检索结果-内蒙古大学图书馆

2022 International Symposium on robotics, Artificial Intelligence, and Information Engineering, RAIIE 2022

作者： Lu, Yang Tang, Yuangui Liu, Xingyu Wang, Fuli State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Shenyang110169 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (纸本)9781510660137

An innovative curling-like amphibious robot was developed for the 2022 Beijing Winter Olympics ground and underwater torch relay. The shape design of imitation curling was applied to the robot in response to the theme of Winter Olympics. The amphibious robot had ground mode and water mode. In ground mode omnidirectional wheels drove the robot to rotate and move forward. The method of constant angular velocity rotation superimposed forward motion overcame ground slip. The nonlinear control of the system was improved by applying this actuation method when the robot slipped. In water mode the X-layout horizontal thrusters and vertical thrusters were applied to sail and hover. The position, depth, attitude and heading of the robot were precisely controlled when the amphibious robot dived into water for torch docking, which was realized through DVL, heading and attitude reference system. The multiple PD controllers with large control damping and phase margin were employed for the robot's control algorithm, so the control system was not diverge when the torch was collided or squeezed. Ultimately, the first underwater torch relay between robots in Olympic history was completed at the Beijing 2022 Winter Olympics. © 2022 SPIE.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

POWERLINK Communication Fault Detection Method Based on Data Frames Sequence Analysis

POWERLINK Communication Fault Detection Method Based on Data...

引用

2022 International Conference on Signal Processing and Communication Technology, SPCT 2022

作者： Wang, Jian Xie, Chuang Dong, Ce Key Laboratory of Networked Control System ShenYang China Shenyang institute of automation Chinese academy of sciences ShenYang China Institutes for Robotics and Intelligent Manufacturing ChineseAcademy of Sciences ShenYang China

ISBN: (纸本)9781510664333

Fault diagnosis, location and maintenance of industrial networks are extremely important components of network management, which can effectively improve network availability, shorten network failure time, help improve network performance, satisfy network service quality and ensure network security. This paper proposes a communication fault detection method based on the analysis of communication protocol message flow for POWERLINK, an industrial Ethernet protocol widely used in the field of industrial communication at present. By monitoring network status and building fault judgment logic, it can analyze the rationality of message sequence and protocol consistency in the message flow so as to effectively detect the dynamic upper layer protocol fault in the network and determine the location of the fault. In order to verify the effectiveness of this method, we designed a POWERLINK network communication fault diagnosis system, which can correctly identify and analyze the wrong data frame sequence in the data message flow and finally achieve the diagnosis and location of POWERLINK network communication fault. © 2023 SPIE.

关键词： Fault detection

来源：评论

学校读者我要写书评

暂无评论

基于细胞内应变评估的卵母细胞去核方法及在机器人化克隆中的应用

引用

Engineering 2023年第5期24卷 73-83,I0002页

作者： Ming-Zhu Sun Yao-Wei Liu Mao-Sheng Cui Qi-Li Zhao Xiang-Fei Zhao Yi-Di Zhang Jing-Jing Huang Gui-Zhang Lu Xin Zhao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent RoboticsNankai UniversityTianjin 300071China Tianjin Animal Science and Veterinary Research Institute Tianjin 300201China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai UniversityShenzhen 518063China

自1996年第一只克隆羊诞生,克隆技术就由于其在动物育种方面的巨大潜力而得到了大量关注。体细胞核移植技术是动物克隆的核心,其操作过程非常复杂,不可避免地造成细胞内损伤。通常来说,只有不到1%的重构胚胎能够发育成克隆动物,克隆的... 详细信息

自1996年第一只克隆羊诞生,克隆技术就由于其在动物育种方面的巨大潜力而得到了大量关注。体细胞核移植技术是动物克隆的核心,其操作过程非常复杂,不可避免地造成细胞内损伤。通常来说,只有不到1%的重构胚胎能够发育成克隆动物,克隆的低成功率是制约其广泛应用的主要原因之一。为此,本文提出了一种基于细胞内应变评估的卵母细胞去核方法,来减少体细胞核移植中的潜在细胞内损伤,从而提高克隆成功率。首先,论文根据细胞内速度场计算细胞内应变,进而将内应变作为评价标准来优化去核操作;在此基础上,开发了一套机器人批量体细胞核移植系统,用于实现机器人化克隆。实验结果表明,本文方法将体细胞核移植后的胚胎囊胚率从10.0%提高到20.8%,并成功获得17头克隆小猪,这是世界首批由机器人完成克隆操作获得的克隆动物。对比手动核移植操作,本文将克隆成功率从平均0.73%提升到了2.50%,大幅提升了克隆效率。与此同时,基于细胞内应变的去核方法有望应用于其他生物操作,并建立一种通用的减少细胞内损伤的细胞操作规范。

关键词：动物育种去核方法体细胞核移植克隆动物卵母细胞机器人化动物克隆克隆技术

来源：评论

学校读者我要写书评

暂无评论

In-situ measurement and modeling of mechanical properties of porcine oocytes

In-situ measurement and modeling of mechanical properties of...

