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Computational Intelligence 2023年第4期39卷 530-531页

作者： Er, Meng Joo Ju, Zhaojie Ferrein, Alexander Changjiang Scholar Distinguished Director of Institute of Artificial Intelligence and Marine Robotics College of Marine Electrical Engineering Dalian Maritime University Dalian China Reader in Machine Learning and Robotics School of Computing University of Portsmouth Portsmouth United Kingdom Department of Electrical Engineering and Information Technology Mobile Autonomous Systems & Cognitive Robotics Institute Robotics and Foundations of Computer Science FH Aachen - University of Applied Sciences Aachen Germany

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Design and Experimental Evaluation of WLR-III

Design and Experimental Evaluation of WLR-III

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Xu Fu, Yili Zhejiang University State Key Laboratory of Robotics and System Harbin Institute of Technology State Key Laboratory of Fluid Power and Mechatronic Systems China Harbin Institute of Technology Intelligent Robot Research Center Zhejiang Laboratory State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed. © 2023 IEEE.

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Polarization-controlled dual resonant lattice Kerker effects

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Nano Research 2023年第2期16卷 3195-3200页

作者： Lei Xiong Xueqian Zhao Xiang Du Shuai Chen Yuanfu Lu Hongwei Ding Guangyuan Li School of Information Science and Engineering Yunnan UniversityKunming 650500China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China School of Computer Electronic and InformationGuangxi UniversityNanning 530004China College of Physics and Electronic Technology Anhui Normal UniversityWuhu 241000China Tianjin H-Chip Technology Group Corporation Tianjin 300467China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen 518055China

The generalized Kerker effects have attracted increasing interests in recent years due to their abilities to manipulate the far-field properties of ***,the dual-polarized generalized Kerker effect enabling different tailoring of orthogonally-polarized electromagnetic waves has not yet been ***,we demonstrate polarization-controlled dual resonant lattice Kerker effects in periodic silicon *** varying the incident angle,the electric dipole and magnetic dipole surface lattice resonances can spectrally overlap,causing zero reflectance and unitary transmittance,i.e.,the resonant lattice Kerker *** incident angle for achieving this effect can be tuned differently for s-and p-polarizations over large regions by varying the nanodisk size or the lattice *** proposed dual-polarized resonant lattice Kerker effects open up avenues for polarization-controlled manipulation of the phase and wavefront of light with metasurfaces.

关键词： Kerker effect surface lattice resonances dual-polarized silicon metasurface

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Lidar-Inertial and Downward Vision Based Mobile Robot SLAM in Digital Workshops 13

Lidar-Inertial and Downward Vision Based Mobile Robot SLAM i...

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13th IEEE Data Driven Control and Learning systems Conference, DDCLS 2024

作者： Zhang, Yanchao Geng, Hao Liu, Bin Zhang, Yinlong Yuan, Xudong Zhang, Sichao School of Information Science and Engineering Shenyang University of Technology Shenyang110020 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350361674

In order to solve the problems of long-term cumulative error and the absence of absolute pose in the existing Lidar-Inertial Measurement Unit (IMU) fusion methods for Automated Guided Vehicle (AGV) Simultaneous Localization and Mapping (SLAM), we propose a new SLAM method for mobile robot, integrating Lidar, IMU, and a downward vision camera. Firstly, we tightly couple Lidar-IMU and downward vision camera using a multimodal fusion framework. Downward visual measurements are integrated as QR factors into the factor graph, providing absolute pose information to correct cumulative error in the Lidar-IMU system and enable the joint pose estimation of the AGV. Secondly, an enhanced Iterative Closest Point (ICP) point cloud matching algorithm has been developed to correct the incorrect pose. This approach achieves Scan-to-Map alignment by employing a coarse-to-fine matching strategy, thereby enhancing the accuracy of point cloud alignment. Finally, the extended Kalman filter is used to optimize the Lidar pose drift, as well as the Lidar mapping effectively by using the Lidar-IMU as the measurements and the downward visual measurements as the updates. The algorithm has been extensively evaluated on the developed AGV experimental platform. The experimental results show that the position error is less than 0.02 meters and the orientation error is less than 1°, which solves the problems of long-term error accumulation and the lack of absolute pose information for AGV navigation. © 2024 IEEE.

