检索结果-内蒙古大学图书馆

International Conference on intelligent Transportation

作者： Tiago Barros Luís Garrote Martin Aleksandrov Cristiano Premebida Urbano J. Nunes Department of Electrical and Computer Engineering University of Coimbra Institute of Systems and Robotics Portugal Dahlem Center for Machine Learning and Robotics Freie Universität Berlin Berlin

Autonomous driving systems often require reliable loop closure detection to guarantee reduced localization drift. Recently, 3D LiDAR-based localization methods have used retrieval-based place recognition to find revisited places efficiently. However, when deployed in challenging real-world scenarios, the place recognition models become more complex, which comes at the cost of high computational demand. This work tackles this problem from an information-retrieval perspective, adopting a first-retrieve-then-re-ranking paradigm, where an initial loop candidate ranking, generated from a 3D place recognition model, is re-ordered by a proposed lightweight transformer-based re-ranking approach (TReR). The proposed approach relies on global descriptors only, being agnostic to the place recognition model. The experimental evaluation, conducted on the KITTI Odometry dataset, where we compared TReR with s.o.t.a. re-ranking approaches such as αQE and SGV, indicate the robustness and efficiency when compared to αQE while offering a good trade-off between robustness and efficiency when compared to SGV.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design of an intelligent Self Balancing Inspection Robot for Industrial Monitoring

Design of an Intelligent Self Balancing Inspection Robot for...

引用

Computing and Data Analytics (ICCDA), International Conference on

作者： Mohammed Abaker Zeashan Khan Samir Mekid Department of Electrical Engineering Islamic University of Madinah Medina Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing & Robotics (IRC-IMR) KFUPM Dhahran Saudi Arabia

ISBN: (数字)9798331542573

ISBN: (纸本)9798331542580

This paper describes the design steps of an intelligent segway robot for monitoring an industrial plant, and detecting corrosion and leakages using camera video. The self-balancing inspection robot (SBIR) integrates robotics, embedded control systems, and computer vision based mobile platform for autonomous inspection. The design cycle involves theoretical modeling and empirical analysis to select hardware components and develop a Segway robot platform using a PID control architecture for stable operation in industrial settings. Moreover, a WebSocket-based remote control system allows the operator to control the robot from a distance. The robot is able to detect real-time gas leakages using YOLOv8. The study demonstrates the efficacy of the mobile robots in enhancing safety and efficiency in industrial inspections. The project video can be seen here: https://***/aieaBv4d5k

关键词： Service robots Robot vision systems Process control Inspection Streaming media Real-time systems Safety Robots Monitoring Remote control

来源：评论

学校读者我要写书评

暂无评论

A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

A Graph-Based Self-Calibration Technique for Cable-Driven Ro...

引用

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

作者： M. R. Dindarloo A. S. Mirjalili S. A. Khalilpour R. Khorrambakht Stephan Weiss H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Tandon School of Engineering Control/Robotics Research Laboratory New York University Brooklyn NY Department of Smart Systems Technologies University of Klagenfurt Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.

关键词： Meters Accuracy Perturbation methods Kinematics Robot sensing systems End effectors Software Calibration Sensors Finite element analysis

来源：评论

学校读者我要写书评

暂无评论

Accelerating Memory and I/O Intensive Hpc Applications Using Hardware Compressions

SSRN

引用

SSRN 2024年

作者： AlSaleh, Saleh Elrabaa, Muhammad E.S. El-Maleh, Aiman Daud, Khaled Hroub, Ayman Mudawar, Muhamed Tonellot, Thierry Computer Engineering Department Interdisciplinary Research Center for Intelligent Secure Systems King Fahd University of Petroleum and Minerals Dhahran Saudi Arabia Department of Electrical and Computer Engineering Birzeit University Ramallah Birzeit Palestine Saudi ARAMCO Dhahran Saudi Arabia

Recently, compression of intermediate data has been proposed to accelerate of memory and I/O intensive high-performance computing (HPC) applications. Accelerator-based com- pression/decompression is proposed to hide the storage latency of large intermediate data generated/consumed by the application that cannot fit in the node’s memory. In this work, such a scheme has been evaluated using several compression frameworks (CPU, GPU, and FPGA-based). A novel FPGA-based compression/decompression scheme was developed that completely overlaps the movement of the application’s data with the application’s compute kernels on the CPU. This yields applications’ performance levels on-par with utilizing memory-only storage buffers. A simple lossy compression scheme was developed and implemented. This scheme achieved ∼5X compression ratio at 2−6 or ∼1.5% relative error, which is similar to the best in-class compression techniques (at the same point-wise relative error). Experimental results showed that the new FPGA-based compression achieves application’s performance levels very close to using a memory buffer for intermediate data with significant speedup over direct disk storage. Experiments also showed that compared to CPU- and GPU-based compression frameworks, it achieves better performance levels at a fraction of the power consumption. © 2024, The Authors. All rights reserved.

