检索结果-内蒙古大学图书馆

第35届中国控制与决策会议

作者： Keyuan Chen Bin Chen Shiqian Wu Institute of Robotics and Intelligent System School of Information Science and Engineering Wuhan University of Science and Technology

Affected by low photon counts and noise,images captured in low-light environments commonly have low signalto-noise ratios,details losing,low contrast and other ***-light image enhancement which restores clear images from low-light images with unsatisfactory quality is *** this paper,we propose a strong baseline model based on transformer and CNN architecture for low light image enhancement(TrCLLE).In TrCLLE,the advantages of transformer in effectively modeling long-distance dependence and convolutional neural network in modeling local features through inductive bias are *** consists of three parts:shallow feature extraction module,deep feature extraction module and high-quality image reconstruction *** last,the factors affecting performance are analyzed in detail and the experimental results demonstrate that the proposed method achieves enhanced images with higher quality compared to other popular approaches.

关键词： transformer self-attention mechanism convolutional neural network low-light image enhancement

来源：评论

学校读者我要写书评

暂无评论

Comparative Vibration Analysis Of A Slender Beam In Gravity Compensation Test And Zero-Gravity Environment

Comparative Vibration Analysis Of A Slender Beam In Gravity ...

引用

2015 International Conference on Fluid Power and Mechatronics

作者： Mo Lidong Vitalii Morkovin Zhen Liu Haibo Gao GuanXin Chi National Key Laboratory of Robotics and System(Harbin Institute of Technology) School of Mechatronics Engineering Harbin Institute of Technology

The Space Station mission require an exhaustive engineering study before a manned mission can be put into space. Since the dynamic behavior of an entire assembly cannot be tested on earth, computer models are used as an engineering tool to be able to predict what might happen in space. The main goal of this research is to find a new mathematical model to calculate the first natural frequency of a slender beam in gravity compensation test and in zero-gravity environment. It means that the model should work correctly on the ground and in space. It can help engineers understand the behavior of a beams in space. Theoretical model describes the first natural frequency of a slender beam. The major issues in the beam development are: determine the governing differential equation, obtaining the eigenfunctions from governing equation. These issues apply to both Euler-Bernoulli and energy transfer theories. To get compare analyze for this two environments we are to model the element of Space Station Remote Manipulator system(SSRMS) in gravity compensation test and in zero-gravity environment, using Distributed- Parameter Models use Maple Software. We also use ANSYS Workbench software with normal mode analysis to simulate the beam behavior due to dynamic vibration. In the end, the modern mathematics solution is close to classic model and simulation data. As a result, the modern model can be applied to determine vibrations in gravity compensation test.

关键词： Natural frequency Distributed Parameter Models zero-gravity Gravity compensation test Mode analysis Finite element analysis Maple Ansys Linear vibration

来源：评论

学校读者我要写书评

暂无评论

Intelligent BioRobot platform for integrated clinical test

Intelligent BioRobot platform for integrated clinical test

引用

2006 SICE-ICASE International Joint Conference

作者： Byung, June Choi Kyuho, Noh Jung, Woo Kim Sung, Moon Jin Ja, Choon Koo Sung, Moo Ryew Jinhyun, Kim Woong, Hee Son Ahn, Ki Tak Wankyun, Chung Hyouk, Ryeol Choi School of Mechanical Engineering Sungkyunkwan University Suwon Korea Republic of Division of System Development KnR System Inc. Youngin Korea Republic of Division of Applied Robot Technology Korea Institute of Industrial Technology Cheonan Korea Republic of Pohang Institute of Intelligent Robotics Pohang Korea Republic of Department of Mechanical Engineering Pohang University of Science and Technology Pohang Korea Republic of

ISBN: (纸本)8995003855

Recently, automation in clinical test is raised as a fusion of bio and robotic technology. Particularly, automation in clinical test becomes a new application area of the robotic technology. In this paper, we present a robot platform for clinical test suitable for small or medium size of hospitals. The platform is designed to minimize the consumption of reagents, and easily integrate various testing equipments since it is functionally modularized. The platform is aimed for accommodating almost 70 kinds of clinical tests, which are the most frequently conducted in the hospitals. The platform consists of several major function blocks such as manipulation, transportation and detection, incubation, reservation, and each of them is designed as a module of the system. Basic ideas of the design are described and each functional block is explained in details. © 2006 ICASE.

关键词： Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Design and analysis of a new cable-driven hyper redundant manipulator

Design and analysis of a new cable-driven hyper redundant ma...

引用

2010 International Conference on Intelligent Computation Technology and Automation, ICICTA 2010

作者： Qiang, Zhao Fang, Gao State Key Laboratory of Robotics and System Computer School Harbin Institute of Technology Harbin Heilongjiang 150001 China Raffic College Northeast Forestry University Harbin Heilongjiang 150040 China Harbin Institute of Technology Mechtronical Engineering School Harbin Heilongjiang China

ISBN: (纸本)9780769540771

Hyper-redundant manipulators have been widely used in many fields, however many existing hyper redundant manipulators actuated directly by motors have the disadvantages of complicate structure and high cost. This paper proposes a novel remote cable-driven hyper redundant manipulator. This manipulator is based on elephant trunk bionics, and composed of several serial links combined by Hook joints. Each link is pulled by two antagonized pairs of cables. Two antagonized pairs belonged to the same link are tied and driven by only one motor, which can reduced largely the number of step motors needed. This paper fully discusses the structure and analyzes the cable stretching and retracting displacement. Analysis and motion simulation results show that the proposed scheme is practical and effective. © 2010 IEEE.