关键词： Extended Kalman filters

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Learning Hierarchical Robot Skills Represented by Behavior Trees from Natural Language 29th

Learning Hierarchical Robot Skills Represented by Behavior ...

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29th International Conference on Cooperative information systems, CoopIS 2023

作者： Wang, Kaiyi Zhao, Yongjia Dai, Shuling Yang, Minghao He, Yichen Zhang, Ning State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China Jiangxi Research Institute Beihang University Jiangxi China Institute of Automation Chinese Academy of Sciences Beijing China Institute of Intelligent Information Processing Beihang University Beijing China

ISBN: (纸本)9783031468452

Learning from natural language is a programming-free and user friendly teaching method that allows users without programming knowledge or demonstration capabilities to instruct robots, which has great value in industry and daily life. The manipulation skills of robots are often hierarchical skills composed of low-level primitive skills, so they can be conveniently represented by behavior trees (BTs). Based on this idea, we propose NL2BT, a framework for generating behavior trees from natural language and controlling robots to complete hierarchical tasks in real time. The framework consists of two language processing stages, an initial behavior tree library composed of primitive skill subtrees, and a BT-Generation algorithm. To validate the effectiveness of NL2BT, we use it to build a Chinese natural language system for instructing robots in performing 3C assembly tasks, which is a significant application of Industry 4.0. We also discuss the positive impact of real-time teaching, visual student models, and the synonymous skill module in the framework. In addition to the demonstrated application, NL2BT can be easily migrated to other languages and hierarchical task learning scenarios. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robot programming

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Big Data Processing for Bulgarian Healthcare - Smart Cards and Some Simulating Decisions 8

Big Data Processing for Bulgarian Healthcare - Smart Cards a...

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8th International Conference on Big Data, Knowledge and Control systems Engineering, BdKCSE 2023

作者： Boneva, Ani Ivanova, Veronika Vasilev, Plamen Ivanov, Stoyan Ivanova, Tsvetelina Institute of Information and Communication Technologies Bulgarian Academy of Sciences Department of Communication Systems and Services Sofia Bulgaria Institute of Robotics Bulgaria Academy of Sciences Department of Robotized and Mechatronics Intelligent Systems Sofia Bulgaria University of Chemical Technologies and Metallurgy Department of Industrial Automation Sofia Bulgaria

ISBN: (纸本)9798350313246

This publication presents a review of the application of large databases (Big Data) in medicine. The aim of the work is to provide some positive guidelines for the optimization of health care and improvement of patient care in Bulgaria. Therefore, the article discusses designed applications that can find their place in various fields of medicine. Our proposed optimization is the introduction of electronic chip cards. The development assumes that each patient will be provided with a processor card carrying information about basic data related to the condition and its personalization and possible access to this data when necessary. Thus, the proposed solution provides an opportunity to upgrade (for the future) and build an information system with a connection to the health fund. In addition, an early-stage project is described to integrate data from personal portable devices with the electronic health record, thereby providing information to medical personnel about the individual's health status. Portable personal devices and other non-medical equipment generate a huge, almost continuous flow of data that can be useful in making decisions regarding the treatment of patients with various health conditions. The applications described are a continuation of the team's previous developments. © 2023 IEEE.

关键词： intelligent systems

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An Adaptive Golden Jackal Optimization Algorithm for Mobile Robotic Path Planning

An Adaptive Golden Jackal Optimization Algorithm for Mobile ...

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2024 International Conference on Mechatronics and intelligent Control, ICMIC 2024

作者： Chen, Siwen Zheng, Xiujuan Shanghai United Imaging Healthcare Co. Ltd. Shanghai China Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9781510686847

ISBN: (纸本)9781510686830

Given the shortcomings of the traditional Golden Jackal Optimization (GJO) algorithm, including limited accuracy and slow convergence speed in solving mobile robot path planning problems, an improved adaptive Golden Jackal Optimization (IAGJO) method is proposed. Firstly, a nonlinear adaptive energy strategy is presented to adjust the energy decay pattern, balancing global and local search. Secondly, an enhanced position update mechanism based on Cauchy and Gaussian mutation increases population diversity and guide the search based on optimal individuals, thereby facilitating efficient exploration of unknown regions and avoiding local optima. Finally, the IAGJO algorithm is applied to mobile robot path planning (MRPP), demonstrating that the IAGJO achieves shorter path lengths and higher search efficiency, exhibiting significant advantages over existing methods. © 2025 SPIE.

