检索结果-内蒙古大学图书馆

作者： Wang, Yan Yang, Bingqing Liu, Jingxin Zeng, Hui Xia, Changqing College of Information Liaoning University Shenyang China State key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

At present, blockchain is not only applied in the financial field, but also extended to the medical, insurance, internet of things, and many other fields. Its independence leads to more and more significant problems of network isolation. To address the problem of the cooperative operation between different blockchains, this article proposes virtual chain, a storage model supporting cross-blockchain transaction. It not only ensures that cross-chain transactions are tamper-proof and traceable but also realizes completely decentralized storage. First, to tackle the multidimensional heterogeneous problem existing in cross-chain trading, a data structure based on prefix tree is proposed to manage cross-chain trading data on top of source chain and target chain. Second, a signature verification mechanism based on elliptic curve is proposed to meet the operational atomicity requirements of both parties of cross-chain transaction. Third, the data fusion technology is used to expand the block capacity indirectly to achieve the high throughput of cross-chain transactions. Finally, by using the credibility-based access control and block chain technology to ensure the security of the data storage model, and conduct security analysis from three aspects of tamper-proof, data protection and anti-conspiracy node attack. The experiment shows that the proposed cross-chain transaction storage model can realize the efficient storage of the heterogeneous data, and satisfy the high requirement of the cross-chain transaction. Moreover, the virtual chain storage model establishes a safe and reliable working environment. © 2020 John Wiley & Sons Ltd.

关键词： Blockchain

来源：评论

学校读者我要写书评

暂无评论

A Force Control Method of Medical Robot Based on Impedance Control

A Force Control Method of Medical Robot Based on Impedance C...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Yuan, Zhihang Zhang, Linshuai Jiang, Tao Gu, Shuoxin Xu, Lin Zhang, Yujie Zeng, Peng Grzegorzek, Marcin School of Automation Chengdu University of Information Technology Sichuan Chengdu China School of Intelligent Medicine Chengdu University of Traditional Chinese Medicine Sichuan Chengdu China Chengdu University of Information Technology International Joint Research Center of Robotics and Intelligence System of Sichuan Province Sichuan Chengdu China Institute of Medical Informatics University of Lübeck Lübeck23538 Germany

ISBN: (纸本)9781665481090

The problem of dynamic contact between robots and the physical environment has always been a hot research topic with great significance. In the process of rapid development of robotics technology, the field of medical robots has gradually emerged, and the research on compliant control and force control algorithms involved in dynamic contact has become increasingly important. At present, most of the subjects interacting with the environment and moving according to feedback are robotic arms. This paper focuses on a lighter and simpler type of actuator composed of a motor and slide table, studies the commonness of this kind of mechanism, and gives the power control method, and verifies its feasibility through Simulink simulation. © 2024 IEEE.

关键词： Medical robotics

来源：评论

学校读者我要写书评

暂无评论

SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds

arXiv

引用

arXiv 2024年

作者： Wang, Yanbo Zhao, Wentao Cao, Chuan Deng, Tianchen Wang, Jingchuan Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

Although LiDAR semantic segmentation advances rapidly, state-of-the-art methods often incorporate specifically designed inductive bias derived from benchmarks originating from mechanical spinning LiDAR. This can limit model generalizability to other kinds of LiDAR technologies and make hyperparameter tuning more complex. To tackle these issues, we propose a generalized framework to accommodate various types of LiDAR prevalent in the market by replacing window-attention with our sparse focal point modulation. Our SFPNet is capable of extracting multi-level contexts and dynamically aggregating them using a gate mechanism. By implementing a channel-wise information query, features that incorporate both local and global contexts are encoded. We also introduce a novel large-scale hybrid-solid LiDAR semantic segmentation dataset for robotic applications. SFPNet demonstrates competitive performance on conventional benchmarks derived from mechanical spinning LiDAR, while achieving state-of-the-art results on benchmark derived from solid-state LiDAR. Additionally, it outperforms existing methods on our novel dataset sourced from hybrid-solid LiDAR. Code and dataset are available at https://***/Cavendish518/SFPNet and https://***. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantic Segmentation

来源：评论

学校读者我要写书评

暂无评论

A Self-organized Coverage Algorithm for UAV Swarms based on Color information Recognition

A Self-organized Coverage Algorithm for UAV Swarms based on ...

引用

Artificial Intelligence and Intelligent Manufacturing (AIIM), International Symposium on

作者： Tao Liu Xiao Zhang Junfu Zhang Shiqi Jiang School of Mechanical Engineering Xi Hua University Chengdu China School of Automation International Joint Institute of Robotics and Intelligent System Chengdu University of Information Technology Chengdu China

ISBN: (数字)9798331541729

ISBN: (纸本)9798331541736

This paper proposes a self-organized coverage method for unmanned aerial vehicle (UAV) swarm aimed at multi-area coverage. The proposed method attempts to take the color light emitted from the UVA as an important state information. The virtual forces and the color state are incorporated to develop the self-organized coverage algorithm, so that the communication dependency among UAV swarm has been weakened. Simulation experiments show that under the condition of weak communication, the algorithm effectively achieves coverage of multiple areas. Moreover, when part of UAVs in the swarm are damaged or fails, the swarm based on the proposed algorithm can achieve self-organized recovery and continue to complete the task.

关键词： Uncertainty Color Autonomous aerial vehicles Trajectory Manufacturing Artificial intelligence

来源：评论

学校读者我要写书评

暂无评论

A Distributed Task Allocation Algorithm for UAV Swarm Based on Local information

A Distributed Task Allocation Algorithm for UAV Swarm Based ...

