This research aims to enhance the practicality of household service robots by integrating multimodal large language models (MLLMs). Utilizing a dual-arm mobile manipulator platform, our focus is on advancing autonomou...
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At present, colorectal cancer is one of the most prevalent cancers in the world. Colectomy serves as an effective treatment option for this disease. Preoperative localization plays a vital role in the colectomy proced...
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Target tracking plays an important role in the construction,operation,and maintenance of the space station by the robot,which puts forward high requirements on the accuracy of target ***,the special space environment ...
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Target tracking plays an important role in the construction,operation,and maintenance of the space station by the robot,which puts forward high requirements on the accuracy of target ***,the special space environment may cause complex non-Gaussian noise in target tracking *** the performance of traditional Kalman Filter will deteriorate seriously when the error signals are non-Gaussian,which may lead to mission *** the paper,a novel Kalman Filter algorithm with Generalized Maximum Correntropy Criterion(GMCKF)is proposed to improve the tracking accuracy with non-Gaussian *** GMCKF algorithm,which replaces the default Gaussian kernel with the generalized Gaussian density function as kernel,can adapt to multi-type non-Gaussian noises and evaluate the noise accurately.A parameter automatic selection algorithm is proposed to determine the shape parameter of GMCKF algorithm,which helps the GMCKF algorithm achieve better performance for complex non-Gaussian *** performance of the proposed algorithm has been evaluated by simulations and the ground ***,the algorithm has been applied in the maintenance experiments in TianGong-2 space laboratory of *** results validated the feasibility of the proposed method with the target tracking precision improved significantly in complex non-Gaussian environment.
In comparison to the traditional fixed-angle trajectory,the variable-angle trajectory has a greater design ***,it is a challenge to determine which common design curve structure is the most effective for improving mec...
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In comparison to the traditional fixed-angle trajectory,the variable-angle trajectory has a greater design ***,it is a challenge to determine which common design curve structure is the most effective for improving mechanical *** work explores the effects of various design curves such as fixed-angle curve,linear curve,arc curve,sine curve,Bezier curve,and cubic polynomial curve trajectories on mechanical performance of laminates,including vibration modal performance and buckling *** algorithm and improved NSGA-II algorithm are then used to optimize various curve *** results are confirmed utilizing thermoplastic Carbon Fiber(CF)/Polyether-Ether-Ketone(PEEK)laminates made by robotic fiber placement *** relationship model between different mechanical performance and curve design variables is *** optimization of variable-angle structure with mechanical properties as input variables is ***,a full-process angle-variable laying software platform from trajectory planning(CAD),trajectory optimization to manufacturing(CAM)is developed for facilitating the fiber placement application.
Neural Radiance Fields (NeRF) leverage deep learning networks to restore high-quality implicit representations of 3D scenes from 2D images, surpassing traditional texture mapping in rendering quality. Typically, recon...
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This study investigated a mobile robot capable of navigating unbalanced road surfaces solely via its mechanical structure, utilizing an unbalanced road adaptation device. This adaptation device was designed by introdu...
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Swarming magnetic micro/nanorobots hold great promise for biomedical applications,but at present suffer from inferior capabilities to perceive and respond to chemical signals in local *** we demonstrate swarming magne...
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Swarming magnetic micro/nanorobots hold great promise for biomedical applications,but at present suffer from inferior capabilities to perceive and respond to chemical signals in local *** we demonstrate swarming magnetic photonic crystal microrobots(PC-bots)capable of sponta-neously performing on-the-fly visual pH detection and self regulated drug delivery by perceiving local pH *** magnetic PC-bots consist of pH-responsive hydrogel microspheres with encapsulated one-dimensional periodic assemblies of Fe3O4 *** programming extemnal rotating magnetic fields,they can self-organize into large swarms with much-enhanced collective velocity to actively find targets while shining bright“blinking”structural *** approaching the target with abnormal pH conditions(*** ulcerated superficial tumor lesion),the PC-bots can visualize local pH changes on the fly via pH-responsive structural colors,and realize self-regulated release of the loaded drugs by recognizing local *** work facilita tes the develop-ment of intelligent micro/nanorobots for active“motile-targeting”tumor diag-nosis and treatment.
In order to improve the tracking and synchronization performance of multi-motor synchronous system after disturbance in steady state operation, a multi-motor control system was proposed. Firstly, the multi-motor speed...
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To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration **...
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To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.
Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers a...
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