引用

第43届中国控制会议

作者： Yu Cai Yaowei Liu Qili Zhao Mingzhu Sun Mao Sheng Cui Xin Zhao Yue Du Institute of Robotics and Automatic Information System The Tianjin Key Laboratory of Intelligent RoboticsNankai University The Department of Information Technology Qinghai University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The quality of porcine oocytes determines the developmental potential of early porcine embryos, while the quality of porcine oocytes can be qualitatively described by their mechanical properties. In previous studies, porcine oocytes were often considered as a homogeneous spheroid, which was clearly contrary to its physiological structure consisting of multiple layers of components from the inside out. In this study, we first measured the mechanical properties of different subcellular components of porcine oocytes in situ using atomic force microscopy(AFM). The whole porcine oocyte and cytoplasm were subjected to multiple single-point indentations in situ under ramp mode, and the Young's modulus was obtained by fitting the force curve with the Sneddon model. In ramp mode, when the preset force was reached, the magnitude of the force was kept unchanged and the change of probe position was recorded to obtain the viscoelastic properties of each subcellular component. Then, a finite element model of porcine oocytes was established. Finally, we performed narrow-neck pipette pass-through experiments and suction penetration experiments of porcine oocytes to verify the accuracy of our model. The finite element model of porcine oocytes established by us is of great significance for further study of oocyte micromanipulation under different conditions.

关键词： Oocyte Mechanical Properties In-situ measurements Finite element model

来源：评论

学校读者我要写书评

暂无评论

A Balance Control Method for Wheeled Bipedal Robot Based on Reinforcement Learning 42

A Balance Control Method for Wheeled Bipedal Robot Based on ...

引用

42nd Chinese Control Conference, CCC 2023

作者： Zhang, Jing Lu, Biao Liu, Zhongyan Xie, Yonghui Chen, Wankai Jiang, Weijie Institute of Robotics and Automatic Information System Nankai University Tianjin300353 China Institute of Intelligence Technology and Robotics Systems Shenzhen Research Institute Nankai University Shenzhen518083 China Cisdi Information Technology Co. Ltd Intelligent Manufacturing Department Chongqing401147 China Revo Robotics Co. Ltd. Hangzhou311200 China

ISBN: (纸本)9789887581543

Wheeled bipedal robot (WBR) fully combines the advantages of wheeled robot and legged robot, which enables it to adapt to more complex terrains and complete more challenging tasks. Therefore, WBR has been widely researched in recent years. However, at the same time, due to its under-actuation, nonlinearity, and instability characteristics, the balance control of WBR is a difficult problem. In this paper, a reinforcement learning (RL) algorithm based on path integral is proposed. First, the relationship between path integral and stochastic optimal control is analyzed, and the numerical solution of stochastic dynamical systems is obtained. Second, the solution framework is extended to a parameter update strategy of RL. Since the matrix inversion and gradient calculation are avoided during the strategy update process, the training is accelerated. Third, a model-based Lyapunov method is introduced to parameterize the control variables, which not only ensures the stability of the system in training, but also guarantees good performance of the system when applying simulation results to actual system. Simulation results show that the proposed method has satisfactory balance control performance and can effectively resist external disturbances. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Lyapunov methods

来源：评论

学校读者我要写书评

暂无评论

Disturbance Compensation Based Sliding Mode Control for Aerial Soft Manipulator system 13

Disturbance Compensation Based Sliding Mode Control for Aeri...

引用

13th IEEE International Conference on CYBER Technology in Automation, Control, and intelligent systems, CYBER 2023

作者： Jin, Ying Pei, Tengfei Yu, Hai Zhang, Zhaopeng Han, Jianda Liang, Xiao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Ministry of Education Engineering Research Center of Trusted Behavior Intelligence Tianjin300350 China

ISBN: (纸本)9798350315196

Aerial manipulation is an emerging area of research that is experiencing rapid growth and has immense potential across various domains, including precision agriculture, construction, and search and rescue operations. The combination of quadrotor with manipulation capabilities can provide access to remote or hazardous areas, precise control over tasks, and increased efficiency and safety in operations. However, traditional aerial manipulation platforms equipped with rigid manipulators have such drawbacks greater weight and less safety. Consequently, a novel complaint aerial manipulation system is considered to be developed. In this paper, a novel structure of an aerial manipulation platform with a single-section continuum manipulator is developed. In order to address the center-of-mass displacement resulting from manipulator movements, a sliding mode controller is introduced as a means to ensure the quadrotor's flight remains smooth. Afterward, the Lyapunov theorem is employed to ensure stability of the entire closed-loop system. Subsequently, numerical simulations are carried out to showcase the superior performance of the proposed control scheme in comparison to the PD controller. © 2023 IEEE.

