Relative state estimation using exteroceptive sensors suffers from limitations of the field of view (FOV) and false detection, that the proprioceptive sensor (IMU) data are usually engaged to compensate. Recently ego-...
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Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sens...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
Optical tactile sensors provide robots with rich force information for robot grasping in unstructured environments. The fast and accurate calibration of three-dimensional contact forces holds significance for new sensors and existing tactile sensors which may have incurred damage or aging. However, the conventional neural-network-based force calibration method necessitates a large volume of force-labeled tactile images to minimize force prediction errors, with the need for accurate Force/Torque measurement tools as well as a time-consuming data collection process. To address this challenge, we propose a novel deep domain-adaptation force calibration method, designed to transfer the force prediction ability from a calibrated optical tactile sensor to uncalibrated ones with various combinations of domain gaps, including marker presence, illumination condition, and elastomer modulus. Experimental results show the effectiveness of the proposed unsupervised force calibration method, with lowest force prediction errors of 0.102N (3.4% in full force range) for normal force, and 0.095N (6.3%) and 0.062N (4.1%) for shear forces along the x-axis and y-axis, respectively. This study presents a promising, general force calibration methodology for optical tactile sensors.
Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main...
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Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.
With the continuous development and application of industrial Internet, the weakness of the security defense capability of industrial Internet has become increasingly prominent. This paper presents an end-to-end class...
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Terrestrial-Aerial Synergistic Framework (TASF) represents a novel approach to intelligent transportation, integrating terrestrial and aerial vehicles to enhance urban transportation efficiency and capacity. In this p...
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ISBN:
(数字)9798331505929
ISBN:
(纸本)9798331505936
Terrestrial-Aerial Synergistic Framework (TASF) represents a novel approach to intelligent transportation, integrating terrestrial and aerial vehicles to enhance urban transportation efficiency and capacity. In this paper, we offer an in-depth analysis of TASF, emphasizing its innovative applications in urban transportation, parcel delivery, and emergency response services. TASF incorporates a five-layer architecture comprising perception, communication, planning, control, and interaction. With the five-layer architecture, TASF can achieve effective collaboration among terrestrial and aerial vehicles, encompassing two principal features: terrestrial-aerial synergistic parallel perception and multi-agent parallel management. Parallel perception results from fusing Bird's Eye View (BEV) representations from Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs), whereas decentralized multi-agent management employs foundational models to enhance decision-making capabilities. Additionally, we consider challenges and potential solutions related to TASF, including safety, reliability, energy efficiency, management and integration. TASF marks a paradigm-shifting leap in the realm of intelligent transportation systems, providing a scalable and efficacious solution tailored to the dynamic requirements of urban mobility and emergency services.
作者：
Zhang, PengHe, XingYu, JunzhiSouthwest University
Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Chongqing400715 China Peking University
State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Peking University
Nanchang Innovation Institute Nanchang330224 China
In this paper, a distributed fixed-time neurodynamic algorithm (DFxTNA) is designed for solving distributed optimization problem with time-varying (TV) objective function and constraints. The DFxTNA consists of consen...
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Network slicing plays a pivotal role in 5 G and next-generation communication systems to support diversified service requirements. This paper investigates bandwidth allocation in a multi-base station, multi-user netwo...
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ISBN:
(数字)9798331542856
ISBN:
(纸本)9798331542863
Network slicing plays a pivotal role in 5 G and next-generation communication systems to support diversified service requirements. This paper investigates bandwidth allocation in a multi-base station, multi-user network where users probabilistically request network slicing services. We formulate a dynamic resource optimization problem to maximize user satisfaction, accounting for stochastic service demands and heterogeneous quality-of-service requirements. An Adaptive Hierarchical Dueling Deep Q-Network (AH-Dueling DQN) algorithm is proposed to address the NP-hard mixed-integer programming nature of this problem, leveraging deep reinforcement learning to handle high-dimensional state-action spaces. Simulation results demonstrate the algorithm’s effectiveness in reducing users’ latency while improving the throughput.
The stability of outlet moisture content of primary tobacco processing is an indicator that the tobacco industry is very concerned about. In view of the problems that most of the existing control methods need to rely ...
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Detecting surface defects in carbon fiber-reinforced composites (FRCs) during prepreg stacking is crucial for ensuring product quality. Traditional methods using horizontal bounding boxes (HBBs) for defect detection o...
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ISBN:
(数字)9798350373820
ISBN:
(纸本)9798350373837
Detecting surface defects in carbon fiber-reinforced composites (FRCs) during prepreg stacking is crucial for ensuring product quality. Traditional methods using horizontal bounding boxes (HBBs) for defect detection often lead to overlapping boxes and inaccurate results. This paper proposes an Aspect-Ratio and Scale Aware Detector network (ARSADet) specifically designed for rotated defect detection in FRCs. The network incorporates a Gabor convolutional network for feature extraction, an aspect-ratio and scale-aware label assignment method, and a newly established FRCs Oriented Defect Detection dataset (FODD). Evaluation on the FODD dataset demonstrates superior performance compared to existing methods.
Magnetic continuum robots (MCRs) show promising potential for applications in narrow lumens, such as vascular interventions. Accurate shape sensing of these robots is crucial for the success of interventional surgerie...
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