and verified by the frequency-domain and time-domain responses and vibration test. Parameter study is performed on the meta-DHSFCSS to investigate the effects on the structural compressive performance and vibration isolation property. The maximum load-mass ratio exceeds 283 N/g and the maximum SEA reaches 2000 kJ/kg. These two indexes are dramatically better than those of certain previous studies. The meta-DHSFCSS has a wide bandgap for vibration isolation. Gradient design and waveguide design are introduced to the meta-DHSFCSS supercell. Its vibration isolation property is improved. The locational and directional transmission of the elastic wave can be achieved by the rainbow trapping effect of gradient meta-DHSFCSS and the waveguides with different transmission routes. These demonstrate the great application of the meta-DHSFCSS in elastic wave manipulation. © 2024, The Authors. All rights reserved.

关键词： Metamaterials

来源：评论

学校读者我要写书评

暂无评论

NanoNeRF: Robot-assisted Nanoscale 360° reconstruction with neural radiance field under scanning electron microscope

NanoNeRF: Robot-assisted Nanoscale 360° reconstruction with...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Xiang Fu Yifan Xu Shudong Wang Haojian Lu Jiaqi Li Youfu Li Hu Su Song Liu School of Information Science and Technology ShanghaiTech University Shanghai China School of Electrical Engineering Xian Jiaotong University and With State Key Laboratory of Electrical Insulation and Power Equipment Xi an School of the College of Control Science and Engineering Zhejiang University China Institute of Cyber-Systems and Control Hangzhou Department of Mechanical Engineering City University of Hong Kong Kowloon HK Institute of Automation Chinese Academy of Sicence Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The pursuit of 3D reconstruction from 2D images for nanomanipulation under scanning electron microscopy stands as a critical research endeavor. Previous methods either necessitates additional lighting which is difficult in standard SEM devices or relies on feature matching with low resolution and precision, further constraining reconstruction performance. In this paper, we propose a novel robot-assisted nanoscale 360° reconstruction approach, which simplifies SEM setups and maximizes the utilization of robot motion and feedback. By harnessing a nanorobotic system, we capture 360°multi-view images automatically with precise mapping information and camera postures. Sequentially, neural radiance field reconstruct the pixel-wise structure and synthesizing images from diverse perspectives. Experimental results using two real datasets demonstrates our approach’s efficacy, achieving PSNR of 28.1 and SSIM of 0.93 for nanotube reconstruction, and PSNR of 32.8 and SSIM of 0.98 for AFM cantilever reconstruction. These results validate the reliability and robustness of our proposed robot-assisted reconstruction method.

关键词： Robot motion Scanning electron microscopy Three-dimensional displays Robot kinematics Robot vision systems Neural radiance field Robustness Nanoscale devices Image reconstruction Standards

来源：评论

学校读者我要写书评

暂无评论

SCIPaD: Incorporating Spatial Clues into Unsupervised Pose-Depth Joint Learning

arXiv

引用

arXiv 2024年

作者： Feng, Yi Guo, Zizhan Chen, Qijun Fan, Rui The Department of Control Science & Engineering The College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Shanghai Institute of Intelligent Science and Technology The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China

Unsupervised monocular depth estimation frameworks have shown promising performance in autonomous driving. However, existing solutions primarily rely on a simple convolutional neural network for ego-motion recovery, which struggles to estimate precise camera poses in dynamic, complicated real-world scenarios. These inaccurately estimated camera poses can inevitably deteriorate the photometric reconstruction and mislead the depth estimation networks with wrong supervisory signals. In this article, we introduce SCIPaD, a novel approach that incorporates spatial clues for unsupervised depth-pose joint learning. Specifically, a confidence-aware feature flow estimator is proposed to acquire 2D feature positional translations and their associated confidence levels. Meanwhile, we introduce a positional clue aggregator, which integrates pseudo 3D point clouds from DepthNet and 2D feature flows into homogeneous positional representations. Finally, a hierarchical positional embedding injector is proposed to selectively inject spatial clues into semantic features for robust camera pose decoding. Extensive experiments and analyses demonstrate the superior performance of our model compared to other state-of-the-art methods. Remarkably, SCIPaD achieves a reduction of 22.2% in average translation error and 34.8% in average angular error for camera pose estimation task on the KITTI Odometry dataset. Our source code is available at https://***/SCIPaD. Copyright © 2024, The Authors. All rights reserved.

