检索结果-内蒙古大学图书馆

Geometric based apple suction strategy for robotic packaging

International Journal of Agricultural and Biological engineering 2024年第3期17卷 12-20页

作者： Zhong Wang Qingyu Wang Mingzhao Lou Fan Wu Yaonan Zhu Dong Hu Mingchuan Zhou Yibin Ying College of Optical Mechanical and Electrical EngineeringZhejiang A&F UniversityHangzhou 311300China College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Zhejiang UniversityHangzhou 310058China Department of Micro-Nona Mechanical Science and Engineering Nagoya UniversityFuro-choChikusa-kuNagoya 464-8601Japan

Packaging is one of the least automated steps among all the fruit postharvest processes,which is time-consuming and ***,a robust suction strategy for robotic manipulation needs to be *** this research,a geometric-based apple suction strategy for robotic packaging was studied,including suction cup design,optimal suction region selection algorithm,and robot system *** the first place,on the basis of the geometric features of the spheroid fruit,the structure of the suction cups was designed to provide reliable suction ***,suction force measurement experiments on both acrylic balls and apples were *** on the results,the parameters of the suction cup were finally *** results also indicated that the curvature radius of the suction region is supposed to larger than that of the suction ***,a robust suction region selection algorithm was developed,which involves four steps:RGB-D information acquisition,object detection and point cloud generation,spherical fitting,and suction region ***,the above methods were integrated into a robotic packaging *** addition,on the basis of spatial-frequency domain imaging(SFDI)technology,early stage bruise was detected for *** results showed that,the proposed suction strategy and system is potential for robust robotic apple packaging.

关键词： apple suction cup robotic packaging robotic manipulation point cloud

来源：评论

学校读者我要写书评

暂无评论

Dependency-aware Task Offloading and Resource Pricing in Vehicular Edge Computing: A Stackelberg Game Approach 22

Dependency-aware Task Offloading and Resource Pricing in Veh...

引用

22nd IEEE International Symposium on Parallel and Distributed Processing with Applications, ISPA 2024

作者： Zhao, Liang Huang, Shuai Cao, Yuxiang Zhou, Huan Leung, Victor C. M. China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering College of Computer and Information Technology Yichang China Northwestern Polytechnical University School of Computer Science Xi'an China The University of British Columbia Department of Electrical and Computer Engineering Vancouver Canada

ISBN: (纸本)9798331509712

Vehicular Edge Computing (VEC) allows vehicles to offload their delay-sensitive tasks to nearby Road Side Units (RSUs) for processing, which improves network quality of service (QoS). However, the self-interested SDN controller is unwilling to ask RSUs to provide free computing resources for vehicles. At the same time, complicated dependencies between vehicular subtasks may cause non-ideal task delay and energy consumption. In order to solve these problems, this paper proposes a Stackelberg game-based Dependency-aware task Offloading and resource Pricing framework (SDOP). Specifically, we first model a vehicular edge network that partially offloads dependency-aware tasks. Then, we depict the interaction between the SDN controller and vehicles as a Stackelberg game, with the goal of maximizing the utility of both parties. Next, we present a Gradient Ascent Plus Genetic algorithm (GAPG) to solve the problem. Finally, numerous simulations are performed, and the results show that compared with other baseline schemes, the proposed GAPG can significantly improve the utility of both the SDN controller and vehicles under various scenarios. © 2024 IEEE.

关键词： Quality of service

来源：评论

学校读者我要写书评

暂无评论

Multiple Sensor Fusion-Based Positioning Robot for Steam Generator Inspection 2

Multiple Sensor Fusion-Based Positioning Robot for Steam Gen...

