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检索条件"机构=Intelligent System and Robotic Laboratory Institute on Advanced Technology"

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Semantic and Neighborhood Preserving Dictionar Learning for Symmetric Positive-Definite Matrice

Semantic and Neighborhood Preserving Dictionar Learning for ...

引用

2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Daming Li Lei Chen Fei Wang The School of Electronic and Information Engineering Xi’an Jiaotong University Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering

The symmetric positive-definite(SPD) matrices form a Riemannian manifold, and sparse representation on the SPD matrix manifold has received increasingly attentions recently. In this paper, we propose a semantic and neighborhood preserving dictionary learning method for the sparse representation on the SPD matrix manifold. The semantic preserving ensures that the semantic similarity information can be kept while sparse representation, and the neighborhood preserving is introduced to better reflect the geometrical structure of the manifold. To effectively model the semantic similarity of the SPD matrices and the geometrical structure, a Laplacian smooth operator is incorporated into the objective function of dictionary *** the learned dictionary, the obtained sparse representations of SPD matrices are more discriminative. Experimental results on publicly available datasets demonstrate the effectiveness of the proposed method.

关键词： Dictionary learning symmetric positive-definite matrix sparse representation Riemannian manifold

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A kind of online self-tuning smith predictor

A kind of online self-tuning smith predictor

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IEEE International Conference on Mechatronics and Automation

作者： Xu Chen Fei Meng Xiaopeng Chen Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and System Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Key Laboratory of Intelligent Control and Decision of Comp lex System Beijing China

ISBN: (纸本)9781509023974

This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.

关键词： Delay effects Temperature control Delays Predictive models Oscillators Robots

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Virtual Constraint Based Adaptive Control for Biped Robot with Speed Regulation

Virtual Constraint Based Adaptive Control for Biped Robot wi...

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IEEE International Conference on Mechatronics and Automation

作者： Jianfei Li Yaobing Wang Dawei Zhang Li Liu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Center of Excellence for Intelligent Mechanical Systems College of Engineering Peking University Beijing China

ISBN: (纸本)9781509023974

The Virtual Holonomic Constraint (VHC) approach, with its flexibility and stability, is drawing more attentions in generating gait for biped robots. This paper generalizes the VHC approach by adding other variables such as walking speed to the constraint functions. The robot is able to walk up or down along slopes with commanded speeds, and more importantly, allows it to walk continuously and steadily in varying surfaces. In addition, the control approach named Partial Decoupling Control is used to implement the VHC, which at the first time equips the VHC approach with the parameter adaptation laws which significantly improves the stability and performance of the systems. Full dynamics simulations with a five-bar planar robot are used to illustrate the effectiveness of the proposed approach.

关键词： adaptive control virtual constraints VHC biped robot speed regulation

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Surface Plasmon Assisted Organic Photovoltaic Cells

Surface Plasmon Assisted Organic Photovoltaic Cells

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第三届新型太阳能电池学术研讨会

作者： Yanxia Cui Yuying Hao Peiqian Tong Fan Yang Yang Hao Furong Zhu Key Laboratory of Advanced Transducers and Intelligent Control System (Ministry of Education) Taiyuan University of Technology Department of Physics and Institute of Advanced Materials Hong Kong Baptist University

Organic photovoltaic(OPV)cells have been thoroughly investigated in the past decade owing to the advantages of low cost,flexibility,light weight,easy fabrication,semi-transparency and colorfulness,*** the efficiency o... 详细信息

关键词： OPV PCE Surface Plasmon Assisted Organic Photovoltaic Cells

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3D Smiling Facial Expression Recognition Based on SVM

3D Smiling Facial Expression Recognition Based on SVM

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IEEE International Conference on Mechatronics and Automation

作者： Shuming Liu Xiaopeng Chen Di Fan Xu Chen Fei Meng Qiang Huang Intelligent Robotics Institute School of Mechanical and Electrical Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for Intelligent Robots and System Key Laboratory of Biomimetic Robots and Systems

ISBN: (纸本)9781509023974

Using Kinect acquired RGB-D image to obtain a face feature parameters and three-dimensional coordinates of the characteristic parameters, and to select the characteristic parameter Facial by Candide-3 model, and feature extraction and normalization. Smile face expression data collection through Kinect, SVM collected to smiley face data classify and output the result of recognition, and the results compared with two-dimensional image of smiling face expression recognition results. Experimental results show that three-dimensional image of smiling face expression recognition accuracy than the two-dimensional image of smiling face. This research has important significance for the research and application of facial expression recognition technology.

关键词： Facial Expression Recognition Feature Extraction Support Vector Machine Kinect

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Rotating soft-Tail millimeter-scaled swimmers with superhydrophilic or superhydrophobic surfaces 6

Rotating soft-Tail millimeter-scaled swimmers with superhydr...

