检索结果-内蒙古大学图书馆

Comparison of Monocular ROS-Based Visual SLAM Methods 1

7th International Conference on Interactive Collaborative robotics, ICR 2022

作者： Safarova, Liaisan Abbyasov, Bulat Tsoy, Tatyana Li, Hongbing Magid, Evgeni Laboratory of Intelligent Robotic Systems Intelligent Robotics Department Institute of Information Technology and Intelligent Systems Kazan Federal University Kremlyovskaya Str. 35 Kazan420111 Russia Department of Instrument Science and Engineering Shanghai Jiao Tong University Shanghai China Tikhonov Moscow Institute of Electronics and Mathematics HSE University Tallinn Str 34 Moscow123592 Russia

ISBN: (数字)9783031236099

ISBN: (纸本)9783031236082

Simultaneous Localization and Mapping (SLAM) is a robot navigation approach used to estimate a movement of a sensor in an unknown environment. SLAM application examples include urban search and rescue operations in high-risk environments, visual surveillance and service robotics. Compared to laser-range finders, visual sensors are more light weight, have less power consumption and provide more vast amount of environmental information. Visual SLAM methods are based on visual information only and employ monocular, stereo or RGD-D cameras as input sensors. Monocular SLAM methods are often preferred for a robotic platform when cost, energy and system weight requirements are limited. Calculation of errors and testing on ready-made datasets allow to check applicability of an algorithm in real-world scenarios with less efforts than experiments with a real robot. Verification of a sensor position and robot trajectory estimation accuracy is achieved by measuring Absolute Trajectory Error (ATE), Relative Pose Error (RPE) and Root Mean Square Error (RMSE). This article presents analysis and comparison of the most widely used Visual SLAM monocular algorithms built for Robot Operating System (ROS): ORB-SLAM2, ORB-SLAM3, DSO and LDSO. The KITTI and Euroc MAV datasets were selected to evaluate the algorithms’ performance. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robot Operating System

来源：评论

学校读者我要写书评

暂无评论

A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

引用

Frontiers of Mechanical Engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

来源：评论

学校读者我要写书评

暂无评论

Maritime Object Detection based on YOLOx for Aviation Image

Maritime Object Detection based on YOLOx for Aviation Image

引用

2022 International Conference on Artificial Intelligence and Computer information technology, AICIT 2022

作者： Wang, Yuan Yuan, Haiwen Li, Yongshuai Zhang, Bulin Wuhan Institute of Technology School of Electrical and Information Engineering Wuhan China Wuhan University of Technology Intelligent Transportation Systems Research Center Wuhan China Shandong Jiaotong University Institute of Ocean Information Technology Weihai China

ISBN: (数字)9781665450874

ISBN: (纸本)9781665450874

Accurate detection of ships in maritime scenarios is conducive to improving transport efficiency and reducing the occurrence of maritime traffic accidents. However, ships under the drone perspective are small and have various scale variations, affecting the detection algorithms. Aiming at this problem, this paper proposes a maritime object detection method based on YOLOx. First, the ship data in the maritime scenario is processed and screened to form a self-built dataset. Then, the retrained YOLOx model is used to detect ships in maritime scenarios. Finally, on the self-built dataset, CenterNet, YOLOv3, and YOLOv4 are used to conduct a comparative experiment with this method. Through the results of the comparative experiments, it is found that the detection accuracy of YOLOx is the best, reaching 90.86&. The method helps to promote the development of the application of drones in maritime scenarios. © 2022 IEEE.

关键词： Ships

来源：评论

学校读者我要写书评

暂无评论

A Research of Voxel-Based Amygdala Genetic Network Based on Improved Label Propagation Algorithm 20

A Research of Voxel-Based Amygdala Genetic Network Based on ...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Wang, Lingfei Li, Yuxin Li, Jin Liu, Wenjie Harbin Engineering University College of Intelligent Systems Science and Engineering Heilongjiang Province Harbin China Changzhou Institute of Technology School of Computer Information and Engineering Jiangsu Province Changzhou China

ISBN: (纸本)9798350320831

Currently, the amygdala is often treated as a single entity in research, which may overlook valuable information from each amygdala subregion. There have been few studies examining the amygdala at the voxel level. In this paper, we propose an amygdala voxel-based genetic correlation network to explore the relationship between the amygdala subregions and Alzheimer's disease (AD). We conducted GWAS analysis using data from the ADNI Database and combined Single nucleotide polymorphism (SNP) results highly correlated with AD with amygdala voxel-based imaging data to construct a genetic correlation network for the left and right amygdala. We used an improved label propagation algorithm to conduct a more thorough analysis of the network and explore the potential relationship between AD and the amygdala subregions at the voxel level. We verified the pathways found by this method using KEGG and GO analysis and found that they have a significant impact on the pathogenesis of AD. © 2023 IEEE.

