检索结果-内蒙古大学图书馆

IEEE Conference on Decision and Control

作者： D. Konovalov K. Zimenko A. Belov H. Wang Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Institute of Control Sciences of Russian Academy of Sciences Moscow Russia School of Automation Nanjing University of Science and Technology Nanjing China

ISBN: (纸本)9781665436601

The homogeneity concept is extended to the area of descriptor systems. A homogeneity-based admissible control is designed for stabilization of linear descriptor systems in a finite time. The presented feedback homogenizes a linear system with a specified negative degree and stabilizes it in a finite time. The tuning procedure is formalized in LMI form. The theoretical results are supported by numerical simulations.

关键词： Linear systems Sufficient conditions Control design Conferences Observers Numerical simulation Robustness

来源：评论

学校读者我要写书评

暂无评论

Design and Development of A Knee Surgery Planning System

Design and Development of A Knee Surgery Planning System

引用

第32届中国控制与决策会议

作者： Li Gao Kelei Ding Jianan Liu Guoli Song Ningbo Yu Institute of Robotics and Automatic Information Systems Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

Knee joint diseases have grown to be a major health risk and a planning system for knee surgery,such as Total knee arthroplasty（TKA）,can be of great *** surgery is very complex,requires multi-modal information and demands advanced *** this work,a surgical planning system has been designed,developed and demonstrated,with the aim to help surgeons get familiarized with the surgery,diagnose knee impairment,plan and optimize the operation *** of all,the TKA procedures were *** tibia and femur bones are cut and artificial prostheses are implanted into the knee to relieve pain and recover the joint ***,the requirements,structure and implementation goals for the surgical planning system were *** that,the system was built up to realize the designed functionalities,including parsing of medical images from CT and magnetic resonance imaging（MRI）,3 D reconstruction of the knee joint,segmentation of the regions of interest（ROIs）,virtual osteotomy,measurement of spatial distance and angles,and simulated knee prosthesis ***,clinical imaging data were taken to demonstrate and validate system functionality.

关键词： Knee surgery surgical planning total knee arthroplasty virtual osteotomy prosthesis installation

来源：评论

学校读者我要写书评

暂无评论

Robotic transcatheter tricuspid valve replacement with hybrid enhanced intelligence: a new paradigm and first-in-vivo study

arXiv

引用

arXiv 2024年

作者： Wang, Shuangyi Lin, Haichuan Xie, Yiping Wang, Ziqi Chen, Dong Tan, Longyue Hou, Xilong Chen, Chen Zhou, Xiao-Hu Lin, Shengtao Pan, Fei So, Kent Chak-Yu Hou, Zeng-Guang State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100043 China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences Hong Kong Jenscare International Co. Limited Hong Kong Division of Cardiology Department of Medicine and Therapeutics Faculty of Medicine The Chinese University of Hong Kong Hong Kong Division of Cardiology Department of Medicine and Therapeutics Prince of Wales Hospital Hong Kong

Transcatheter tricuspid valve replacement (TTVR) is the latest treatment for tricuspid regurgitation and is in the early stages of clinical adoption. Intelligent robotic approaches are expected to overcome the challenges of surgical manipulation and widespread dissemination, but systems and protocols with high clinical utility have not yet been reported. In this study, we propose a complete solution that includes a passive stabilizer, robotic drive, detachable delivery catheter and valve manipulation mechanism. Working towards autonomy, a hybrid augmented intelligence approach based on reinforcement learning, Monte Carlo probabilistic maps and human-robot co-piloted control was introduced. Systematic tests in phantom and first-in-vivo animal experiments were performed to verify that the system design met the clinical requirement. Furthermore, the experimental results confirmed the advantages of co-piloted control over conventional master-slave control in terms of time efficiency, control efficiency, autonomy and stability of operation. In conclusion, this study provides a comprehensive pathway for robotic TTVR and, to our knowledge, completes the first animal study that not only successfully demonstrates the application of hybrid enhanced intelligence in interventional robotics, but also provides a solution with high application value for a cutting-edge procedure. Copyright © 2024, The Authors. All rights reserved.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Efficient Planar Pose Estimation via UWB Measurements

