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arXiv 2024年

作者： Zhu, Xiangyu Yu, Chang Zhao, Jiankuo Zhang, Zhaoxiang Li, Stan Z. Lei, Zhen State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China AI Lab. Research Center for Industries of the Future Westlake University China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences Hong Kong

David Marr’s seminal theory of vision proposes that the human visual system operates through a sequence of three stages, known as the 2D sketch, the 2.5D sketch, and the 3D model. In recent years, Deep Neural Networks (DNN) have been widely thought to have reached a level comparable to human vision. However, the mechanisms by which DNNs accomplish this and whether they adhere to Marr’s 2D–2.5D–3D construction theory remain unexplored. In this paper, we delve into the face perception task to explore these questions and find evidence supporting Marr’s theory. We introduce a graphics probe, a sub-network crafted to reconstruct the original face image from the network’s intermediate layers. The key to the graphics probe is its flexible architecture that supports image reconstruction in both 2D and 3D formats, as well as in a transitional state between them. By injecting graphics probes into neural networks, and analyzing their behavior in reconstructing images, we find that DNNs initially encode images as 2D representations in low-level layers, and finally construct 3D representations in high-level layers. Intriguingly, in mid-level layers, DNNs exhibit a hybrid state, building a geometric representation that captures surface normals within a narrow depth range, akin to the appearance of a low-relief sculpture. This stage resembles the 2.5D representations, providing a view of how DNNs evolve from 2D to 3D in the perception process. The graphics probe therefore serves as a tool for peering into the mechanisms of DNN, providing empirical support for Marr’s theory. Copyright © 2024, The Authors. All rights reserved.

关键词： Deep neural networks

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Hypothesis-Driven Skill Discovery for Hierarchical Deep Reinforcement Learning

Hypothesis-Driven Skill Discovery for Hierarchical Deep Rein...

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2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Caleb Chuck Supawit Chockchowwat Scott Niekum The University of Texas at Austin Personal Robotics and Automation Lab.

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Deep reinforcement learning (DRL) is capable of learning high-performing policies on a variety of complex high-dimensional tasks, ranging from video games to robotic manipulation. However, standard DRL methods often suffer from poor sample efficiency, partially because they aim to be entirely problem-agnostic. In this work, we introduce a novel approach to exploration and hierarchical skill learning that derives its sample efficiency from intuitive assumptions it makes about the behavior of objects both in the physical world and simulations which mimic physics. Specifically, we propose the Hypothesis Proposal and Evaluation (HyPE) algorithm, which discovers objects from raw pixel data, generates hypotheses about the controllab.lity of observed changes in object state, and learns a hierarchy of skills to test these hypotheses. We demonstrate that HyPE can dramatically improve the sample efficiency of policy learning in two different domains: a simulated robotic blockpushing domain, and a popular benchmark task: Breakout. In these domains, HyPE learns high-scoring policies an order of magnitude faster than several state-of-the-art reinforcement learning methods.

关键词： Transfer learning Reinforcement learning Proposals Task analysis Standards Physics Intelligent robots

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Robot-Assisted and Wearable Sensor-Mediated Autonomous Gait Analysis§

Robot-Assisted and Wearable Sensor-Mediated Autonomous Gait ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Huanghe Zhang Zhuo Chen Damiano Zanotto Yi Guo Wearable Robotic Systems (WRS) Lab. Stevens Institute of Technology Hoboken NJ USA Robotics and Automation Lab. Stevens Institute of Technology Hoboken NJ USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this paper, we propose an autonomous gait analysis system consisting of a mobile robot and custom-engineered instrumented insoles. The robot is equipped with an on-board RGB-D sensor, the insoles feature inertial sensors and force sensitive resistors. This system is motivated by the need for a robot companion to engage older adults in walking exercises. Support vector regression (SVR) models were developed to extract accurate estimates of fundamental kinematic gait parameters (i.e., stride length, velocity, foot clearance, and step length), from data collected with the robot's on-board RGB-D sensor and with the instrumented insoles during straight walking and turning tasks. The accuracy of each model was validated against ground-truth data measured by an optical motion capture system with N=10 subjects. Results suggest that the combined use of wearable and robot's sensors yields more accurate gait estimates than either sub-system used independently. Additionally, SVR models are robust to inter-subject variability and type of walking task (i.e., straight walking vs. turning), thereby making it unnecessary to collect subject-specific or task-specific training data for the models. These findings indicate the potential of the synergistic use of autonomous mobile robots and wearable sensors for accurate out-of-the-lab.gait analysis.