关键词： Field programmable gate arrays (FPGA)

来源：评论

学校读者我要写书评

暂无评论

Encrypted Finite-Horizon Energy-to-Peak State Estimation for Time-Varying systems Under Eavesdropping Attacks: Tackling Secrecy Capacity

引用

IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 985-996页

作者： Lei Zou Zidong Wang Bo Shen Hongli Dong Guoping Lu College of Information Science and Technology Donghua UniversityShanghai 201620 Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of EducationShanghai 201620China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Department of Computer Science Brunel University LondonUxbridgeMiddlesex UB83PHUK Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318 Sanya Offshore Oil&Gas Research Institute Northeast Petroleum UniversitySanya 572024China School of Electrical Engineering Nantong UniversityNantong 226019China

This paper is concerned with the problem of finitehorizon energy-to-peak state estimation for a class of networked linear time-varying *** to the inherent vulnerability of network-based communication,the measurement signals transmitted over a communication network might be intercepted by potential *** avoid information leakage,by resorting to an artificial-noise-assisted method,we develop a novel encryption-decryption scheme to ensure that the transmitted signal is composed of the raw measurement and an artificial-noise term.A special evaluation index named secrecy capacity is employed to assess the information security of signal transmissions under the developed encryption-decryption *** purpose of the addressed problem is to design an encryptiondecryption scheme and a state estimator such that:1)the desired secrecy capacity is ensured;and 2)the required finite-horizon–l_(2)-l_(∞)performance is *** conditions are established on the existence of the encryption-decryption mechanism and the finite-horizon state ***,simulation results are proposed to show the effectiveness of our proposed encryption-decryption-based state estimation scheme.

关键词： Artificial-noise-assisted technique eavesdropping encryption-decryption scheme energy-to-peak state estimation finitehorizon state estimation

来源：评论

学校读者我要写书评

暂无评论

Optimizing the Ferroelectric Properties of Hf1-xZrxO2 Films via Crystal Orientation

引用

ACS Applied Electronic Materials 2023年第2期5卷 1114-1122页

作者： Teng, Chih-Yu Cheng, Chia-Chieh Li, Kai-Shin Hu, Chenming Lin, Jhih-Min Lin, Bi-Hsuan Tang, Mau-Tsu Tseng, Yuan-Chieh Department of Materials Science & Engineering National Yang Ming Chiao Tung University Hsinchu30010 Taiwan Taiwan Semiconductor Research Institute Hsinchu30010 Taiwan Intelligent Semiconductor Nano-system Technology Research Center National Yang Ming Chiao Tung University 1001 Ta Hsueh Road Hsinchu30010 Taiwan Department of Electrical Engineering and Computer Sciences University of California BerkeleyCA94720 United States National Synchrotron Radiation Research Center Hsinchu30076 Taiwan

This study exploits the coupling of crystallographic and ferroelectric (FE) properties in an effort to enhance the FE performance of Hf1-xZrxO2 (HZO). The proposed scheme involved optimizing the orientation of orthorhombic (O)-phase crystals along the preferred polarization axis by applying an electric pulse during annealing. The proposed electric pulse annealing (EPA) process reduced the need for wake-up treatment;however, it imposed limited changes on the amount of the O-phase and leakage performance, compared with rapid thermal annealing (RTA). Excessively high EPA doses induced an O → M (monoclinic) phase transformation, which sacrificed FE polarization but preserved the wake-up-free-like properties. Our results demonstrate that optimizing the orientation of polycrystalline O-phase may be as important as maximizing the quantity of O-phase for HZO applications. © 2023 American Chemical Society.

关键词： Ferroelectricity

来源：评论

学校读者我要写书评

暂无评论

Polarization‑entangled photon‑pair source with van der Waals 3R‑WS_(2) crystal

引用

eLight 2024年第1期4卷 99-106页

作者： Jiangang Feng Yun‑Kun Wu Ruihuan Duan Jun Wang Weijin Chen Jiazhang Qin Zheng Liu Guang‑Can Guo Xi‑Feng Ren Cheng‑Wei Qiu Department of Electrical and Computer Engineering National University of SingaporeSingapore 117583Singapore CAS Key Laboratory of Quantum Information University of Science and Technology of ChinaHefei 230026China CAS Center for Excellence in Quantum Information and Quantum Physics University of Science and Technology of ChinaHefei 230026China Hefei National Laboratory University of Science and Technology of ChinaHefei 230088China School of Materials Science and Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Optical Science and Engineering and Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433China