Efficient Planar Pose Estimation via UWB Measurements

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Haodong Jiang Wentao Wang Yuan Shen Xinghan Li Xiaoqiang Ren Biqiang Mu Junfeng Wu Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS) School of Data Science the Chinese University of HongKong Shenzhen P. R. China College of Control Science and Engineering and the State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou P. R. China School of Electronic and Optical Engineering Nanjing University of Science and Technology Nanjing P. R. China School of Mechatronic Engineering and Automation Shanghai University Shanghai P. R. China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing P. R. China

State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband (UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on robotics treat UWB as a stand-alone state estimation solution. The primary purpose of this work is to investigate planar pose estimation using only UWB range measurements. We prove the excellent property of a two-step scheme, which says we can refine a consistent estimator to be asymptotically efficient by one step of Gauss-Newton iteration. Grounded on this result, we design the GN-ULS estimator, which reduces the computation time significantly compared to previous methods and presents the possibility of using only UWB for real-time state estimation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design and 3D Printing of Lower Limb Prosthetic Socket *

Design and 3D Printing of Lower Limb Prosthetic Socket *

引用

IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Sheng Li Bin Xie Ye Chen Xinyu Wu Guoxin Fang Yan Zhang Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Powder Metallurgy Central South University Changsha Hunan China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

The prosthetic socket is a crucial interface connecting the residual limb to the prosthetic device, significantly affecting force transmission and wearer comfort. This work presents a comprehensive framework for design, simulation, and fabrication of the prosthetic socket. A 3D model of the residual limb, including the skeleton model and skin contour, is reconstructed from CT scan data. Using this model, the prosthetic socket and liner are designed based on biomechanical principles. The interaction force between the residual limb and the prosthetic socket and liner is simulated via finite element analysis (FEA) when the body weight of a below-knee amputee exerts on the prosthetic socket. Finally, the prosthetic socket and residual limb are fabricated using additive manufacturing (AM) technology, and a soft prosthetic liner is made of ethylene-vinyl-acetate (EVA) polymer. Clinical trials on a below-knee amputee were conducted to preliminarily test the prosthetic socket’s performance.

关键词： Limbs Solid modeling Sockets Biological system modeling Force Three-dimensional printing Skin Data models Finite element analysis Prosthetics

来源：评论

学校读者我要写书评

暂无评论

An Integral Sliding-Mode Parallel Control Approach for General Nonlinear systems via Piecewise Affine Linear Models

arXiv

引用

arXiv 2021年

作者： Zhang, Chunyang Gao, Qing Deng, Yue Qiu, Jianbin School of Automation Science and Electrical Engineering Beihang University Beijing China Zhongguancun Laboratory Beijing China School of Astraunotics Beihang University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

The fundamental problem of stabilizing a general non-affine continuous-time nonlinear system is investigated via piecewise affine linear models (PALMs) in this paper. A novel integral sliding-mode parallel control (ISMPC) approach is developed, where an uncertain piecewise affine system (PWA) is constructed to model a non-affine continuous-time nonlinear system equivalently on a compact region containing the origin. A piecewise sliding-mode parallel controller is designed to globally stabilize the PALM and, consequently, to semi-globally stabilize the original nonlinear system. The proposed scheme enjoys three favorable features: i) some restrictions on the system input channel are eliminated, thus the developed method is more relaxed compared with the published approaches;ii) it is convenient to be used to deal with both matched and unmatched uncertainties of the system;and (iii) the proposed piecewise parallel controller generates smooth control signals even around the boundaries between different subspaces, which makes the developed control strategy more implementable and reliable. Moreover, we provide discussions about the universality analysis of the developed control strategy for two kinds of typical nonlinear systems. Simulation results from two numerical examples further demonstrate the performance of the developed control approach. Copyright © 2021, The Authors. All rights reserved.

关键词： Nonlinear systems

来源：评论

学校读者我要写书评

暂无评论

Improved Cascade Mask RCNN Single Character Detection Algorithm for Cast Pipe

Improved Cascade Mask RCNN Single Character Detection Algori...