关键词： Cameras

来源：评论

学校读者我要写书评

暂无评论

Muscle Synergy Analysis Based on NMF for Lower Limb Motor Function Assessment

Muscle Synergy Analysis Based on NMF for Lower Limb Motor Fu...

引用

2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Xiang, Kexin Wang, Weiqun Hou, Zeng-Guang Zhang, Chutian Wang, Jiaxing Shi, Weiguo Jiao, Yuze Lin, Tianyu The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The School of Intelligence University of Chinese Academy of Sciences Beijing100049 China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology 999078 China Macau Institute of Systems Engineering Macau University of Science and Technology China The CASIAMUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology China

ISBN: (纸本)9781665481090

Accurate rehabilitation assessments are essential for designing effective rehabilitation methods and helping patients recover better. It's well known that commonly used scale assessment methods for neurorehabilitation suffer from the issue of subjectivity, thus investigation of objective assessment methods is very necessary. Muscle synergy analysis can be uesd to assess limb motor functions from the perspective of neuromuscular control. In this paper, a method for evaluation of human lower limb motor functions based on muscle synergy analysis is presented. Muscle synergy modules are designed using surface electromyography (sEMG) signals of the subjects' lower limbs by non-negative matrix factorizations (NMF). By comparing the cosine similarities of these synergy modules, it can be seen that muscle synergies of healthy subjects and patients are significantly different, while they are similar among healthy subjects. Therefore, a reference synergy module (RSM) is designed by averaging the muscle synergy modules for healthy subjects, and the similarities can be calculated by comparing the synergy modules for healthy subjects or patients with the RSM. In the experiment carried out in this study, average similarities of the three synergy modules for healthy subjects are respectively 0.97166, 0.87368 and 0.84932, and on the other hand, the average similarities for the three synergy modules for patients are respectively 0.59979, 0.56426 and 0.69042. Therefore, the similarities for healthy subjects are much higher than those for SCI patients, which denotes that the similarity between an individual synergy module and the RSM can be used as an objective assessing index for evaluating patients' motor function. © 2022 IEEE.

关键词： Non-negative matrix factorization

来源：评论

学校读者我要写书评

暂无评论

A novel robotic visual perception framework for underwater operation

引用

Frontiers of Information technology & Electronic Engineering 2022年第11期23卷 1602-1619页

作者： Yue LU Xingyu CHEN Zhengxing WU Junzhi YU Li WEN State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Ytech Kuaishou TechnologyBeijing 100085China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Underwater robotic operation usually requires visual perception(e.g.,object detection and tracking),but underwater scenes have poor visual quality and represent a special domain which can affect the accuracy of visual *** addition,detection continuity and stability are important for robotic perception,but the commonly used static accuracy based evaluation(i.e.,average precision)is insufficient to reflect detector performance across *** response to these two problems,we present a design for a novel robotic visual perception ***,we generally investigate the relationship between a quality-diverse data domain and visual restoration in detection *** a result,although domain quality has an ignorable effect on within-domain detection accuracy,visual restoration is beneficial to detection in real sea scenarios by reducing the domain ***,non-reference assessments are proposed for detection continuity and stability based on object ***,online tracklet refinement is developed to improve the temporal performance of ***,combined with visual restoration,an accurate and stable underwater robotic visual perception framework is ***-overlap suppression is proposed to extend video object detection(VID)methods to a single-object tracking task,leading to the flexibility to switch between detection and *** experiments were conducted on the ImageNet VID dataset and real-world robotic tasks to verify the correctness of our analysis and the superiority of our proposed *** codes are available at https://***/yrqs/VisPerception.

关键词： Underwater operation Robotic perception Visual restoration Video object detection

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：