关键词： Antennas

来源：评论

学校读者我要写书评

暂无评论

Attention-enhanced BLSTM Network for Liquid Volume Estimation based on Tactile Sensing

Attention-enhanced BLSTM Network for Liquid Volume Estimatio...

引用

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

作者： Su, Yuanzhe Wang, Jingnan Huang, Binhua Li, Xiaoyu Liu, Yiwen Liu, Chengliang Zhou, Zhenning Yi, Zhengkun Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Siat Branch Shenzhen518055 China

ISBN: (纸本)9798350327182

The task of liquid volume estimation based on tactile sensing is challenging. Previous researches mainly focused on the classification of different contents in the container, rather than achieving accurate estimation of a certain property of the contents in container, such as volume or viscosity. In addition, few studies are conducted for the regression task with advanced tactile sensors, but the performance is unsatisfactory. We propose a new deep-learning algorithm for processing the tactile signals collected from the photoresistors in the task of liquid content estimation. The proposed algorithm doesn't need hand-crafted features. In addition, we use attention after BLSTM, so that more important features can be selected to achieve better performance for liquid volume estimation. We utilize a bi-directional Long Short-Term Memory (BLSTM) architecture, which allows for the incorporation of information from both preceding and subsequent time, thereby providing a more comprehensive and informative feature set for learning. Additionally, we employ an attention mechanism following the BLSTM, allowing for the selection of more critical features and improved performance in liquid volume estimation. To prove the effectiveness of our method, we conduct experiments utilizing tactile sensors on a physical robot, achieving superior performance in liquid volume estimation. © 2023 IEEE.

关键词： Containers

来源：评论

学校读者我要写书评

暂无评论

Gradient-Based Online Trajectory Planning for Quadrotor Transportation systems 13

Gradient-Based Online Trajectory Planning for Quadrotor Tran...

引用

13th IEEE International Conference on CYBER Technology in Automation, Control, and intelligent systems, CYBER 2023

作者： Pei, Tengfei Jin, Ying Yu, Hai Fang, Yongchun Han, Jianda Liang, Xiao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin300350 China

ISBN: (纸本)9798350315196

Trajectory planning has been an important research area for quadrotor transportation systems for a long time. However, generating feasible trajectories in real-time that allow quadrotor transportation systems to navigate safely in complex environments remains a challenging issue. This article proposes an efficient gradient-based safety constraint that helps keep the system away from obstacles. Furthermore, this paper combines safety constraint with a novel B-spline-based optimization method that utilizes an improved hybrid-state A* algorithm for path searching to generate desired trajectory. Strategies to speed up path searching and unconstrained optimization problem constructed in B-spline optimization guarantee the computational efficiency. The feasibility of the resulting trajectory has been verified through simulation. © 2023 IEEE.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

A Self-supervised Contrastive Learning Method for Grasp Outcomes Prediction

A Self-supervised Contrastive Learning Method for Grasp Outc...

引用

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

作者： Liu, Chengliang Huang, Binhua Liu, Yiwen Su, Yuanzhe Mai, Ke Zhang, Yupo Yi, Zhengkun Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Siat Branch Shenzhen518055 China

ISBN: (纸本)9798350327182

In this paper, we probe the proficiency of contrastive learning techniques in forecast grasp outcomes, without supervision. Employing a dataset that's open to the public, we establish the effectiveness of contrastive learning techniques in accurately predicting grasp outcomes. More precisely, an impressive accuracy of 81.83% is achieved by the dynamic-dictionary-based method combined with the momentum updating technique, using data from just one tactile sensor, surpassing other unsupervised techniques. Our findings underscore the promise held by contrastive learning techniques in the domain of robotic grasping, while emphasizing the critical role played by precise grasp prediction in securing stable grasps. © 2023 IEEE.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

Flexible Sensors Used for Lower Assisting Exoskeleton 16th

Flexible Sensors Used for Lower Assisting Exoskeleton

引用

16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Xiao, Yang Chen, Chunjie Liu, Yao Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9789819964857

In recent years, with the aging of the social population, exoskeleton robots have a wide range of application prospects in rehabilitation assistance, walking assistance, and physical expansion. However, the sensors developed for traditional robots currently have problems such as poor wearability, poor biocompatibility, and poor adaptability. To realize human-machine motion coordination assistance with multiple degrees of freedom and multiple motion states more effectively, and improve the flexibility, real-time performance, and reliability of the interaction between the wearer and the exoskeleton, it is necessary to design a set of flexible sensing systems to monitor the wearer’s motion status. It provides intelligent sensing technology support for adaptive control of exoskeleton in complex environments. This paper proposes a new flexible stretchable capacitive sensor and introduces its selection and manufacturing process. In the following experiments, three different slopes in the static experiment and dynamic experiment were used to test its performance and explore the accuracy and stability of its angle measurement. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Capacitive sensors

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：