关键词： Cables

来源：评论

学校读者我要写书评

暂无评论

Experimental Study on the Improvement of Yaw Stability by Coordination Control between the Caudal Fin and Anal Fin

引用

Journal of Bionic engineering 2022年第5期19卷 1261-1271页

作者： Jiang Ding Changzhen Zheng Chaocheng Song Qiyang Zuo Yaohui Xu Bingbing Dong Jiaxu Cui Kai He Fengran Xie College of Mechanical Engineering Guangxi UniversityNanning 530004China Guangxi Key Lab of Manufacturing System and Advanced Manufacturing Technology Nanning 530004China Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhen 518055China Shenzhen Key Laboratory of Precision Engineering Shenzhen 518055China University of Chinese Academy of Sciences Beijing 100049China College of Mechanical Automation Wuhan University of Science and TechnologyWuhan 430000China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen 518055China

Due to the unique locomotion,the head-shaking problem of biomimetic robotic fish inevitably occurs during rectilinear locomotion,which strongly hinders its practical *** this paper,we experimentally study this problem by proposing the method of coordination control between the caudal fin and anal ***,an untethered biomimetic robotic fish,equipped with an anal fin,a caudal fin and two pectoral fins,is developed as the experimental ***,a Central Pattern Generator(CPG)-based controller is used to coordinate the motions of the anal fin and caudal ***,extensive experiments are conducted to explore different combinations of the flapping frequencies,the flapping amplitudes,and the phase differences between the anal fin and caudal ***,through proper control of the anal fin,the amplitude of the yaw motion can be as small as 4.32°,which sees a 65%improvement compared to the scenario without anal fin,and a 57%improvement compared to that with a stationary anal *** paper provides a novel way to alleviate the head-shaking problem for biomimetic robotic fish,and first test this method on an untethered,freely swimming robotic platform,which can shed light on the development of underwater robotics.

关键词： Biomimetic robotic fish Anal fin Head-shaking Yaw stability

来源：评论

学校读者我要写书评

暂无评论

Dynamic modelling and PFL-based trajectory tracking control for underactuated cable-driven truss-like manipulator

引用

Journal of Central South University 2021年第10期28卷 3127-3146页

作者： DING Shu-chen PENG Li QIAO Shang-ling LIU Rong-qiang JOSEPHAT Bundi School of IoT Engineering Jiangnan UniversityWuxi 214122China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In recent years,an innovative underactuated robot was developed,named as underactuated cable-driven trusslike manipulator(UCTM),to be suitable in aerospace ***,there has been strong consensus that the stabilization of planar underactuated manipulators without gravity is a great challenge since the system includes a second order nonholonomic constraint and most classical control methods are not suitable for this kind of ***,the complexity of the truss-like structure results in tremendous difficulty of computational complicacy and high nonlinearity during dynamic modelling in addition to controller *** is paramount to solve these difficulties for UCTM's future *** solve the above difficulties,this paper presents a dynamic modelling method for UCTM and a trajectory tracking control method based on partial feedback linearization(PFL)that fulfills the control goal of moving UCTM from its original position to a desired position by tracking a given trajectory of the joint *** achieve this,a model equivalent method is proposed to make UCTM equivalent with a three-link manipulator in the sense of dynamic *** the Lagrangian equation combined with complex vector method is proposed in the dynamic modelling process of UCTM,which simplifies the derivation *** on the established dynamic model,a coordinate transformation method is proposed to transform the control force matrix into the conventional form of an underactuated system,so that the control force can be separated from the unactuated *** PFL method in combination with the LQR control method is then proposed to realize the targets that the joint angles can track given desired *** experiments are conducted to verify the correctness and effectiveness of the proposed methods.

关键词： underactuated robot trajectory tracking control partial feedback linearization non-linear control

来源：评论

学校读者我要写书评

暂无评论

Bio-robotics research for non-invasive myoelectric neural interfaces for upper-limb prosthetic control:a 10-year perspective review

引用

国家科学评论（英文版） 2023年第5期10卷 32-52页

作者： Ning Jiang Chen Chen Jiayuan He Jianjun Meng Lizhi Pan Shiyong Su Xiangyang Zhu National Clinical Research Center for Geriatrics West China Hospitaland Med-X Center for ManufacturingSichuan UniversityChengdu 610041China State Key Laboratory of Mechanical System and Vibration and Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical EngineeringTianjin UniversityTianjin 300350China Institute of Neuroscience Université Catholique LouvainBrussel B-1348Belgium

A decade ago,a group of researchers from academia and industry identified a dichotomy between the industrial and academic state-of-the-art in upper-limb prosthesis control,a widely used bio-robotics *** proposed that four key technical challenges,if addressed,could bridge this gap and translate academic research into clinically and commercially viable *** challenges are unintuitive control schemes,lack of sensory feedback,poor robustness and single sensor ***,we provide a perspective review on the research effort that occurred in the last decade,aiming at addressing these *** addition,we discuss three research areas essential to the recent development in upper-limb prosthetic control research but were not envisioned in the review 10 years ago:deep learning methods,surface electromyogram decomposition and open-source *** conclude the review,we provide an outlook into the near future of the research and development in upper-limb prosthetic control and beyond.