引用

6th IEEE RAS/EMBS International Conference on Biomedical robotics and Biomechatronics, BioRob 2016

作者： Xu, Tiantian Vong, Chi-Ian Wang, Ben Liu, Lianqing Wu, Xinyu Zhang, Li Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Shatin NT Hong Kong SAR Hong Kong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Shenzhen Research Institute Chinese University of Hong Kong Shenzhen China Chow Yuk Ho Technology Centre for Innovative Medicine Chinese University of Hong Kong Hong Kong SAR Hong Kong

ISBN: (纸本)9781509032877

Microswimmers capable of propulsion at low Reynolds numbers have great potential for numerous applications. Several kinds of artificial microswimmers, actuated by magnetic fields, with rigid helical tails have been developed. In previous works, we demonstrated that a magnetic swimmer with a soft tail could form a helical shape during rotation to propel itself at low Reynolds numbers. The advantage of compliant structures is that the high softness makes swimmers more adaptive in confined or complex environments. The interfacial friction drags are reduced by using superhydrophobic surfaces. Therefore, this paper aims to study the influence of surface and interface properties, particularly the hydrophilicity and hydrophobicity of the soft tail surface, on the swimming performance. For this, we compared the swimming performance of two millimeter-scaled swimmers with a superhydrophilic soft tail and a superhydrophobic soft tail, respectively, in viscous liquids. The two swimmers exhibit different dynamic morphologies and swimming performance with the same input parameters. The swimmer with a superhydrophobic soft tail shows higher swimming velocity than that with a superhydrophilic soft tail, except in pure glycerol. The present work provides useful informations for selecting surface coating of swimmers with soft tails at low Reynolds numbers. © 2016 IEEE.

关键词： Propulsion

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A hybrid-integrated external cavity laser with ultra-wide wavelength tuning range and high side-mode suppression

A hybrid-integrated external cavity laser with ultra-wide wa...

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Optical Fiber Communication Conference, OFC 2016

作者： Guo, Yuyao Li, Xinhang Xu, Weihan Liu, Chuxin Jin, Minhui Lu, Liangjun Xie, Jingya Stroganov, Anton Chen, Jianping Zhou, Linjie State Key Laboratory of Advanced Optical Communication Systems and Networks Shanghai Institute for Advanced Communication and Data Science Department of Electronic Engineering Shanghai Jiao Tong University Shanghai200240 China SJTU-Pinghu Institute of Intelligent Optoelectronics Pinghu314200 China Terahertz Technology Innovation Research Institute Terahertz Spectrum and Imaging Technology Cooperative Innovation Center Shanghai Key Lab of Modern Optical System University of Shanghai for Science and Technology Shanghai200093 China LIGENTEC SA EPFL Innovation Park Bâtiment L Ecublens1024 Switzerland

We present a III-V/Si3N4 hybrid-integrated tunable laser. The laser shows a record of ~170-nm tuning range with a side mode suppression ratio above 64 dB and an intrinsic linewidth below 2.8 kHz. © 2022 The Autho...

ISBN: (纸本)9781943580071

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Research of integration simulation system of space dual-arm robot

Research of integration simulation system of space dual-arm ...

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IEEE International Conference on robotics and Biomimetics, IEEE-ROBIO 2015

作者： Xiaodong, Zhang Yafang, Liu Yaobing, Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9781467396745

A set of integrated simulation system of space dual-arm robot is developed in the paper. Based on modular design concept, the system is composed of the communication module, task scheduling management module, path planning module, dynamic control module, 3D geometric model and collision detection module and the system uses C programming language and Visual Studio 2010 to realize the key algorithm while the entity model and the simulation scenarios are created by OSG (Open Scene Graph). Compared with other simulation methods, this method is stronger in visualization and post-processing, which can also realize closed-loop control of the key algorithm. Finally, the application simulations are implemented to verify the algorithms of coordinated space dual-arm robot by using this system. The results show the effectiveness of the system and verify the feasibility of mission planning. © 2015 IEEE.

关键词： Motion planning

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Automatic optimal lighting adjustment and control for vision recognition 14

Automatic optimal lighting adjustment and control for vision...

引用

14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015

作者： Cang, Nelson Yen-Chung Wu, Chin-Chia Robotic System Application Department Intelligent Robotics Division Mechanical and Systems Research Laboratory Industrial Technology Research Institute Taiwan

ISBN: (纸本)9789860460988

Lighting configuration has always affected how a vision recognition system performs. In industry application, the adjustment of lighting configuration relied on experienced engineer's manual tuning. However, this is laborious, time consuming, and sometimes not effective. To make lighting configuration easier, less time consuming, and optimal, this work proposed a fully automatic adjustment approach to tune lighting configuration, which includes lighting height, angle, and strength, based on photo-realistic rendering technique. Experiments compared semi-automatic adjustment and fully automatic adjustment approaches on an inspection task. Experiment results showed that fully automatic adjustment approach was 3.12 times faster than semi-automatic adjustment approach. Experiment also suggested lighting configurations that were more likely to give better inspection performance.

关键词： Lighting

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Multiwavlength Brillouin Erbium fiber laser sensor with high resolution

Multiwavlength Brillouin Erbium fiber laser sensor with high...

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Conference on Lasers and Electro-Optics Pacific Rim

作者： Yi Liu Mingjiang Zhang Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan 030024 P. R. China Institute of Optoelectronic Engineering College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan 030024 P. R. China

ISBN: (纸本)9781509062904

Multiwavelength Brillouin Erbium fiber laser with ultra-narrow bandwidth filter is used as a temperature sensor. It has less than 10~(-3) ℃ resolution at the 3rd-order Stokes in the short term. 3.104 MHz/℃ sensitivity of the 3rd-order Stokes wavelength are demonstrated, which is three times that of the 1st-order Stokes wavelength. A less than 0.2 ℃ temperature error is obtained for every Stokes wavelength. This proposal can provide a feasible temperature sensing scheme with high sensitivity, high precision and low frequency detection.

关键词： Fiber laser sensor Multiwavelength Brillouin Erbium fiber laser High resolution

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