关键词： Optimization algorithms

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Control of the Wheeled Bipedal Robot on Roads with Large and Unknown Inclination 16th

Control of the Wheeled Bipedal Robot on Roads with Large...

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

作者： Tu, Baining Lu, Biao Piao, Minnan Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China College of Computer Science and Technology Civil Aviation University of China Tianjin300300 China

ISBN: (纸本)9789819964918

To keep the balance and the stable movement of a wheeled bipedal robot (WBR) on a road with large, unknown and continuously variable inclination, a control strategy based on nonlinear sliding mode controller (SMC) and unscented kalman filter (UKF) is proposed in this study. This strategy can directly identify the angle of the slope in real-time based on the nonlinear model, which helps to cope with various unknown road conditions. Simulations have shown that the proposed control architecture can tackle with gentle, sharp and sinusoidal terrains in both small and large scale with the extreme inclination of 47. 5 ∘. Besides, the WBR can start at a slope even exceed 20 ∘ without any prior information about the surroundings, which demonstrates its robustness to the initial terrain condition. Results also show that the proposed strategy works more swift and stable, compared to three other control architectures: single LQR, single SMC and SMC combined with extended kalman filter (EKF). © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Sliding mode control

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Ontology-based Methods for Healthcare System

Ontology-based Methods for Healthcare System

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2022 IEEE Region 10 International Conference, TENCON 2022

作者： Abhilash, C.B. Mahesh, Kavi Computer Science and Engineering Indian Institute of Information Technology Dharwad Dharwad India Data Science and Intelligent Systems Indian Institute of Information Technology Dharwad Dharwad India

ISBN: (数字)9781665450959

ISBN: (纸本)9781665450959

Analytical in the healthcare arena involves data in a variety of formats, and organising them into understandable patterns is a difficult process. Data from numerous sources can be merged for interoperable access by using standard nomenclature. In this research, we use ontology approaches to model data by creating a domain ontology. The competency questions for domain ontology are designed to emphasise the significance of using ontology. A framework for evaluating domain experts is also discussed. © 2022 IEEE.

关键词： Ontology

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An Intellectual Fusion Classification Prototypical for an Imbalanced Electrocardiogram Data

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SN Computer Science 2023年第6期4卷 721页

作者： Ruth Isabels, K. Mrudula Devi, K. Anand, R. Athe, Ramesh Chowdhury, Sumit Singha Pund, Sachin S. Department of Mathematics Saveetha Engineering College (Autonomous) Chennai India BS&H Vignans Institute of Information Technology (A) Visakhapatnam India Department of MCA Acharya Institute of Technology Bangalore India Data Science and Intelligent Systems Indian Institute of Information Technology Dharwad Dharwad India Acharya Institute of Technology Bangalore India Department of Industrial Engineering Shri Ramdeobaba College of Engineering and Management Maharashtra Nagpur India

One of the greatest threats posed by progress around the world is cardiovascular diseases (CVD). Each year, CVD accounts for the vast majority of deaths worldwide. The vast majority of people who die from CVD do so suddenly, and their families have no hope of getting them medical help in time. Because of this, there is a pressing need for a real-time, intelligent system that can keep tabs on cardiac patients round the clock. Internet of Things (IoT)-enabled systems are a viable choice for real-time data monitoring. Internet-based smart healthcare has several potential uses, including monitoring physiological data, such as electrocardiograms (ECGs), heart rates (HRs), blood pressures (BPs), and more. IoT-based smart healthcare paradigms present significant issues, not the least of which is selecting the suitable model. This research proposes a heart rate sensor and a sophisticated hybrid classification algorithm as components of an IoT-based electrocardiogram (ECG) monitoring system. The goal of this study is to aid in the development of an automated key for social happiness by creating an intelligent hybrid classification model that can handle the class imbalance problem with more precision. No matter what validation criterion was used (twofold, fivefold, or tenfold cross-validation), the results of the empirical evaluation showed that the proposed hybrid model achieved better outcomes than the additional ingrained classification models in terms of accuracy and efficiency for both classes. © 2023, The Author(s), under exclusive licence to Springer Nature Singapore Pte Ltd.

关键词： BP CVD ECG HR IoT

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