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Optics, Illumination, and Image Sensing for Machine Vision III 1988

作者： Nayar, Shree K. Weiss, Lee E. Simon, David A. Sanderson, Arthur C. Robotics Institute Carnegie Mellon University PittsburghPA15213 United States Department of Electrical Computer and System Engineering Rensselaer Polytechnic Institute TroyNY12180-3590 United States

The structured highlight inspection method uses an array of point sources to illuminate a specular object surface. The point sources are scanned and highlights on the object surface resulting from each source are used to derive local surface orientation information. The Extended Gaussian Image (EGI) is obtained by placing at each point on a Gaussian sphere a mass proportional to the area of points on the object surface that have a specific orientation. The EGI summarizes shape properties of the object surface and may be efficiently calculated from structured highlight data without surface reconstruction. Features of the estimated EGI including areas, moments, principal axes, homogeneity measures, and polygonality may be used as the basis for classification and inspection. The SHINY Structured Highlight Inspection system has been implemented using a hemisphere of 127 point sources. The SHINY system uses a binary coding scheme to make the scanning of point sources efficient. Experiments have used the SHINY system and EGI features for the inspection and classification of surface mounted solder joints. These experiments show excellent consistency with visual inspection and demonstrate the feasibility of the approach for production line inspection systems. © 1989 SPIE. All rights reserved.

关键词： Inspection

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Minimum robust sensor placement for large scale linear time-invariant systems: A structured systems approach

Minimum robust sensor placement for large scale linear time-...

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4th IFAC Workshop on Distributed Estimation and Control in Networked systems, NecSys 2013

作者： Liu, Xiaofei Pequito, Sérgio Kar, Soummya Mo, Yilin Sinopoli, Bruno Aguiar, A. Pedro Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Institute for System and Robotics Technical University of Lisbon Lisbon Portugal Portugal

ISBN: (纸本)9783902823557

The paper addresses the problem of robust sensor placement for large scale linear time-invariant systems. Two different concepts of robustness are analyzed: 1) the robustness with respect to one sensor failure, and 2) the robustness with respect to one link failure. We show that both aforementioned problems can be posed as certain set cover problems, a classical problem for which many solutions exist. In addition we formulate and partially solve the minimum robust sensor placement, a much harder problem. By relating robust sensor placement to spanning trees associated with the dynamical system structure, readily computable upper and lower bounds are provided on the size of such robust placement configurations. Finally, some illustrative examples are presented. Copyright © 2013 IFAC.

关键词： Linear time-invariant system

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A Parameter Identification Method for Coupled Dynamics of Robotic Manipulator with Differential Modular Joints

A Parameter Identification Method for Coupled Dynamics of Ro...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： He, Minghui Luo, Ruiqing Liu, Yukun Du, Liang Bao, Sheng Yuan, Jianjun Wan, Weiwei Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China Shanghai Robotics Institute Shanghai University Shanghai China Osaka University Graduate School of Engineering Science Department of System Innovation Osaka Toyonaka Japan

ISBN: (纸本)9781665481090

In the daily nursing care for people with disabilities, lifting is the most basic and common action. A robotic manipulator with differential modular joints (DMJ) is designed to accomplish this task. To better implement force-control applications of the robotic manipulator with DMJs, this paper proposes a coupled dynamics identification method based on the multi-input, multi-output (MIMO) feature. Considering the frictions of transmission parts and links, the dynamics of the DMJ is analyzed based on the transformation of energy, and then the parameter-linearized dynamic model of the robotic manipulator with n DMJs is proposed according to the mapping relationship between transmission part level and link level. The identification and verification experiments show that the presented method can obtain the accurate dynamic model parameters. This work lays a foundation for the force-control research of the robotic manipulator with DMJs in the future. © 2022 IEEE.

关键词： Dynamic models

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Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning 42

Feature Space Augmentation and Old Class Space Preservation ...