引用

Artificial Intelligence and Intelligent Manufacturing (AIIM), International Symposium on

作者： Junfu Zhang Chengjin Liu Tao Liu Shiqi Jiang School of Mechanical Engineering Xi Hua University Chengdu China School of Automation International Joint Institute of Robotics and Intelligent System Chengdu University of Information Technology Chengdu China

ISBN: (数字)9798331541729

ISBN: (纸本)9798331541736

This article proposes a distributed task allocation algorithm based on local information for unmanned aerial vehicle (UAV) swarm. A Part of the UAVs which are in the information exchange range participate in the local range auction. The auction members will change due to the movement of the UAVs in the following auctions. Each UAV in the swarm will be allocated a task by multiple rounds of local range auctions. The experimental data clearly demonstrate that the method has superior performance for enabling UAV swarm to complete the allocation of tasks based on local information.

关键词： Autonomous aerial vehicles Sensors Manufacturing Resource management Distributed algorithms Artificial intelligence information exchange Convergence

来源：评论

学校读者我要写书评

暂无评论

Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning

Feature Space Augmentation and Old Class Space Preservation ...

引用

第42届中国控制会议

作者： Ming Zeng Siying Li Jiazhe Liu Yuanhao Li Institute of Robotics and Automation Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University

The ability of continuously learning new knowledge without forgetting old ones is crucial to adapt to an ever-changing world. This scenario becomes more challenging when the previous data are not available. Current class incremental learning(CIL) approaches tend to incorporate new classes with backward compatibility, i.e., maintaining discriminability of old ones. By contrast, we focus on the extensibility and compatibility for future new classes in the early stage. Our proposed method achieves this by augmenting feature space. In detail, a large number of pseudo-new classes are generated via real example mixture and then train the initial spatially augmented model using pseudo-new classes and the base classes. Besides, considering the fact that it is impossible to maintain backward compatibility with only one prototype for each old class, the updated model also needs to preserve old class space in incremental stages. We employ a certain perturbation to the old class prototypes to effectively avoid old class space from being over-squeezed by the samples of new classes. The experiments on CIFAR-100 and ImageNet-Subset(100 classes) demonstrate that our method substantially reduces the overlap of old and new classes, outperforming state-of-the-art various baselines.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Motion Capture and Gait Analysis of Ants with Leg Injuries

Motion Capture and Gait Analysis of Ants with Leg Injuries

引用

第42届中国控制会议

作者： Ming Zeng Yuanhao Li Chang Meng Shutong Zhong Zhijing Wang Feng Zhao Institute of Robotics and Automation Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss *** facilitate this, a high-speed acquisition system, with a dual-view(bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly,according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning

Feature Space Augmentation and Old Class Space Preservation ...

引用

Chinese Control Conference (CCC)

作者： Ming Zeng Siying Li Jiazhe Liu Yuanhao Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin

The ability of continuously learning new knowledge without forgetting old ones is crucial to adapt to an ever-changing world. This scenario becomes more challenging when the previous data are not available. Current class incremental learning (CIL) approaches tend to incorporate new classes with backward compatibility, i.e., maintaining discriminability of old ones. By contrast, we focus on the extensibility and compatibility for future new classes in the early stage. Our proposed method achieves this by augmenting feature space. In detail, a large number of pseudo-new classes are generated via real example mixture and then train the initial spatially augmented model using pseudo-new classes and the base classes. Besides, considering the fact that it is impossible to maintain backward compatibility with only one prototype for each old class, the updated model also needs to preserve old class space in incremental stages. We employ a certain perturbation to the old class prototypes to effectively avoid old class space from being over-squeezed by the samples of new classes. The experiments on CIFAR-100 and ImageNet-Subset (100 classes) demonstrate that our method substantially reduces the overlap of old and new classes, outperforming state-of-the-art various baselines.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Motion Capture and Gait Analysis of Ants with Leg Injuries

Motion Capture and Gait Analysis of Ants with Leg Injuries

引用

Chinese Control Conference (CCC)

作者： Ming Zeng Yuanhao Li Chang Meng Shutong Zhong Zhijing Wang Feng Zhao Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss conditions. To facilitate this, a high-speed acquisition system, with a dual-view (bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly, according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Task scheduling for transport and pick robots in logistics:a comparative study on constructive heuristics

引用

Autonomous Intelligent systems 2021年第1期1卷 273-285页

作者： Hanfu Wang Weidong Chen Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing Ministry of EducationDepartment of AutomationShanghai Jiao Tong UniversityShanghai 200240China

We study the Transport and Pick Robots Task Scheduling(TPS)problem,in which two teams of specialized robots,transport robots and pick robots,collaborate to execute multi-station order fulfillment tasks in logistic *** objective is to plan a collective time-extended task schedule with the minimization of ***,for this recently formulated problem,it is still unclear how to obtain satisfying results *** this research,we design several constructive heuristics to solve this problem based on the introduced sequence ***,we give time complexity analysis or feasibility guarantees of these heuristics;empirically,we evaluate the makespan performance criteria and computation time on designed *** results demonstrate that coupled append heuristic works better for the most cases within reasonable computation *** heuristics work better than decoupled heuristics prominently on instances with relative few pick robot numbers and large work *** law of diminishing marginal utility is also observed concerning the overall system performance and different transport-pick robot numbers.

关键词： Multi-robot task allocation Multi-robot system Complex-schedule constraints Heterogeneous robotic order fulfillment system

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：