Ultracompact entangled photon sources are pivotal to miniaturized quantum photonic *** der Waals(vdW)nonlinear crystals promise efficient photon-pair generation and on-chip monolithic integration with nanophotonic ***,it remains challenging to generate maximally entangled Bell states of photon pairs with high purity,generation rate,and fidelity required for practical ***,we realize a polarization-entangled photon-pair source based on spontaneous parametric down conversion in an ultrathin rhombohedral tungsten disulfide(3R-WS2)*** vdW entangled photonic source exhibits a high photon-pair purity with a coincidenceto-accidental ratio of above 800,a generation rate of 31 Hz,and two maximally polarization-entangled Bell states with fidelities exceeding 0.93 and entanglement degree over *** results stem from scalable optical nonlinearity,enhanced second-order susceptibility by electronic transitions,and a well-defined symmetry-enabled selection rule inherent in *** polarization entangled photon source can be integrated with photonic structures for generating more complex entangled states,thus paving an avenue for advanced quantum photonic systems toward computation and metrology.

关键词： purity maximal Polarization

来源：评论

学校读者我要写书评

暂无评论

Review of Inference Time Prediction Approaches of DNN: Emphasis on Service robots with cloud-edge-device architecture

Review of Inference Time Prediction Approaches of DNN: Empha...

引用

IEEE International Conference on robotics and Biomimetics

作者： Tian Xiang Qiwei Meng Ji Zhang Beibei Zhang Wei Song Anhuan Xie Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong HKSAR China Research Center for Intelligent Computing Software Research Institute of Intelligent Computing Zhejiang Laboratory Hangzhou China Electrical and Computer Engineering Dalhousie University Halifax Canada

In recent years, the global robot market has witnessed substantial growth, particularly in the domain of service robots. Despite their expanding presence, service robots encounter limitations when operating autonomously in unstructured environments, primarily due to their constrained computational capacities. As a solution, the fusion of cloud and edge computing resources becomes imperative to expedite task inference and enhance scenario perception capabilities. The integration of cloud-edge-device models holds significant promise in bolstering the operational efficiency of robots. This entails the dynamic partitioning of intricate robotic tasks, executed collaboratively across cloud, edge, and device resources. In this landscape, deep neural network (DNN) models play a pivotal role in facilitating a wide array of robotic tasks. The inference time for each layer of a DNN model in actual deployment, emerges as a critical determinant in the model’s partitioning strategy. It also serves as an important metric influencing the model’s suitability for a specific hardware platform. This article presents an overview of recent advancements in predicting inference and training time of DNN models, summarizes the related methods, and finally discusses the challenges in this field and the research that can be studied in the future.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Preliminary Design and Performance Analysis of A Solar-Powered Jumping-Gliding Martian Aircraft

Preliminary Design and Performance Analysis of A Solar-Power...

引用

IEEE International Conference on robotics and Biomimetics

作者： Bin Lou Anhuan Xie Shiqiang Zhu Yaru Liu Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

A solar-powered jumping-gliding Martian aircraft is proposed as a new tool for Mars exploration, designed especially to perform long-term wide-range detection. A completely new way of continues detection performed by aircraft is created. A preliminary design of the jumping-gliding Martian aircraft is carried out while its flight performance is analyzed afterwards. The conceptual design of a large-aspect ratio foldable wing with a thin fuselage and a jumping device is put forward. The solar energy model, aerodynamic model and weight mode are all built. The energy balance models are established for the periods of detecting mission that the aircraft lands on the ground for harvesting solar energy and flies in the sky. The gliding performance of this aircraft is particularly discussed here.

关键词： Performance evaluation Potential energy Atmospheric modeling Photovoltaic cells Biological system modeling Solar energy Aerodynamics

来源：评论

学校读者我要写书评

暂无评论

FEIF: Feature Excitation and Interactive Fusion for 6D Object Pose Estimation

FEIF: Feature Excitation and Interactive Fusion for 6D Objec...

引用

IEEE International Conference on robotics and Biomimetics

作者： Qiwei Meng Shiqiang Zhu Jianjun Gu Zheyuan Lin Ling Zhong Wei Song Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

In this paper, we present FEIF, a novel framework for 6D object pose estimation from a single RGBD image. Compared with previous approaches, this model fully leverages the complementary RGB and depth information through lay-erwise feature excitation and interactive fusion, thus improving the effectiveness and robustness of extracted features. The representative RGBD features can be subsequently applied for object keypoints prediction and pose computation. In addition, our FEIF includes a self-evaluation module to make robots aware of the confidence of pose estimation, so they are flexible to take the corresponding strategy for following tasks. Experiment results prove the SOTA performance of our model on LineMOD, Occlusion-LineMOD and YCB-Video datasets, and we also demonstrate its applicability and robustness in real-world robotic manipulation.

关键词： Technological innovation Computational modeling Biomimetics Pose estimation Feature extraction Robustness Data mining

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：