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An Image segmentation method by multi-scale local thresholding based on class uncertainty theory

An Image segmentation method by multi-scale local thresholdi...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhou, Likai Jiang, Yuyang Liang, Guoyuan Wu, Xinyu Zhu, Jiafeng Xiang, Huaikun Shenzhen Institutes of Advanced Technology CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences China School of Automotive and Transportation Engineering Shenzhen Polytechnic Shenzhen Guangdong Province China School of Math Sun Yat-sen University Guangzhou Guangdong Province China

ISBN: (纸本)9781728163215

Image segmentation is one of the most important core technologies in the field of image processing and computer vision, which has lots of applications specifically in medical image analysis. Due to medical imaging mechanism, medical images usually suffer from heavy noises, uneven intensity distribution and fuzzy boundaries between biological tissues. That makes classical segmentation methods based on global or local thresholding difficult to get accurate results. This paper proposes an image segmentation method by multi-scale local thresholding based on class uncertainty theory. Firstly, the original image is divided into a set of sub-regions with different scales by using a multi-layer pyramid structure. Secondly, the energy function with inequality constraints is constructed based on class uncertainty and region uniformity. Then by an iterative process, the optimal local threshold for each sub-region are calculated by an optimization algorithm for each layer until the final optimal threshold mask is determined for image segmentation. Experimental results verify that the proposed method can effectively eliminate the interferences caused by image noises, intensity unevenness and fuzzy boundaries, and preserve details of object structure while segmenting the object from the background. Segmentation results demonstrate the superior performance of the proposed method by comparison with supervised range-constrained thresholding methods (RCOtsu), classical global/local Otsu method, and the minimization of homogeneity- and uncertainty-based energy method (MHUE). © 2019 IEEE.

关键词： Image segmentation

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Depth map inpainting using a fully convolutional network

Depth map inpainting using a fully convolutional network

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Xiong, Rong Liu, Guodong Qu, Yangyang Ou, Yongsheng 1068 Xueyuan Blvd Shenzhen China Shenzhen College of Advanced Tech-nology University of Chinese Academy of Sciences 1068 Xueyuan Blvd Shenzhen China Guangdong Provin-cial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences 1068 Xueyuan Blvd Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology 1068 Xueyuan Blvd Shenzhen China

ISBN: (纸本)9781728163215

Emerging consumer depth cameras, such as Microsoft Kinect and ASUS Xtion Pro, are low-cost depth sensors which can capture the depth maps of the scene, and obtaining color images of the corresponding scenes at the same time. Depth information is very important for computer vision applications, and to acquire the accurate depth information is challengeable. However, due to the limitations of imaging principle, depth maps acquired by such devices are often noisy and will lose depth values for certain areas. In this paper, we present a novel method for depth inpainting problem using a Fully Convolutional Network (FCN). The network has two input branches. One branch is a color image that has been processed by a convoluted hidden layer, and the other one is the missing depth map. Besides, we add a shortcut in order to improve the feature extraction capability of the network. We have validated our method in the Middlebury Stereo Dataset and real-world scenes captured by Kinect 2.0. Experiments show that our method has better applicability and reliability than traditional methods in depth inpainting. © 2019 IEEE.

关键词： Convolution

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BTI Aging Monitoring based on SRAM Start-up Behavior

BTI Aging Monitoring based on SRAM Start-up Behavior

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Asian Test Symposium (ATS)

作者： Shengyu Duan Peng Wang Gaole Sai School of Computer Engineering and Science Shanghai University Shanghai China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences China State Key Laboratory of Mathematical Engineering and Advanced Computing Wuxi China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China

ISBN: (数字)9781728174679

ISBN: (纸本)9781728174686

Bias Temperature Instability (BTI) is one of the dominant CMOS aging mechanisms. It causes time-dependent variation, threatening circuit lifetime reliability. BTI-induced circuit errors are not detectable at the fabrication stage. On-line monitoring schemes are therefore necessary to capture the degradations during the operational time. Traditional aging monitoring techniques exhibit high implementation complexity and low stability. In this paper, we propose a BTI monitoring approach by simply tracking the start-up behavior of SRAM cells. SRAM is a widely used on-chip device in many applications. We study the impact of BTI for SRAM start-up values and age some cells in a manipulated manner. The BTI degradation is evaluated based on the number of SRAM cells starting with a certain value. This technique can be used to estimate the degradation for on-chip logic circuits without introducing additional circuitry, and thus has very low implementation complexity. We use an SRAM array with 1024 cells to estimate the degradations for multiple logic circuits, and show the average mean absolute percentage error as 8.48%. In addition, this technique is robust considering process, voltage and temperature variations.

关键词： Degradation Monitoring Logic circuits Transistors SRAM cells Aging System-on-chip

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A model predictive based UUV control design from kinematic to dynamic tracking control 36

A model predictive based UUV control design from kinematic t...