关键词： Neurodegenerative diseases

来源：评论

学校读者我要写书评

暂无评论

Soft wearable flexible bioelectronics integrated with an anklefoot exoskeleton for estimation of metabolic costs and physical effort

引用

npj Flexible Electronics 2023年第1期7卷 535-544页

作者： Jihoon Kim Prakyath Kantharaju Hoon Yi Michael Jacobson Hyungkeun Jeong Hojoong Kim Jinwoo Lee Jared Matthews Nathan Zavanelli Hyeonseok Kim Heejin Jeong Myunghee Kim Woon-Hong Yeo IEN Center for Human-Centric Interfaces and Engineering and George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Department of Mechanical and Industrial Engineering the University of Illinois at ChicagoChicagoIL 60607USA Department of Mechanical Roboticsand Energy EngineeringDongguk UniversitySeoulRepublic of Korea Human Systems Engineering The Polytechnic SchoolIra A.Fulton Schools of EngineeringArizona State UniversityMesaAZ 85212USA Wallace H.Coulter Department of Biomedical Engineering Georgia Institute of Technology and Emory University School of MedicineAtlantaGA 30332USA Institute for Robotics and Intelligent Machines Parker H.Petit Institute for Bioengineering and BiosciencesInstitute for MaterialsNeural Engineering CenterGeorgia Institute of TechnologyAtlantaGA 30332USA

Activities and physical effort have been commonly estimated using a metabolic rate through indirect calorimetry to capture breath *** physical effort represents the work hardness used to optimize wearable robotic ***,personalization and rapid optimization of the effort are *** respirometry is the gold standard for estimating metabolic costs,this method requires a heavy,bulky,and rigid system,limiting the system’s field ***,this paper reports a soft,flexible bioelectronic system that integrates a wearable ankle-foot exoskeleton,used to estimate metabolic costs and physical effort,demonstrating the potential for real-time wearable robot adjustments based on *** from a set of activities,including walking,running,and squatting with the biopatch and exoskeleton,determines the relationship between metabolic costs and heart rate variability root mean square of successive differences(HRV-RMSSD)(R=−0.758).Collectively,the exoskeleton-integrated wearable system shows potential to develop a field-deployable exoskeleton platform that can measure wireless real-time physiological signals.

关键词： skeleton wear estimation

来源：评论

学校读者我要写书评

暂无评论

Few-shot working condition recognition of a sucker-rod pumping system based on a 4-dimensional time-frequency signature and meta-learning convolutional shrinkage neural network

引用

Petroleum Science 2023年第2期20卷 1142-1154页

作者： Yun-Peng He Chuan-Zhi Zang Peng Zeng Ming-Xin Wang Qing-Wei Dong Guang-Xi Wan Xiao-Ting Dong State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangLiaoning 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyangLiaoning 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyangLiaoning 110169China University of Chinese Academy of Sciences Beijing100049China Shenyang University of Technology ShenyangLiaoning 110870China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyangLiaoning 110159China

The accurate and intelligent identification of the working conditions of a sucker-rod pumping system is necessary. As onshore oil extraction gradually enters its mid-to late-stage, the cost required to train a deep learning working condition recognition model for pumping wells by obtaining enough new working condition samples is expensive. For the few-shot problem and large calculation issues of new working conditions of oil wells, a working condition recognition method for pumping unit wells based on a 4-dimensional time-frequency signature (4D-TFS) and meta-learning convolutional shrinkage neural network (ML-CSNN) is proposed. First, the measured pumping unit well workup data are converted into 4D-TFS data, and the initial feature extraction task is performed while compressing the data. Subsequently, a convolutional shrinkage neural network (CSNN) with a specific structure that can ablate low-frequency features is designed to extract working conditions features. Finally, a meta-learning fine-tuning framework for learning the network parameters that are susceptible to task changes is merged into the CSNN to solve the few-shot issue. The results of the experiments demonstrate that the trained ML-CSNN has good recognition accuracy and generalization ability for few-shot working condition recognition. More specifically, in the case of lower computational complexity, only few-shot samples are needed to fine-tune the network parameters, and the model can be quickly adapted to new classes of well conditions.

