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IEEE International Conference on Image Processing

作者： Chaowei Han Gaofeng Meng Chunlei Huo State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics HK Institute of Science & Innovation Chinese Academy of Sciences School of Information Engineering Capital Normal University Beijing China

ISBN: (数字)9798350349399

ISBN: (纸本)9798350349405

Content-based video retrieval aims to retrieve near-duplicate entries from a database of a given query video. It plays an important role in combating video piracy. Robustness to video temporal dynamics is crucial for a representation model in video retrieval, as frames extracted from two copied videos are hardly temporally aligned in actual situations. However, current image retrieval datasets have difficulty in evaluating this robustness. To address this issue, we collect Similar Frame Dataset (SFD), which consists of 32,923 query-target pairs with 128,240 distraction images. The task of SFD is to retrieve the target frame from all items given a query frame. SFD is constructed by sampling frames from Kinetics-700 action classification dataset. An object detection model (Faster R-CNN) and a Multimodal Large Language Model (BLIP2) are used during sampling to select those valid frames. Besides, we propose Adjacent Frames Contrastive Learning (AFCL) framework. In AFCL, adjacent frames are sampled from unlabeled videos as positive pairs. An image representation model with robustness to changing frames can be trained under AFCL framework and achieve the state-of-the-art performance on SFD. The code will be released at https://***/Chuan-shanjia/Similar-Frame-Dataset.

关键词： Codes Databases Scalability Large language models Image retrieval Contrastive learning Object detection

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Adapting NIST Aerial Drone Tests for Thermal Identification, Inspection, and Suppression of Wildfires

Adapting NIST Aerial Drone Tests for Thermal Identification,...

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IEEE Annual Computing and Communication Workshop and Conference (CCWC)

作者： Alex Fraley Ethan Nowery McCarthy Devine Adam Jacoff Paul Y. Oh Robotics Research Engineer for the Emergency Response Robots (Ground Aerial Aquatic) Project in the Intelligent Systems Division of the Engineering Laboratory National Institute of Standards and Technology (NIST) Gaithersburg MD USA Department of Mechanical Engineering University of Nevada Las Vegas (UNLV) Las Vegas NV USA Department of Aerospace Engineering University of Colorado Boulder (CU Boulder) Boulder CO USA Project Leader for Emergency Response Robots (Ground Aerial Aquatic) in the Intelligent Systems Division of the Engineering Laboratory National Institute of Standards and Technology (NIST) Gaithersburg MD USA Faculty of Mechanical Engineering University of Nevada Las Vegas

ISBN: (数字)9798331507695

ISBN: (纸本)9798331507701

The National institute of Standards and Technology (NIST) has developed standard test methods to evaluate the capabilities of aerial drones, ground robots, and aquatic vehicles, as well as the proficiency of their operators. The aerial drone tests measure key capabilities such as maneuverability, visual acuity, and thermal acuity. With a rising demand for aerial drones among first responders, these tests are essential for assessing system performance, mitigating risk, and improving operational effectiveness to ensure the safety of responders and the public. Given the increasing prominence of wildfire threats and the widespread destruction they cause, aerial drones are being adapted to help detect, inspect, and contain them. This paper outlines how NIST-developed aerial drone tests can be adapted to simulate wildfire threats and provide a framework of reproducible tests that measure the system capabilities of aerial drones and the proficiency of operators in mitigating these threats.

关键词： Heating systems Visualization Wildfires System performance NIST Inspection Writing Object recognition Underwater vehicles Drones

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Vibration Suppression of Non-Deformable Metal Strip for Robot Assisted Assembly Operation

Vibration Suppression of Non-Deformable Metal Strip for Robo...

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2020 IEEE International Conference on Emerging Trends in Communication, Control and Computing, ICONC3 2020

作者： Jalendra, Chetan Rout, B.K. Center for Robotics and Intelligent Systems Birla Institute of Technology and Science Department of Mechanical Engineering Pilani India

ISBN: (纸本)9781728114200

Current work presents a vibration suppression strategies of a Non-Deformable Metal Strip which is induced by rapid action of an industrial robot. In this case an external controller is designed as outer controller without any interruption in the robot internal controller to suppress the residual vibration in NDMS. The proposed controller is simulated in MATLAB/Simulink environment and designed in Python IDLE to validate the controller. The external controller is a closed-loop feedback Proportional Integral Derivative (PID) controller designed especially for an industrial robot that does not have control over acceleration. The robustness of the proposed controller is tested experimentally through the vibration control of a NDMS which is supposed to perform peg in hole assembly operation in various operating conditions. The designed controller suppresses vibration in less than 5 seconds and the stability time is reduced by 95% for in a Peg-in-hole assembly task. © 2020 IEEE.