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第36届中国控制会议

作者： Bing Sun Wenyang Gan Daqi Zhu Wei Zhang Simon X Yang Lab.of Underwater Vehicles and Intelligent Systems Shanghai Maritime University Advanced Robotics and Intelligent Systems Laboratory University of Guelph

ISBN: (纸本)9781538629185

In this paper,the trajectory tracking control problem with model predictive control approach is investigated for Unmanned Underwater Vehicle(UUV) ***,the kinematic tracking controller based on model predictive control(MPC) is applied to reach the tracking control in a kinematic *** with conventional backstepping control,MPC can solve the speed jump control problem very ***,to deal with dynamic tracking control with the nonlinear UUV dynamic model,the computation cost of MPC will be tremendous and cannot meet the real-time ***,in order to deal with this problem,the MPC algorithm is cooperated with sliding mode control to reach a dynamic tracking control which can be robust with modeling uncertainty and ***,the experimental results show that the proposed method can solve speed jump and robust enough for tracking control compared with other benchmark method.

关键词： Unmanned Underwater Vehicle trajectory tracking model predictive control sliding mode control speed jump

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Online walking motion and foothold optimization for quadruped locomotion

Online walking motion and foothold optimization for quadrupe...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Winkler, Alexander W. Farshidian, Farbod Neunert, Michael Pardo, Diego Buchli, Jonas Agile and Dexterous Robotics Lab Institute of Robotics and Intelligent Systems ETHZ Zurich Switzerland

ISBN: (纸本)9781509046331

We present an algorithm that generates walking motions for quadruped robots without the use of an explicit footstep planner by simultaneously optimizing over both the Center of Mass (CoM) trajectory and the footholds. Feasibility is achieved by imposing stability constraints on the CoM related to the Zero Moment Point and explicitly enforcing kinematic constraints between the footholds and the CoM position. Given a desired goal state, the problem is solved online by a Nonlinear Programming solver to generate the walking motion. Experimental trials show that the algorithm is able to generate walking gaits for multiple steps in milliseconds that can be executed on a real quadruped robot. © 2017 IEEE.

关键词： Nonlinear programming

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Parameter Tuning of PID Controller of Servo System Based on Particle Swarm Optimization Algorithm

Parameter Tuning of PID Controller of Servo System Based on ...

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作者： Chen Lianbo Xiong Xinhong Zheng Yousheng Zhang Yanhui Zhang Guoqing Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology School of Logistics Engineering Wuhan University of Technology

In order to improve the control precision of permanent magnet synchronous motor servo drive, a Proportional-Integral-Differential(PID) control method based on particle swarm optimization(PSO) algorithm is proposed. Firstly, the mathematical model of the permanent magnet synchronous motor was established. Then the PSO algorithm was used to adjust the parameters of the PID controller. Finally, the simulation experiment was carried out under the MATlab/Simulink environment to test its performance. Compared with the traditional manual parameters tuning, the PID controller based on PSO algorithm had better performance and better stability.

关键词： swarm Parameter Tuning of PID Controller of Servo System Based on Particle Swarm Optimization Algorithm Swarm

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Research on Position Sensorless Control of PMSM Based on Improved SMO

Research on Position Sensorless Control of PMSM Based on Imp...

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作者： Zhang Guoqing Xiong Xinhong Zheng Yousheng Zhang Yanhui Chen Lianbo Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology School of Logistics Engineering Wuhan University of Technology

The sliding mode observer（SMO） can effectively achieve the permanent magnet synchronous motor（PMSM） to perform position sensorless control, but there are still drawbacks of system chattering and high complexity. In this paper, an improved SMO is established based on hyperbolic tangent function and Kalman filter. The system chattering is effectively suppressed, and the accuracy of position and speed observation error is significantly improved without phase compensation. It is found that the convergence rate of the hyperbolic tangent function has a strong correlation with the system chattering degree and the speed observation error. When a is between 3 and 4, the speed error accuracy of the improved SMO is the optimum situation.

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Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control

Efficient kinematic planning for mobile manipulators with no...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Giftthaler, Markus Farshidian, Farbod Sandy, Timothy Stadelmann, Lukas Buchli, Jonas Agile and Dexterous Robotics Lab Institute of Robotics and Intelligent Systems ETH Zürich Switzerland

ISBN: (纸本)9781509046331

This work addresses the problem of kinematic trajectory planning for mobile manipulators with non-holonomic constraints, and holonomic operational-space tracking constraints. We obtain whole-body trajectories and time-varying kinematic feedback controllers by solving a Constrained Sequential Linear Quadratic Optimal Control problem. The employed algorithm features high efficiency through a continuous-time formulation that benefits from adaptive step-size integrators and through linear complexity in the number of integration steps. In a first application example, we solve kinematic trajectory planning problems for a 26 DoF wheeled robot. In a second example, we apply Constrained SLQ to a real-world mobile manipulator in a receding-horizon optimal control fashion, where we obtain optimal controllers and plans at rates up to 100 Hz. © 2017 IEEE.

关键词： Kinematics

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The GEM Benchmark: Natural Language Generation, its Evaluation and Metrics 1

The GEM Benchmark: Natural Language Generation, its Evaluati...