关键词： Few-shot learning Indicator diagram Meta-learning Soft thresholding Sucker-rod pumping system Time–frequency signature Working condition recognition

来源：评论

学校读者我要写书评

暂无评论

Object Detection Methods for a Robot Soccer

Object Detection Methods for a Robot Soccer

引用

information, Control, and Communication Technologies (ICCT), International Conference on

作者： Ramir Sultanov Roman Lavrenov Shifa Sulaiman Yang Bai Mikhail Svinin Evgeni Magid Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russia Information Science and Engineering Department Ritsumeikan University Biwako-Kusatsu Campus Shiga Japan

Soccer tournaments between robot teams are being held around the world to encourage robotic research. An accurate detection and tracking of a ball position, an identification of robots and objects during a game are crucial for robot teams. In this paper, object detection methods for identifying robots and a ball during a robot soccer game are presented. Standard OpenCV library functions were adjusted for a ball and robots' detection. Simulation studies were carried out in Gazebo environment to compare a performance of various methods discussed in this paper.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Stability Margin Based Gait Design on Slopes for a Novel Reconfigurable Quadruped Robot with a Foldable Trunk

Stability Margin Based Gait Design on Slopes for a Novel Rec...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Fu, Jian Chen, Junpeng Tang, Zhao Wei, Zhenhua Dai, Jian S. Southern University of Science and Technology Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Shenzhen518055 China Southern University of Science and Technology Institute of Robotics Shenzhen518055 China Dr Robotics Ltd. Zhuhai519031 China King's College London Centre for Robotics Research LondonWC2R 2LS United Kingdom

ISBN: (纸本)9798350325706

Traditional quadruped robots typically have rigid and fixed trunk, which limit their mobility and flexibility. This paper introduces a novel quadruped robot with a reconfigurable trunk and presents an adaptive gait design on slope with maximum stability margin. The analysis of stability margin in multi-leg robots is significant for achieving smooth walking performance. By adjusting the trunk folding angle using the waist motor, the proposed gait enables the robot to achieve optimal stability margin during walking on slope. The strategy was thoroughly investigated and experimentally validated on slopes. The experimental results demonstrate that employing the designed gait, the robot's stability margin during walking on a slope of 15 is enhanced by 24.7% compared to the conventional walk gait. Furthermore, the robot can utilize the waist motor to transform between different biomimetic configurations, enhancing environmental adaptability and expanding its range of applications. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Named Entity Recognition of Electronic Medical Records based on BERT-BiLSTM-Biaffine Model

Named Entity Recognition of Electronic Medical Records based...

引用

2023 Asia-Pacific Conference on Image Processing, Electronics and Computers, IPEC 2023

作者： Wang, Peng Gu, Jinguang Institute of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Prov. Key Laboratory of Intelligent Information Processing and Real Time Industrial Systems Wuhan University of Science and Technology Wuhan China

In the case of the specific task of identifying named entities within electronic medical record, it is hard to determine the boundary of nested entities, and existing NER systems have insufficient decoding performance. Based on the pre training model BERT, this paper introduces a novel network structure called Biaffine Layer using a bidirectional LSTM layer. The network uses a dual affine attention mechanism for semantic information learning, which can better interact with the semantic information of entity heads and entity tails, thereby achieving better recognition results for entities. Due to the sparsity of named entity datasets and the uneven distribution of entity categories, traditional binary cross entropy loss functions require multiple rounds of training to decode entities. In this paper, we have modified the binary cross entropy loss function to make the proposed model faster decode the entities that need to be identified. The model performs well, according to the experimental findings. The approach suggested in this paper offers a fresh approach to the NER issue raised by electronic medical records, and it is anticipated to considerably boost the effectiveness and caliber of clinical medical research. © Published under licence by IOP Publishing Ltd.

关键词： Decoding

来源：评论

学校读者我要写书评

暂无评论

A New Virtual Human Model Based on AR-601M Humanoid Robot for a Collaborative HRI Simulation in the Gazebo Environment

A New Virtual Human Model Based on AR-601M Humanoid Robot fo...

引用

information, Control, and Communication Technologies (ICCT), International Conference on

作者： Aidar Zagirov Elvira Chebotareva Tatyana Tsoy Edgar A. Martínez-García Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technologies and Intelligent Systems Kazan Federal University Kazan Russian Federation Institute of Engineering and Technology Universidad Autonoma de Ciudad Juárez Chihuahua Mexico

Human-robot collaboration (HRC) involves a cooperative and combined work of humans and robots to achieve specific goals. Collaborative robots provide additional support to humans by automating arduous tasks. This enhances efficiency, quality, and optimization of production processes. Prior to conducting real-world experiments, it is crucial to verify a collaboration safety through a simulation. In this paper, we explore a potential of simulating HRC in the Gazebo simulator by using an anthropomorphic robot AR-601M model as a human model and propose key requirements for a human virtual model. Our findings contribute to the development of safe and efficient HRC systems.

关键词：

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：