引用

Big Data & Artificial Intelligence & Software Engineering (ICBASE), International Conference on

作者： Fuli Xu Yu Wang Yan Jiang Huaizhen Wang Yong Cui Ye Tao Yisheng Wang Qi Zhang School of Software Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Shanghai Ballsnow Intelligent Technology Co. Ltd Shanghai China Shenyang Zhongke Microcyber Technology Co. Ltd Shenyang China

Due to the interference of blurry background, character occlusion, and low background contrast in the Cast Pipe character images, the detection accuracy and real-time performance cannot meet the requirements of industrial scenes. To address these issues, this paper presents an improvement based on the Cascade Mask RCNN. Firstly, the Channel Attention Mechanism Module (Squeeze-and-Excitation, SE) is embedded into the ResNet structure. By constructing a bottleneck structure with two fully connected layers, the normalized weights are applied to each channel feature to enhance the network representation ability. Secondly, a bottom-up structure is introduced after the Feature Pyramid Networks (FPN) to transmit the strong localization information from lower-level features to higher-level semantic features. Thirdly, an adaptive pooling layer is added to allocate the candidate regions generated by the Region Proposal Network (RPN) to different scale feature maps. Additionally, skip connections are introduced between the bottom-level features and the highest-level features of each stage to reduce model parameters while retaining global representation capabilities. The improved algorithm is tested on a cast pipe dataset, achieving an average detection accuracy (mAP) of 98.7%, which is 2.7% higher than that of Cascade Mask RCNN. The accuracy indicates that the improved performance is superior to the original algorithm.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A method for Rapid Deployment of Brushless DC Motor Servo System Model Based on FPGA

A method for Rapid Deployment of Brushless DC Motor Servo Sy...

引用

作者： Wang Bolun Zhang Tao Shi Zhengjin Zhang Hualiang Xie Feng Liu Zihong School of Automation and Electrical Engineering Shenyang Ligong University Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrical Engineering Dalian University of Technology

Recently,with the development of technology and the lucubrate of automation technology,the dependence of modern industry on synchronous motors has gone deep into the *** fact,the current complex control algorithms consume the computing power of the data processing chips and put forward a higher request to the ability of ***,the emphasis of this study lies in a rapid deployment method of a brushless DC motor servo control system based on the model *** using Simulink software to simulate and verify the three-closed-loop servo model of the DC brushless motor,Verilog or VHDL language code will be generated,which can automatically configure the project according to the ***,a drive and control hardware platform based on Xilinx Zynq-7000 chips was built to verify the feasibility,the experimental results indicate that the proposed method can effectively simplify the deployment of complex algorithm codes,reduce the development cycle of brushless DC motor servo system with strong engineering practicability.

关键词： MBD HDL Coder BLDC Servo Control

来源：评论

学校读者我要写书评

暂无评论

Simultaneous Precision Assembly of Multiple Objects through Coordinated Micro-robot Manipulation

Simultaneous Precision Assembly of Multiple Objects through ...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Song Liu Yuyu Jia You-Fu Li Yao Guo Haojian Lu ShanghaiTech Automation and Robotics Center School of Information Science and Technology ShanghaiTech University Shanghai China City University of Hong Kong Kowloon Hong Kong Institute of Medical Robotics Shanghai Jiaotong University Shanghai China State Key Laboratory of Industrial Control and Technology and Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Simultaneous assembly of multiple objects is a key technology to form solid connections among objects to get compact structures in precision assembly and micro-assembly. Dramatically different from traditional assembly of two objects, the interaction among multiple objects is more complicated on analysis and control. During simultaneous assembly of multiple objects, there are multiple mutually effected contact surfaces, and multiple force sensors are needed to perceive the interaction status. In this paper, a coordinated micro-robot manipulation strategy is proposed for simultaneous assembly problem, which is based on microscopic vision and force information. Taking simultaneous assembly of three objects as an instance, the proposed method is well articulated, including calibration of assembly system, force analysis for each contacting surface, and insertion control strategy for assembly process. The proposed method is applicable also to case with more objects. Experiment results demonstrate effectiveness of the proposed method.

关键词： automation Shape Microscopy Conferences Force Process control Robot sensing systems

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

IEEE International Conference on Real-time Computing and robotics (RCAR)

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

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.

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：