关键词： Three term control systems

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Koopman Representation for Boolean Networks

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IFAC-PapersOnLine 2023年第2期56卷 6678-6683页

作者： Hongsheng Qi Maria Elena Valcher Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China Dipartimento di Ingegneria dell'Informazione Universita’ di Padova Padova 35131 Italy Australian Center for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW 2006 Australia

Boolean networks, as logical dynamical systems whose system states are Boolean variables, arise from applications in biology, computer networks, and social networks etc. The representation and control of Boolean networks have attracted a lot of attention in recent years. On a parallel line of research, Koopman developed an operator view of nonlinear dynamical systems in early 1930s, which shows that using observable functions all nonlinear dynamics can be represented as (infinite dimensional) linear systems. In this paper, we present a framework for representing Boolean networks via Koopman approach. First of all, we construct addition and scalar multiplication operations over the set of logical functions over the binary field, defining a linear Boolean function space. Then associated with any Boolean mapping, the induced Koopman operator is defined as an operator over such Boolean function space. Next, we show that if there exists a set of logical functions that are invariant in the Koopman sense, a Boolean network can be represented by a finite-dimensional linear system. This Koopman perspective for Boolean networks is also extended to controlled Boolean networks.

关键词： Boolean networks Koopman operator

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Direct Torque Control in Series-End Winding PMSM Drives 48

Direct Torque Control in Series-End Winding PMSM Drives

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Dong, Zhiping Zhao, Hang Wen, Hao Liu, Chunhua City University of Hong Kong School of Energy and Environment Hong Kong Hong Kong City University of Hong Kong Shenzhen Research Institute Shenzhen China Robotics and Autonomous Systems Thrust Guangzhou China The Hong Kong University of Science and Technology Department of Electronic & Computer Engineering Hong Kong Hong Kong

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This paper provides a preliminary study of promoting the direct torque control (DTC) to series-end winding permanent magnet synchronous motor (SW-PMSM) drives. The DTC schemes of the conventional PMSM drives cannot be directly applied to the SW-PMSM drives since they have different drive topologies. With one more leg added to the inverter, the SW-PMSM drive has a different voltage vector distribution, which leads to a different switching table for the hysteresis controllers of the flux and the torque. In addition, the zero-sequence subspace also exists in the SW-PMSM drive, and it might generate the undesired zero-sequence current. Based on the above issues, the voltage vector distribution of the SW-PMSM drive is studied in this paper, and the voltage vectors without zero-sequence components are selected as the candidates to prevent generating zero-sequence current. Next, the switching table for the hysteresis controllers is re-derived according to the candidate voltage vectors, and the DTC for the SW-PMSM drive is obtained. Subsequently, the DTC of the multi-phase SW-PMSM drive is also investigated in the same manner. Finally, the effectiveness of the proposed DTC schemes for the SW-PMSM drives is verified. © 2022 IEEE.

关键词： Torque

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Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

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World Rehabilitation Robot Convention (WRRC)

作者： Wujing Cao Shuo Zhang Yupeng Zou Xinqiang Guo Changyu Li Jingxin Wang Worawarit Kobsiriphat Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China and SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems. SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society School of Mechanical Engineering China University of Petroleum East China Jining Zhongke Intelligent Technology Co. Ltd. Department of Rehabilitation Medicine Zhengzhou Central Hospital Affiliated Zhengzhou University Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (数字)9798350355123

ISBN: (纸本)9798350355130

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion.

关键词： Knee Training Cerebral palsy Exoskeletons Dynamics Static analysis Assistive robots Safety Finite element analysis Hip

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Control system for a robotic system for rehabilitation of lower limbs with feedback on the patient's effort 2022

Control system for a robotic system for rehabilitation of lo...

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2nd International Conference on robotics and Control engineering, RobCE 2022

作者： Rybak, Larisa Khalapyan, Sergey Rashoyan, Gagik Mohan, Santhakumar Nozdracheva, Anna Research Institute Robotics and Control Systems Bstu Named after V. G. Shukhov Belgorod Russia Stary Oskol Technological Institute N. A. A. A. Ugarov Nust MISiS Stary Oskol Belgorod Russia Mechanical Engineering Research Institute of the Russian Academy of Sciences Moscow Russia Indian Institute of Technology Palakkad Palakkad India Gamaleya National Research Center for Epidemiology and Microbiology Moscow Russia

ISBN: (纸本)9781450395854

The paper presents structural diagrams of the control system of a robotic system with feedback on the patient's effort and without it, illustrates the conditions for using each of them;a method is prepared to increase the reliability of data on the applied efforts, associated with the use of strain gauges in the absence of actions of the patient's motor organs;an example of the patient's motivation to perform "correct"movements, "helping"the mechanism, consisting in changing the speed of movement to form the patient's feeling that the mechanism moves due to his efforts;a mathematical model of the robotic system was obtained, graphs were constructed demonstrating the accuracy of working out a given trajectory due to the anthropometric parameters of the patient. © 2022 ACM.