引用

2nd International Symposium on Sensor Technology and Control, ISSTC 2023

作者： You, Jingwei Wei, Shouqi Wu, Xiong Sun, Jianquan Guilin University of Electronic Technology Department of Electrical Engineering Guilin541004 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518000 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen518000 China

ISBN: (纸本)9798350314465

Nuclear energy is presently the clean energy source most likely to massively displace fossil energy, and the secondary side of the steam generator is an important part of a nuclear power plant. Due to the small space of the secondary side of the steam generator and the confinement of the vessel, the precise positioning of the robot inside the steam generator cannot be achieved by a single sensor alone. This paper introduces a multi-sensor fusion steam generator secondary side inspection robot. Primary emphasis is on data fusion of multiple sensors, such as laser sensors, cameras, IMU, and wheel encoder. First of all, this paper integrates data from wheel encoder data and IMU data by using extended Kalman filtering (EKF), which decreases the drift error during the motion and enhances the robot positioning precision. Afterwards, we incorporate laser ranging sensors and camera picture data to enhance the overall spatial sensitivity of the robot through particle filtering algorithms. Experiments show that the robot works reliably and has high positioning accuracy. © 2023 IEEE.

关键词： Steam generators

来源：评论

学校读者我要写书评

暂无评论

Sequential Transfer with Multi-Objective Genetic Algorithm for Feature Selection of Small, High-Dimensional Datasets

Sequential Transfer with Multi-Objective Genetic Algorithm f...

引用

Congress on Evolutionary Computation

作者： Parth C. Upadhyay G. N. DeSouza John A. Lory Department of Electrical Engineering and Computer Science (EECS) Vision-Guided and Intelligent Robotics (ViGIR) Laboratory Division of Plant Sciences University of Missouri Columbia MO

ISBN: (数字)9798350308365

ISBN: (纸本)9798350308372

Performing feature selection on a small number of instances with high-dimensional datasets poses a needed challenge in preventing over-fitting. To address this issue, this paper proposes a sequential transfer-learning approach combined with a multi-objective genetic algorithm (STMO-GA) for feature selection. Firstly, for the multi-objective component of our method, we employ a Non-dominated Sorting Genetic Algorithm (NSGA-II) to generate a Pareto front. Then, features are ranked based on their number of appearances in the same Pareto front. Next, during the sequential knowledge transfer process, the ranked features are iteratively selected until a predetermined $n$ number of features remains. This feature subspace is further refined by a k-fold cross-validation operation, starting from the rank-one feature, to determine the cut-off of the $n$ features that will remain. Comparative evaluations against both GA-based as well as traditional feature selection methods demonstrate that the proposed method achieves superior classification accuracy, while retaining the smallest number or a comparable number of features.

关键词： Accuracy Evolutionary computation Feature extraction Genetics Linear programming Robustness Optimization

来源：评论

学校读者我要写书评

暂无评论

Operational strategies for a photovoltaic-thermal system integrated with an electric air-to-water heat pump 3

Operational strategies for a photovoltaic-thermal system int...

引用

3rd International Conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2024

作者： Russo, Giuseppe Olympios, Andreas V. Pandey, Chandan Buonomano, Annamaria Markides, Christos N. University of Naples Federico II Department of Industrial Engineering Naples80125 Italy Laboratory Sargent Centre for Process Systems Engineering Department of Chemical Engineering London United Kingdom University of Cyprus PV Technology Laboratory Department of Electrical and Computer Engineering Nicosia Cyprus PHAETHON Centre of Excellence for Intelligent Efficient and Sustainable Energy Solutions Nicosia Cyprus

ISBN: (纸本)9798350375923

In this study, operational strategies are investigated for an air-based photovoltaic-thermal (PV-T) system integrated with a domestic air-to-water heat pump. The PV-T system is used to simultaneously generate electricity and heat ambient air, which serves as the heat source for the heat pump. By utilising a variable-speed fan to regulate airflow, the PV-T system outlet temperature is adjusted, and the focus is on how different outlet temperatures impact the PVT system electrical and thermal efficiency, heat pump performance, and overall electricity requirements for heating. The performance of the integrated system is assessed for a case study of a household application in north Italy. The optimal PV-T outlet temperature is found to be between 30 - 35 °C, resulting in only 5% less electricity production than an equivalent PV system with equal nominal electricity capacity, while reducing overall electricity required for heating by over 15% compared to PV-integrated heat pumps. © 2024 IEEE.

