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IEEE International Conference on robotics and automation (ICRA)

作者： R.C. Luo R.E. Mullen D.E. Wessell Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used as an integral part of the entire tracking system. The eye-in-hand system is used to characterize the object trajectory in real time, using a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that are extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the initial results is presented.< >

关键词： Adaptive systems Adaptive optics Image motion analysis intelligent robots Robot vision systems Optical sensors Robot sensing systems Cameras Machine vision intelligent systems

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The Role Of Multisensory Integration And Fusion In The Operation Of Mobile Robots

The Role Of Multisensory Integration And Fusion In The Opera...

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IEEE International Workshop on intelligent Robots

作者： Ren C. Luo M.G. Kay Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

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Visually Guided Robotic System For Flexible Manufacturing automation

Visually Guided Robotic System For Flexible Manufacturing Au...

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Annual Conference of Industrial Electronics Society

作者： R.C. Luo R.E. Mullen Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

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Approaches on multi-sensor fusion under time-evolving conditions

Approaches on multi-sensor fusion under time-evolving condit...

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IEEE International Symposium on intelligent Control (ISIC)

作者： R.C. Luo W.S. Yang M.-H. Lin Robotics and Intelligent Systems Laboratory Electrical and Computer Engineering Department North Carolina State University Raleigh NC USA Dept. of Electr. & Comput. Eng. North Carolina State Univ. Raleigh NC USA

A paradigm for optimum estimation of fused multiple sensor data is developed in order to best use the sensor information in the time evolving environment. Two basic approaches have been developed: dynamic moving quadratic curve fitting and weighted least mean square error. These two approaches are shown to be advantageous in terms of accuracy, speed, and versatility. The theoretical frameworks presented are supported by sets of simulation data.< >

关键词： Sensor fusion Robot sensing systems intelligent robots intelligent sensors Sensor systems Uncertainty Military aircraft Machine intelligence Mobile robots Sensor phenomena and characterization

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Vertical integration for robot assembly cells

Vertical integration for robot assembly cells

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IEEE International Conference on robotics and automation (ICRA)

作者： R. Kelley Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Vertical integration of transformation of abstract assembly task descriptions into task execution commands is needed to overcome the fundamental factors which limit the widespread application of current robotic systems. These factors are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site robot control programming. These requirements arise because current robotic systems do not have an understanding of the robot cell environment. Further, these systems are not able to react rationally to non-deterministic events which occur during task execution. A research plan which is aimed at the systematic incorporation of limited amounts of machine intelligence into robot task planning and execution is outlined.

关键词： Robotic assembly Robot kinematics robotics and automation Robot sensing systems Robot programming Machine intelligence Service robots intelligent robots Assembly systems Robot control

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Analytical Design of intelligent Machines

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IFAC Proceedings Volumes 1985年第16期18卷 139-144页

作者： K.P. Valavanis G.N. Saridis Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180-3590 USA

The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the structure of a Hierarchically intelligent Control System, composed of three levels hierarchically ordered according to the principle of "increasing intelligence with decreasing precision," namely: the organization, the coordination and the hardware control levels. The behavior of such a machine may be managed by controls with special considerations and its "intelligence" is directly related to the derivation or a compatible measure that associates the intelligence of the higher levels with the precision of execution of the lower levels. It is shown that the concept of entropy as defined in Information Theory and Theoretical Thermodynamics is a sufficient analytic measure that unifies the treatment of all the levels of an intelligent machine as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision (constraint) such that it minimizes its total entropy

关键词： Hierarchical compatible flow of knowledge machine knowledge machine intelligence

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Understanding, Uncertainty and Robot Task Execution

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IFAC Proceedings Volumes 1985年第16期18卷 331-335页

作者： R.B. Kelly S. Bonner Robotics and Automation Laboratory. Department of Electrical Computer and Systems Engineering Renssclacr Politechnic Institute. Troy NY 12180-3590. USA

Fundamental factors limiting the widespread application of current robotic systems are the requirements for precise control of the robot task environment, custom-designed fixtures and end-effectors, and on-site control program development. These requirements arise because current robotic systems do not have an understanding of the robot task environment. Further, these systems are not able to react intelligently to non-deterministic events which occur during task execution. This paper examines the nature of understanding and its use to resolve uncertainty as it relates to robot task execution. Then a research plan which is aimed at the systematic incorporation of understanding into the robot task environment is outlined.