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Siying Liu, Jiazhe Li, Yuanhao Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin University Tianjin300072 China

ISBN: (纸本)9789887581543

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. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Catastrophic forgetting Class incremental learning Feature space augmentation Old class space preservation Pseudo-new classes

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Mechanical design of a 4-DOF minimally invasive surgical instrument

Mechanical design of a 4-DOF minimally invasive surgical ins...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Kun Li, Jihua Li, Lei Ji, Shuai Meng, Xianju Fu, Yili Shandong Jianzhu University School of Mechanical and Electronic Engineering Jinan250101 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781728163215

In order to meet design requirements in minimally invasive surgery (MIS), it is necessary to conduct basic operations in the narrow working space. Taking a grasper for example, a 4DOF MIS instrument driven by servo motors and transmitted by cables is designed. The design of the end of surgical instrument driven by cables is suitable for long-distance transmission, which improves dexterity of the surgical instrument working in narrow space. The mechanism principle including the wrist, graspers and shaft rolling are described. Kinematic coupling between the wrist and grasper are analyzed. Prototype of the surgical instrument is presented. This instrument prototype can be applied in most MIS operations. © 2019 IEEE.

关键词： Cables

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A further study on short term memory improvement by neurofeedback

A further study on short term memory improvement by neurofee...

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2012 International Conference on Biomedical engineering and Biotechnology, iCBEB 2012

作者： Nan, Wenya Rodrigues, Joao Pedro Wan, Feng Mak, Peng Un Mak, Pui In Vai, Mang I. Rosa, Agostinho Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China LaSEEB-System and Robotics Institute Instituto Superior Tecnico Technical University of Lisbon Portugal

ISBN: (纸本)9780769547060

Our previous study successfully improved short term memory by individual alpha neurofeedback training. However, short term memory and its improvement in different languages are still not clear. Therefore, the purpose of this paper was to evaluate the memory performance in alphabetic and ideographic language groups. Besides, the relationship between initial memory and its improvement was investigated. The results indicated short term memory in ideographic language was higher than those in alphabetic language and forward digit span improvement was positive related to its initial performance. © 2012 IEEE.

关键词： Brain

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Agent-based model of dengue disease transmission by Aedes aegypti populations

Agent-based model of dengue disease transmission by Aedes ae...

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Lecture Notes in Computer Science

作者： Isidoro, Carlos Fachada, Nuno Barata, Fábio Rosa, Agostinho Evolutionary System and Biomedical Engineering Lab. Systems and Robotics Institute Instituto Superior Técnico Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9783642212826

This paper presents an agent based model of the Aedes aegypti mosquito showing not only population dynamics but also the Dengue disease propagation in both the vector and host populations (mosquitoes and humans, respectively);this study will focus on the latter aspect. The agents model the main aspects of the mosquito's ecology and behavior, while the environmental components are implemented as a layer of dynamic elements obeying to physical laws. Model verification was performed through examination of simulation parameters variation and qualitative assessment with existing models and simulations. The agent based modeling and simulation platform used was the LAIS simulator. © 2011 Springer-Verlag.

关键词： Autonomous agents

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Motion Capture and Gait Analysis of Ants with Leg Injuries 42

Motion Capture and Gait Analysis of Ants with Leg Injuries

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Yuanhao Meng, Chang Zhong, Shutong Wang, Zhijing Zhao, Feng Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

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. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Gait analysis

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一种两自由度的压电-电磁复合能量收集器(英文)

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2014年第9期15卷 711-722页

作者： Hong-yan WANG Li-hua TANG Yuan GUO Xiao-biao SHAN Tao XIE College of Computer and Control Engineering Qiqihar University State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Mechanical Engineering University of AucklandAuckland 1010 New Zealand

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输... 详细信息

研究目的:对一种两自由度的压电-电磁复合能量收集器进行发电性能研究。创新要点:建立了一种两自由度压电-电磁复合能量收集器发电性能的数学模型,该数学模型可以评估两自由度压电-电磁复合能量收集器中压电元件、电磁元件以及系统总输出功率。研究方法:对一种两自由度的压电-电磁复合能量收集器进行数学建模,并实验验证数学模型的正确性。基于实验测试得到的系统参数值,理论研究压电元件和电磁元件的机电耦合系数对不同能量收集器发电性能的影响关系,并对几种能量收集器的发电能力进行对比分析。重要结论:对于非强耦合(弱或中间耦合)的两自由度机电转换器,复合能量收集器(压电+电磁)具有比单一能量收集器(压电或电磁)更高的发电能力。

关键词：振动复合能量收集两自由度模型压电电磁

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Local shape patch based object detection

Local shape patch based object detection

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Du, Zhijiang Chen, Guodong Sun, Lining Ji, Junhong Xie, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 637553 Singapore

ISBN: (纸本)9781424457021

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method. ©2010 IEEE.

关键词： Object detection

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