关键词： Feedback

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Dynamic Identification for a Manipulator Model based on Stribeck Friction using the Quasi-Newton Iterative Method

Dynamic Identification for a Manipulator Model based on Stri...

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IEEE International Conference on robotics and Biomimetics

作者： Feng Xiao Feilong Zhang Bing Han Hualiang Zhang School of Information Science and Engineering Shenyang University of Technology Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China

The performance of dynamic control is intimately tied to modeling accuracy. However, traditional estimation methods and friction models, such as the least squares method and the Coulomb plus viscous model, fail to reflect the actual characteristics accurately. Particularly, the linear nature of the Coulomb plus viscous model overlooks the nonlinear static features of joint friction at slower velocities. To improve the rationality of the model structure, we integrate the Stribeck friction model into the Coulomb plus viscous model. However, introducing such nonlinearities compromises the applicability of the least squares method. As a countermeasure, we propose a new strategy that combines the least square method and the Quasi-Newton iterative method to identify the parameters of the modified nonlinear model. Additionally, the design of the excitation trajectory is critical to achieve high identification accuracy. We utilized the inverse of the smallest singular value of the observation matrix as the objective function. By minimizing it with the interior point method, we generate the excitation trajectory well-suited to stimulate dynamic characteristics. Then we leverage the discrepancies between the measured and estimated torques to assess the precision of the dynamic parameters of the manipulator. Remarkably, our proposed algorithm reduces the mean absolute error of the estimated torque by over 20.40%. Finally, an experiment of the industrial manipulator by hand guiding grab and drag is performed and shows that the proposed approach can provide the manipulator with comprehensive torque compensation.

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Laser rangefinder and monocular camera data fusion for human-following algorithm by pmb-2 mobile robot in simulated gazebo environment 15th

Laser rangefinder and monocular camera data fusion for human...

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15th International Conference on Electromechanics and robotics Zavalishin’s Readings, ERZR 2020

作者： Chebotareva, Elvira Hsia, Kuo-Hsien Yakovlev, Konstantin Magid, Evgeni Intelligent Robotics Department Higher Institute for Information Technology and Intelligent Systems Kazan Federal University Kazan Russia Department of Electrical Engineering National Yunlin University of Science and Technology Douliu Taiwan Moscow Institute of Physics and Technology Moscow Russia

ISBN: (纸本)9789811555794

The paper presents a human-following algorithm for an autonomous mobile robot, which is equipped with a 2D laser rangefinder (LRF) and a monocular camera. As a rule, quality of a human tracking by a LRF is reduced in cluttered environments. We used a monocular camera to increase a human-tracking reliability. In contradiction with popular human-tracking algorithms that apply only a 2D LRF, our algorithm does not impose any restrictions on a type of human’s clothes, and our approach does not require a human head and an upper body to be located within a monocular camera field of view. Several human trackers and variations of our algorithm were compared in the Gazebo virtual experiments within a free corridor and an office room environment. The virtual experiments demonstrated that our method successfully improved a human-tracking quality being employed with the human-following virtual PMB-2 robot. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.

关键词： Mobile robots

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Teaching a Robot Where to Park: A Scalable Crowdsourcing Approach

Teaching a Robot Where to Park: A Scalable Crowdsourcing App...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： De’Aira Bryant Tiago Etiene Ayanna Howard William D. Smart Dylan F. Glas College of Computing at Georgia Institute of Technology Experimental work performed during an Amazon Lab126 internship Amazon Lab126 College of Engineering The Ohio State University Collaborative Robotics and Intelligent Systems (CoRIS) Institute at Oregon State University

For social robots to successfully integrate into daily life in home environments, they will need reliable models of the way people perceive and use space in the home. This paper explores the problem of obtaining annotated training data at scale for subjective judgments about spatial locations. Focusing on the use case of identifying good and bad parking spots for a social robot operating in a home environment, two experiments are presented. The first study shows that the presentation of context-rich 3D images to human annotators yields notably different outcomes from those obtained when using 2D robot navigation maps. We attribute the source of these differences to a set of features visible only in the 3D views and introduce a technique for labeling these features on the 2D maps. The second study reveals that using labeled 2D maps produces annotation data very similar to that obtained using 3D images. Since a labeled 2D map can be generated at a fraction of the cost of a full set of 3D views, we recommend this method as a scalable approach to collecting subjective spatial data annotations in everyday environments.

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