关键词： electromyography prosthetic control sensory feedback EMG decomposition robustness deep learning

来源：评论

学校读者我要写书评

暂无评论

Design and Control of a Position Servo system in the Zero Gravity Simulation of Space Manipulators

Design and Control of a Position Servo System in the Zero Gr...

引用

2015 International Conference on Fluid Power and Mechatronics

作者： Shi Haijun Huo Mingying ShuGen Ma Qi Naiming National Key Laboratory of Robotics and System(Harbin Institute of Technology) Department of Aerospace Engineering Harbin Institute of technology

For the zero-gravity simulation of space manipulator, a position servo system is designed in this paper. The position servo system is composed of five servo platforms, which are used to track the joints of space manipulator, to ensure the slings keep vertical when the space manipulator is moving. Each servo platform consists of two CCD cameras, two servo motors, two orthogonal linear motion systems and a control computer. Using CCD cameras, the relative distance between manipulator joint and servo platform can be measured with no contact. Based on the measured distance information, platforms are controlled using PD controller to track the joints of space manipulator. In order to verify the tracking accuracy of servo platform with certain measurement error, numerical simulations are implemented. Simulation results show that the designed servo system can satisfy the zero-gravity simulation requirements of space manipulator.

关键词： position servo system zero gravity simulation PD controller

来源：评论

学校读者我要写书评

暂无评论

A Visual Calibration Method of Monocular Camera and Pan-Tilt for Mobile Robots

A Visual Calibration Method of Monocular Camera and Pan-Tilt...

引用

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

作者： Jingwen Sun Lijun Zhao Ke Wang Yujia Zhao Xiangbo Meng Chuwei Mao Jiancheng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System China School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

In the competition of “RoboMaster”, the robot, a mobile platform with a two-axis pan-tilt and a barrel, needs to shoot the target by launching a projectile. In order to detect and shoot the target automatically, we develop a visual system with a monocular camera mounted on the chassis. Based on some target detection algorithms, the target's 3D pose in the camera coordinate system is obtained. As the launching mechanism of the robot is on the two-axis pan-tilt, it demands to further obtain target's pose in the pan-tilt coordinate system to achieve precise shooting. Therefore, how to obtain the relative position between the camera coordinate system and the pan-tilt coordinate system is the main problem in our research. We propose a fast and effective method for the relative position calibration between the camera and two-axis pan-tilt based on specular reflection. We utilize a plane mirror to reflect the laser pointer light path mounted on the barrel. Then, the camera calibration method is applied to obtain the rotation matrix between the camera coordinate system and the world coordinate system. We finally verify the effectiveness of our method through experiments and achieve the first place in the competition.

关键词： Cameras Calibration Robot kinematics Robot vision systems Lasers Mirrors

来源：评论

学校读者我要写书评

暂无评论

Workspace analysis for a 9-DOF hyper-redundant manipulator based on an improved monte carlo method and voxel algorithm 15

Workspace analysis for a 9-DOF hyper-redundant manipulator b...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Zhao, Zhiyuan He, Shuai Zhao, Yaping Xu, Ce Wu, Qingwen Xu, Zhenbang Innvation Lab of Space Robot System Space Robotics Engineering Center Changchun Institute of Optics Fine Mechanics and Phsics Chinese Academy of Science Changchun Jilin Province China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781538660720

In view of the importance of workspace to robotic configuration optimization, motion planning and control. This paper presents an improved Monte Carlo method and Voxel Algorithm to analyse the workspace of a 9-DOF hyper-redundant manipulator. By considering the problem that the traditional Monte Carlo method is not accurate enough when calculating the workspace of a robot, an improved Monte Carlo method is proposed. First, a seed workspace is generated by the traditional Monte Carlo method, and then the seed workspace is expanded based on the normal distribution with the standard deviation dynamically adjustable. By setting a precision threshold during the extension process, ensure that every region in the resulting workspace is accuray described. Based on the obtained workspace, a voxel algorithm is proposed to get the volume of the workspace, find the boundary part and the non-boundary part of the workspace, and the result error is reduced by continuously refining the boundary part. With the improved Monte Carlo method and voxel algorithm, the reachable workspace and dexterous workspace of the 9-DOF hyper-redundant manipulator are analyzed. The simulation results verify the validity and practicality of the method. © 2018 IEEE.

关键词： Normal distribution

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：