关键词： Photovoltaics

来源：评论

学校读者我要写书评

暂无评论

Onboard Perception-Assisted High Fidelity Simulation Framework for Autonomous Planetary Soft-Landing

Onboard Perception-Assisted High Fidelity Simulation Framewo...

引用

AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Alibekov, Ulugbek Banerjee, Avijit Satpute, Sumeet Gajanan Nikolakopoulos, George ERASMUS MUNDUS JOINT MASTER in Intelligent Field Robotic Systems Faculty of Informatics Eötvös Loránd University Budapest Hungary Robotics and AI research group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This article presents an onboard perception-assisted high-fidelity simulation framework for autonomous planetary soft-landing, enabling visual information processing tightly integrated with advanced onboard guidance system in a realistic simulation environments. Utilizing the open source Unity game engine, a physics-based simulation toolbox integrated with the Robotic Operating System (ROS2), we effectively emulate the motion of spacecraft approaching planetary terrain. The simulation environment features a realistic 3D terrain model and a lander spacecraft equipped with onboard camera to effectively capture detailed local terrain images. The simulation engine accurately captures the spacecraft’s 6-degrees of freedom motion, seamlessly integrating space craft orientation with the associated camera feed while incorporating various illumination conditions using a light source representing the Sun. To demonstrate the efficacy of the framework, we implement a recently developed attitude-constrained minimum jerk guidance algorithm to emulate spacecraft motion. Concurrently, the visual feed from the onboard RGB camera is processed through a gradient extraction-based perception system, providing the visual odometer. This system identifies provably safe landing sites, effectively avoiding potential risks of landing on uneven terrain. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Planetary landers

来源：评论

学校读者我要写书评

暂无评论

Classifying Tomorrow's Currents: A Probabilistic Neural Network Approach to Forecasting Electricity Prices 3

Classifying Tomorrow's Currents: A Probabilistic Neural Netw...

引用

3rd International Conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2024

作者： Loizidis, Stylianos Livera, Andreas Kyprianou, Andreas Georghiou, George E. University of Cyprus PV Technology Laboratory Department of Electrical and Computer Engineering Nicosia Cyprus Efficient and Sustainable Energy Solutions PH AET HON Centre of Excellence for Intelligent Nicosia Cyprus University of Cyprus Department of Mechanical and Manufacturing Engineering Nicosia Cyprus

ISBN: (纸本)9798350375923

This study introduces a probabilistic neural network model for classifying next-day electricity prices into negative or positive categories. It addresses the challenge of price volatility exacerbated by renewable energy integration, presenting significant risks for market participants. Through a comparative analysis with the traditional support vector machine with radial basis function kernel using the German Day-Ahead market data of 2020, the probabilistic neural network demonstrates superior accuracy and yielded promising electricity price forecasting results. This approach equips market participants with valuable insights for strategic planning and risk mitigation. © 2024 IEEE.

