检索结果-内蒙古大学图书馆

IEEE International Conference on systems, Man and Cybernetics

作者： Jinbiao Liu Gansheng Tan Yixuan Sheng Jiaole Wang Wenjie Lu Honghai Liu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Computing University of Portsmouth Portsmouth UK

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

It is evident that corticomuscular coherence (CMC), representing the functional coupling between motor cortex and muscle tissues, plays a crucial role in neurophysiologic studies and applications. It is hypothesized that there is an unknown time delay comprising at least neural conduction time in the process of corticomuscular interaction. In this study, we developed a novel delay estimation method, defined as the rate of voxels change (RVC) for the estimation of time delay in two coupled physiological signals. The RVC is the dynamic variation of the local CMCs observed in different time offsets. Both simulation and physiological data confirm the capability of RVC in estimating cortical-muscular delay. The underlying mechanisms of individual discrepancy of the latency is also investigated via exploring the correlation between delays, brain activity and motor performance. Correlation analyses indicate an intrinsic link between the connectivity strength of the brain network and the length of time delay in cortical-muscular interactions.

关键词： Correlation Delay effects Delay estimation Muscles Brain modeling Physiology Data models

来源：评论

学校读者我要写书评

暂无评论

Feature Fusion of sEMG and Ultrasound Signals in Hand Gesture Recognition

Feature Fusion of sEMG and Ultrasound Signals in Hand Gestur...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Jia Zeng Yu Zhou Yicheng Yang Jiaole Wang Honghai Liu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Computing University of Portsmouth Portsmouth UK

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

Multi-modal sensory fusion is believed to obtain higher accuracy in gesture recognition. Its difficulty lies in mining discriminative features and fusing features from different modalities. Surface electromyography(sEMG) and ultrasound signals are typical signal modalities in gesture recognition. It is expected that the fusion of them can take advantage of the complementarity of electrophysiological information and muscle morphology information. This paper proposed two kinds of feature fusion method. The one is concatenating the manual designed sEMG and ultrasound features, and the other is a convolutional neural network (CNN) based feature exaction and fusion method for sEMG and ultrasound signals. Eight able-bodied subjects were involved to participate in the experiments. In the experiments, four channels of sEMG and A-mode ultrasound signals corresponding to 20 gestures were collected synchronously to evaluate the proposed method. The experimental results demonstrated that the fusion sEMG-ultrasound feature always outperformed the separate sEMG or ultrasound feature regardless of the feature extraction method, and as for fusion sEMG-ultrasound feature, the CNN based method achieve a high accuracy (97.38±1.49%) in 20 gestures, which surpassed the method of concatenating the manual designed features and applying machine learning algorithm (LDA, KNN, SVM).

关键词： Support vector machines Ultrasonic imaging Surface morphology Gesture recognition Manuals Feature extraction Task analysis

来源：评论

学校读者我要写书评

暂无评论

Parametric Gait Online Generation of a Lower-limb Exoskeleton for Individuals with Paraplegia

引用

Journal of Bionic engineering 2018年第6期15卷 941-949页

作者： Tianjiao Zheng Yanhe Zhu ZongweiZhang Sikai Zhao Jie Chen Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering and Automation Northeastern University Shenyang 110819 China

Lower-limb exoskeletons can provide paraplegics with the ability to restore gait function. In the community ambulation, the user would frequently meet different floors, doorsills, and other obstacles. Therefore, parametric gait generation is a significant issue for this kind of exoskeletons. In this paper, a parametric gait online generation approach is proposed, which combines a parametric gait control method with a torque compensation control strategy, based on the state machine. In the torque compensation control, the reference tra- jectories of joint positions are obtained through compensating gravity, inertia, and friction, which is intent on the natural and well-directed source data. Based on the reference trajectories, the parametric gait control method is established, in which the gait can be controlled via three parameters： velocity, step-length, and step-height. Two test cases are performed on three healthy subjects. The results demonstrate that the parametric gait can be online generated smoothly and correctly, meanwhile every variable step can be triggered as users expect. The effectiveness and practicability of the gait generation approach proposed in this paper are validated. In addition, this research is the foundation of autonomous gait planning.