关键词： Advanced automation machine intelligence robot system programming robot task planning

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Line Drawing Guided Progressive Inpainting for Mural Damage

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Journal on Computing and Cultural Heritage 1000年

作者： Luxi Li Qin Zou Fan Zhang Hongkai Yu Long Chen Chengfang Song Xianfeng Huang Xiaoguang Wang Qingquan Li Intelligent Computing Laboratory for Cultural Heritage Wuhan University China School of Computer Science Wuhan University China State Key Laboratory of LIESMARS Wuhan University China Department of Electrical Engineering and Computer Science Cleveland State University USA Institute of Automation Chinese Academy of Sciences China Guangdong Laboratory of Artificial Intelligence and Digital Economy SZ) China

Mural image inpainting is far less explored compared to its natural image counterpart and remains largely unsolved. Most existing image-inpainting methods tend to take the target image as the only input and directly repair the damage to generate a visually plausible result. These methods obtain high performance in restoration or completion of some pre-defined objects, e.g., human face, fabric texture, and printed texts, etc., however, are not suitable for repairing murals with varying subjects and large damaged areas. Moreover, due to discrete colors in paints, mural inpainting may suffer from apparent color bias. To this end, in this paper, we propose a line drawing guided progressive mural inpainting method. It divides the inpainting process into two steps: structure reconstruction and color correction, implemented by a structure reconstruction network (SRN) and a color correction network (CCN), respectively. In structure reconstruction, SRN utilizes the line drawing as an assistant to achieve large-scale content authenticity and structural stability. In color correction, CCN operates a local color adjustment for missing pixels which reduces the negative effects of color bias and edge jumping. The proposed approach is evaluated against the current state-of-the-art image inpainting methods. Qualitative and quantitative results demonstrate the superiority of the proposed method in mural image inpainting. The codes and data are available at https://***/qinnzou/mural-image-inpainting.

关键词： Mural inpainting cultural heritage mural image dataset image inpainting image restoration

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Manufacturing Systems Control Design 1

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丛书名： Advances in Industrial Control

1000年

作者： Stjepan Bogdan Zdenko Kovačić Frank L. Lewis José Mireles

ISBN: (数字)9781846283345

ISBN: (纸本)9781852339821;9781849969895

The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In some areas of manufacturing, the elements of a flexible manufacturing system form the key components of the process line. These key components are four-fold: a set of programmable robots and machines, an automated materia- handling system that allows parts to be freely routed and re-routed, a buffer storage system where parts and partly-assembled components can wait until required for further processing and assembly and finally, a supervisory control system. The technology employed to coordinate and control all these components as a working system is usually based on programmable logic controllers. The use of this automation hardware and software in manufacturing is designed to yield significant cost reductions and to enhance quality.

关键词： Control and Systems Theory Industrial and Production engineering Manufacturing, Machines, Tools, Processes Simulation and Modeling Linear and Multilinear Algebras, Matrix Theory Industrial Organization

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An X Language-Driven Framework for Systematic Development of Digital Twin Healthcare Systems

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ACM Transactions on Multimedia Computing, Communications, and Applications 1000年

作者： Kunyu Xie Lin Zhang Yuan Yang Xiaohe Li Ridha Khedri Zhen Chen M. Jamal Deen Simulation Technology Innovation Center Hangzhou International Innovation Institute of Beihang University Hangzhou 311115 Zhejiang China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China State Key Laboratory of Intelligent Manufacturing Systems Technology Beijing 100191 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China Shenzhen Third People’s Hospital & Second Hospital Affiliated to Southern University of Science and Technology Shenzhen 518112 Guangdong China Dept. of Computing and Software McMaster University Hamilton Ontario Canada L8S 4K1 Department of Electrical and Computer Engineering McMaster University Hamilton ON L8S 4L8 Canada

The rapid advancements in big data and the Internet of Things (IoT) have significantly accelerated the digital transformation of medical institutions, leading to the widespread adoption of Digital Twin Healthcare (DTH). The Cloud DTH Platform (CDTH) serves as a cloud-based framework that integrates DTH models, healthcare resources, patient data, and medical services. By leveraging real-time data from medical devices, the CDTH platform enables intelligent healthcare services such as disease prediction and medical resource optimization. However, the platform functions as a system of systems (SoS), comprising interconnected yet independent healthcare services. This complexity is further compounded by the integration of both black-box AI models and domain-specific mechanistic models, which pose challenges in ensuring the interpretability and trustworthiness of DTH models. To address these challenges, we propose a Model-Based Systems engineering (MBSE)-driven DTH modeling methodology derived from systematic requirement and functional analyses. To implement this methodology effectively, we introduce a DTH model development approach using the X language, along with a comprehensive toolchain designed to streamline the development process. Together, this methodology and toolchain form a robust framework that enables engineers to efficiently develop interpretable and trustworthy DTH models for the CDTH platform. By integrating domain-specific mechanistic models with AI algorithms, the framework enhances model transparency and reliability. Finally, we validate our approach through a case study involving elderly patient care, demonstrating its effectiveness in supporting the development of DTH models that meet healthcare and interpretability requirements.

关键词： Digital Twin Model-based system engineering X Language Medical Cyber-Physical Systems Digital Twin Healthcare Design

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