关键词： Neural network models

来源：评论

学校读者我要写书评

暂无评论

Proactive Robot Control for Collaborative Manipulation Using Human Intent

Proactive Robot Control for Collaborative Manipulation Using...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Zhanibek Rysbek Siyu Li Afagh Mehri Shervedani Miloš Žefran Department of Electrical and Computer Engineering Robotics Laboratory the University of Illinois at Chicago Chicago IL USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This work is motivated by the ability of humans to communicate the desired destination of motion through back-and-forth force exchanges. Inherent to these exchanges is also the ability to dynamically assign a role to each participant, either taking the initiative or deferring to the partner’s lead. In this paper, we propose a hierarchical robot control framework that emulates human behavior in communicating a motion destination to a human collaborator and in responding to their actions. At the top level, the controller consists of a set of finite-state machines corresponding to different levels of commitment of the robot to its desired goal configuration. The control architecture is loosely based on the human strategy observed in the human-human experiments, and the key component is a real-time intent recognizer that helps the robot respond to human actions. We describe the details of the control framework, feature engineering and training process of the intent recognition. The proposed controller was implemented on a UR10e robot (Universal Robots) and evaluated through human studies. The experiments show that the robot correctly recognizes and responds to human input, communicates its intent clearly, and resolves conflict. We report success rates and draw comparisons with human-human experiments to demonstrate the effectiveness of the approach.

关键词： Training Robot control Force Collaboration Process control Automata Lead

来源：评论

学校读者我要写书评

暂无评论

Protein-Folding Inspired Programmable Control System for Robot Swarms

Protein-Folding Inspired Programmable Control System for Rob...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhang, Feng Gu, Yuping Wang, Zebin Yuan, Shuai Yang, Yongliang School of Electrical and Control Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110106 China School of Computer Science and Engineering Shenyang Jianzhu University Liaoning Shenyang110168 China

ISBN: (纸本)9781665481090

In swarm robotics, most of the control algorithms are inspired by the behaviors of animal swarms. The capability gap between robots and animals, however, hinders the reliability of these algorithms. Toward developing reliable algorithms of robot swarms, a promising solution is learning from the collective behaviors of low-intelligent natural swarms, such as cell collectives and molecular assemblies. Here, we proposed a programmable control system inspired by protein folding. Using our homemade RoboFold platform, we demonstrated a protein-folding inspired programmable control method for robot swarms. By programming and designing the sequence of a thread of protein-like robots, the developed system can mimic the formation of hierarchical structures in robot swarms as the three-level of protein structures. We quantitatively characterized the specific features of self-organized morphologies. The experimental results together demonstrated the feasibility of this method. To summarize, this work successfully translated the principles of protein-folding into programming methods to control the morphology of robot swarms. Considering that the protein folding problem is essentially a physicochemical problem, this system is not only beneficial for the control of swarm robots but also has the potential to develop into a tool for studying the protein folding problem. © 2024 IEEE.

关键词： Robot programming

来源：评论

学校读者我要写书评

暂无评论

Enhancement of Two-Photon Fluorescence Microscopy Through Auxiliary Microspheres for Microscopic Observation 14

Enhancement of Two-Photon Fluorescence Microscopy Through Au...

引用

14th IEEE International Conference on Cyber Technology in Automation, Control, and intelligent Systems, CYBER 2024

作者： Zhang, Feng Jin, Zijian Jiang, Chaodi Yuan, Shuai Yang, Yongliang Wang, Xiaoduo School of Electrical & Control Engineering Shenyang Jianzhu University Liaoning Province Shenyang110168 China School of Computer Science and Engineering Shenyang Jianzhu University Liaoning Province Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798331506056

At present, it is still a great challenge to improve the observation accuracy of two-photon fluorescence microscope. A new method that using auxiliary microspheres as movable components on the sample is proposed to solve this challenge in this study, it can improve high-resolution imaging. In experiments using two-photon fluorescence microscopy, the half-width height (FWHM) of red fluorescent nanoparticles with a diameter of 20 nm was observed to be 296 nm using a primitive microscope system. In this paper by combining barium titanate microspheres with two-photon fluorescence microscopy, the accuracy of the point spread function of the nanoparticles can be improved by a factor of about 1.65, which results in a significant reduction of their half-width height measurements to 179 nm. The research is of great significance to improve the resolution of two-photon fluorescence microscope. This progress is very valuable for studying biological tissues and cell structures, it provides a new impetus for the sustainable development in the microscopic imaging field. © 2024 IEEE.

关键词： Microspheres

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：