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1st Workshop on Natural Language Generation, Evaluation, and Metrics, GEM 2021

作者： Gehrmann, Sebastian Adewumi, Tosin Aggarwal, Karmanya Ammanamanchi, Pawan Sasanka Anuoluwapo, Aremu Bosselut, Antoine Chandu, Khyathi Raghavi Clinciu, Miruna Das, Dipanjan Dhole, Kaustubh D. Du, Wanyu Durmus, Esin Dušek, Ondřej Emezue, Chris Gangal, Varun Garbacea, Cristina Hashimoto, Tatsunori Hou, Yufang Jernite, Yacine Jhamtani, Harsh Ji, Yangfeng Jolly, Shailza Kale, Mihir Kumar, Dhruv Ladhak, Faisal Madaan, Aman Maddela, Mounica Mahajan, Khyati Mahamood, Saad Majumder, Bodhisattwa Prasad Martins, Pedro Henrique McMillan-Major, Angelina Mille, Simon van Miltenburg, Emiel Nadeem, Moin Narayan, Shashi Nikolaev, Vitaly Niyongabo, Rubungo Andre Osei, Salomey Parikh, Ankur Perez-Beltrachini, Laura Rao, Niranjan Ramesh Raunak, Vikas Rodriguez, Juan Diego Santhanam, Sashank Sedoc, João Sellam, Thibault Shaikh, Samira Shimorina, Anastasia Cabezudo, Marco Antonio Sobrevilla Strobelt, Hendrik Subramani, Nishant Xu, Wei Yang, Diyi Yerukola, Akhila Zhou, Jiawei Amelia R&D New York United States Carnegie Mellon University Charles University Prague United States Columbia University Cornell University DFKI Germany Edinburgh Centre for Robotics Georgia Tech Google Research Harvard University Heriot-Watt University Hugging Face IBM Research IIIT Delhi India IIIT Hyderabad India Instituto de Telecomunicações Intelligent Systems Lab Intel Kwame Nkrumah University of Science and Technology Luleå University of Technology Masakhane South Africa Massachusetts Institute of Technology Microsoft National Institute of Technology Karnataka India New York University United States Pompeu Fabra University Samsung Research Stanford University United States Technical University of Kaiserslautern Technical University Munich Germany Tilburg University Trivago Université de Lorraine University of North Carolina Charlotte University of Edinburgh University of Electronic Science and Technology of China University of California San Diego United States University of Lagos University of Michigan Ann Arbor United States University of São Paulo Brazil University of Texas at Austin United States University of Virginia United States University of Washington United States University of Waterloo

ISBN: (纸本)9781954085671

We introduce GEM, a living benchmark for natural language Generation (NLG), its Evaluation, and Metrics. Measuring progress in NLG relies on a constantly evolving ecosystem of automated metrics, datasets, and human evaluation standards. Due to this moving target, new models often still evaluate on divergent anglo-centric corpora with well-established, but flawed, metrics. This disconnect makes it challenging to identify the limitations of current models and opportunities for progress. Addressing this limitation, GEM provides an environment in which models can easily be applied to a wide set of tasks and in which evaluation strategies can be tested. Regular updates to the benchmark will help NLG research become more multilingual and evolve the challenge alongside models. This paper serves as the description of the data for which we are organizing a shared task at our ACL 2021 Workshop and to which we invite the entire NLG community to participate. © 2021 Association for Computational Linguistics

关键词： Natural language processing systems

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A lightweight soft exoskeleton in lower limb assistance

A lightweight soft exoskeleton in lower limb assistance

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Chinese Automation Congress (CAC)

作者： Yu Zhang Zhuo Wang Chunjie Chen Tao Fang Ruimei Sun Yanjie Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen China ShenZhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China BeiJing Aerospace Wanyuan Science Technology Co. Ltd. Beijing China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The soft exoskeleton is a wearable robot which is functioned to improve the capacity of human walking or loading. The metabolic of human is increase with the additional load, one integrated design method is used to reduce this effect in this paper. Meanwhile, in order to enhance the convenience and decrease the disturbance to wearer, the wireless module is used to replace the signal line. The nonlinear characteristics and uncertainty of flexible material make the control of soft exoskeleton system be a challenge, a switching controller is proposed to deal with this problem in this paper. It consists of Iterative learning control (ILC) based stable controller and admittance control based unstable controller, functioned with wearers walking stable and not. An experiment of force tracking is conducted to verify the controller performance in this paper, and the result demonstrate that the tracking is well after 20 iteration. In order to evaluate the performance of assistance of soft exoskeleton, five health adult male take part in metabolic experiment By compare the metabolic rate between the wear soft exoskeleton and not wear, the metabolic rate are decrease 7.33%, 14.56% and 10.45% with the walking speed of 3km/h, 5km/h and 7km/h, which are corresponding absolute values decrease of 0.46W/kg, 1.60W/kg and 1.21W/kg respectively.

关键词： AC motors Mechanical cables Wireless communication Pulleys Microprocessors Micromechanical devices Germanium

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