关键词： exoskeleton parametric gait gait online generation paraplegic bionic design

来源：评论

学校读者我要写书评

暂无评论

Grapevine Winter pruning automation: On potential pruning points detection through 2D plant modeling using grapevine segmentation

arXiv

引用

arXiv 2021年

作者： Fernandes, Miguel Scaldaferri, Antonello Fiameni, Giuseppe Teng, Tao Gatti, Matteo Poni, Stefano Semini, Claudio Caldwell, Darwin Chen, Fei Active Perception and Robot Interactive Learning Laboratory Department of Advanced Robotics Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Informatics Bioengineering Robotics and System Engineering Università di Genoa Viale Causa 13 Genova16145 Italy Italy Department of Sustainable Crop Production Università Cattolica del Sacro Cuore Via Emilia Parmense 84 Piacenza29122 Italy lab Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Mechanical and Automation Engineering T-Stone Robotics Institute Chinese University of Hong Kong Chung Chi Rd Ma Liu Shui Hong Kong

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity of this task is also the reason why it is time consuming. Considering that this operation takes about 80-120 hours/ha to be completed, and therefore is even more crucial in large-size vineyards, an automated system can help to speed up the process. To this end, this paper presents a novel multidisciplinary approach that tackles this challenging task by performing object segmentation on grapevine images, used to create a representative model of the grapevine plants. Second, a set of potential pruning points is generated from this plant representation. We will describe (a) a methodology for data acquisition and annotation, (b) a neural network fine-tuning for grapevine segmentation, (c) an image processing based method for creating the representative model of grapevines, starting from the inferred segmentation and (d) potential pruning points detection and localization, based on the plant model which is a simplification of the grapevine structure. With this approach, we are able to identify a significant set of potential pruning points on the canes, that can be used, with further selection, to derive the final set of the real pruning points. © 2021, CC BY.

关键词： Automation

来源：评论

学校读者我要写书评

暂无评论

Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Graph Approach

Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Gr...

引用

2020 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Daniele Ludovico Paolo Guardiani Alessandro Pistone Jinoh Lee Ferdinando Cannella Darwin G. Caldwell Carlo Canali Bioengineering Robotics and System Engineering University of Genoa GE Genoa Istituto Italiano di Tecnologia (IIT) Genoa GE Italy Institute of Robotics and Mechatronics Center German Aerospace Center (DLR) Weßling Germany Istituto Italiano di Tecnologia (IIT) Genoa Italy

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Cable-driven joints proved to be an effective solution in a wide variety of applications ranging from medical to industrial fields where light structures, interaction with unstructured and constrained environments and precise motion are required. These requirements are achieved by moving the actuators from joints to the robot chassis. Despite these positive properties a cable-driven robotic arm requires a complex cable routing within the entire structure to transmit motion to all joints. The main effect of this routing is a friction phenomenon which reduces the accuracy of the motion of the robotic device. In this paper a bond-graph approach is presented to model a family of cable-driven joints including a novel friction model that can be easily implemented into a control algorithm to compensate the friction forces induced by the rope sliding into bushings.

关键词： Service robots Friction Dynamics Insulators Routing Communication cables Mathematical model

来源：评论

学校读者我要写书评

暂无评论

Towards precise pruning points detection using semantic-instance-aware plant models for grapevine winter pruning automation

arXiv

引用

arXiv 2021年

作者： Fernandes, Miguel Scaldaferri, Antonello Guadagna, Paolo Fiameni, Giuseppe Teng, Tao Gatti, Matteo Poni, Stefano Semini, Claudio Caldwell, Darwin Chen, Fei Active Perception and Robot Interactive Learning Laboratory Department of Advanced Robotics Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Informatics Bioengineering Robotics and System Engineering Università di Genoa Viale Causa 13 Genova16145 Italy Department of Sustainable Crop Production Università Cattolica del Sacro Cuore Via Emilia Parmense 84 Piacenza29122 Italy Italy lab Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Chung Chi Rd Ma Liu Shui Hong Kong

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity makes it time consuming. It is an operation that requires about 80-120 hours per hectare annually, making an automated robotic system that helps in speeding up the process a crucial tool in large-size vineyards. We will describe (a) a novel expert annotated dataset for grapevine segmentation, (b) a state of the art neural network implementation and (c) generation of pruning points following agronomic rules, leveraging the simplified structure of the plant. With this approach, we are able to generate a set of pruning points on the canes, paving the way towards a correct automation of grapevine winter pruning. © 2021, CC BY.

关键词： Automation

来源：评论

学校读者我要写书评

暂无评论

Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Zicong Wu Chuqian Lou Zhu Jin Shaoping Huang Ning Liu Yun Zou Mirko Kovac Anzhu Gao Guang-Zhong Yang Shanghai Jiao Tong University Shanghai P. R. China Imperial College London and Empa-Swiss Federal Laboratories for Materials Science and Technology Precision Robotics (Hong Kong) Limited Hong Kong China Aerial Robotics Laboratory Imperial College London London United Kingdom Shanghai Jiao Tong University and the Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai P. R. China

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments.

关键词： Drugs Electric potential Fluids Tissue engineering Medical treatment Bending Manipulators

来源：评论

学校读者我要写书评

暂无评论

A Calibration Method of Navigation system Integrated with Kinect and Laser Scanner

A Calibration Method of Navigation System Integrated with Ki...

引用

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

作者： Lu Zhou Xiujuan Bao Xinwei Chen Institute of Robotics and Automatic Information System (IRAIS) Tianjin Key Laboratory of Intelligent Robotics (tjKLIR) Nankai University Tianjin China College of Artificial Intelligence Nankai University Tianjin China Industrial Robot Application of Fujian University Engineering Research Center Minjiang University Fuzhou China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

This paper presents a new calibration method, which combines the advantages of Kinect large measurement range and high accuracy of laser scanner measurement. The proposed method innovatively designs a calibration objects with special shapes to complete the calibration of laser scanner. To achieve effective fusion between two kinds of sensor information, the laser scanner and Kinect are jointly calibrated to obtain the relative coordinate transform between them. Finally, a particle filter (PF) with the optimal importance function and importance weights is designed to fuse the measurements of the target's range and bearing from the laser scanner and Kinect. The experimental results show that the proposed method can achieve satisfactory tracking performances.

关键词： Calibration Cameras Distortion Robots Robot kinematics Laser radar Lasers

来源：评论

学校读者我要写书评

暂无评论

Numerical and experimental studies of hydrodynamics of flapping foils

引用

Journal of Hydrodynamics 2018年第2期30卷 258-266页

作者： Kai Zhou Jun-kao Liu Wei-shan Chen College of Mechanical and Electronic Engineering Shandong Agricultural University Taian 271018 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The flapping foil based on bionics is a sort of simplified models which imitate the motion of wings or fins of fish or birds. In this paper, a universal kinematic model with three degrees of freedom is adopted and the motion parallel to the flow direction is considered. The force coefficients, the torque coefficient, and the flow field characteristics are extracted and analyzed. Then the propulsive efficiency is calculated. The influence of the motion parameters on the hydrodynamic performance of the bionic foil is studied. The results show that the motion parameters play important roles in the hydrodynamic performance of the flapping foil. To validate the reliability of the numerical method used in this paper, an experiment platform is designed and verification experiments are carried out. Through the comparison, it is found that the numerical results compare well with the experimental results, to show that the adopted numerical method is reliable. The results of this paper provide a theoretical reference for the design of underwater vehicles based on the flapping propulsion.

关键词： Biological fluid dynamics flapping foil hydrodynamic performance numerical simulation

来源：评论

学校读者我要写书评

暂无评论

Localization of near-field sources based on linear prediction and oblique projection operator

Localization of near-field sources based on linear predictio...

引用

作者： Zuo, Weiliang Xin, Jingmin Liu, Wenyi Zheng, Nanning Ohmori, Hiromitsu Sano, Akira Institute of Artificial Intelligence and Robotics National Engineering Laboratory for Visual Information Processing and Applications School of Artificial Intelligence Xi'An Jiaotong University Xi'an710049 China Department of System Design Engineering Keio University Yokohama223-8522 Japan

This paper investigates the localization of multiple near-field narrowband sources with a symmetric uniform linear array, and a new linear prediction approach based on the truncated singular value decomposition (LPATS) is proposed by taking an advantage of the anti-diagonal elements of the noiseless array covariance matrix. However, when the number of array snapshots is not sufficiently large enough, the 'saturation behavior' is usually encountered in most of the existing localization methods for the near-field sources, where the estimation errors of the estimated directions-of-arrival (DOAs) and ranges cannot decrease with the signal-to-noise ratio. In this paper, an oblique projection based alternating iterative scheme is presented to improve the accuracy of the estimated location parameters. Furthermore, the statistical analysis of the proposed LPATS is studied, and the asymptotic mean-square-error expressions of the estimation errors are derived for the DOAs and ranges. The effectiveness and the theoretical analysis of the proposed LPATS are verified through numerical examples, and the simulation results show that the LPATS provides good estimation performance for both the DOAs and ranges compared to some existing methods. © 1991-2012 IEEE.

关键词： Mean square error

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：