关键词： Robot sensing systems Legged locomotion Task analysis Instruments Robot kinematics

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Signal Feature Analysis of Contact Force at the Tip of a Flexible Ureteroscope 42

Signal Feature Analysis of Contact Force at the Tip of a Fle...

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42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020

作者： Yinan, Deng Tangwen, Yang Shaotao, Dai Song, Guoli Beijing Jiaotong University Inst. of Info. Sci. and the Beijing Key Lab. of Advanced Information Science and Network Technology Beijing China Beijing Jiaotong University School of Electrical Engineering Beijing China Shenang Institute of Automation Cas State Key Laboratory of Robotics Shenyang China

ISBN: (纸本)9781728119908

This paper presents a signal analysis approach to identify the contact objects at the tip of a flexible ureteroscope. First, a miniature triaxial fiber optic sensor based on Fiber Bragg Grating(FBG) is devised to measure the interactive force signals at the ureteroscope tip. Due to the multidimensional properties of these force signals, the principal components analysis(PCA) method is introduced to reduce dimensions. The signal features are then extracted from the representative principal component signals using the wavelet transform(WT) method. Experimental results show that the contact objects at the tip of a ureteroscope are readily discriminated from the measured force signals with the proposed *** Relevance - This work commits to analyze the contact force signals at the tip of a flexible ureteroscope for the purpose of contact objects identification. © 2020 IEEE.

关键词： Fiber Bragg gratings

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Design of a Miniature Fiber Optic Sensor to Measure Axial Force at the Tip of a Robotic Flexible Ureteroscope

Design of a Miniature Fiber Optic Sensor to Measure Axial Fo...

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Chinese automation Congress (CAC)

作者： Bixuan Luo Yinan Deng Tangwen Yang Shaotao Dai Guoli Song Institute of Information Science Beijing Jiaotong University Beijing China School of Electrical Engineering Beijing Jiaotong University Beijing China the State Key Lab. of Robotics Shenyang Institute of Automation Shenyang China

Force sensing has become an important determinant of mitigating tissue injury in robotic flexible ureteroscopy (rFURS), which can improve the ergonomics and the outcome of a treatment of renal or ureteral calculi. This paper introduces the design of a miniature, uniaxial force sensor that uses Fiber Bragg Gratings (FBGs). It measures the axial force applied to its sensing head, and is simple in structure. Specially, it can compensate for the environmental temperature fluctuations by using two FBGs with different center wavelengths. The simulation results with finite element analysis method show that the sensor designed can measure the axial IDOF force with resolution of 0. 01N and a measurement range of around 10N.

关键词： Force Fiber gratings Temperature sensors Robot sensing systems Force measurement Temperature measurement

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Extraction of a Topological Representation Based on Raw Data Using Voronoi Diagram

Extraction of a Topological Representation Based on Raw Data...

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International Conference on Control, Artificial Intelligence, robotics & Optimization (ICCAIRO)

作者： Marina Galli Ramon Barber Santiago Garrido Luis Moreno Robotics Lab. Department of System and Automation Carlos III University of Madrid Madrid Spain

ISBN: (纸本)9781538695777;9781538695760

The aim of this work is to build a model of the environment that entails both metric and topological information. The creation of the topological map will be extracted from the metric map, exploiting all the individual advantages of each spatial representation. Voronoi Diagram was the selected representation as a link between the two types of maps. The method extracts, from raw sensor data of the environment and using Voronoi Diagrams, specific features useful for navigation to build the topological map. Enabling a spatial representation that provides levels of abstraction that brings closer the maps to the way the humans represent the space and simplify the navigation task. In addition, the proposed method creates a spatial representation that allows the addition of semantic information to the model.

关键词： Measurement Robot sensing systems Navigation Data mining Mobile robots Task analysis

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Edge Detection Operator for Underwater Target Image 3

Edge Detection Operator for Underwater Target Image

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3rd IEEE International Conference on Image, Vision and Computing, ICIVC 2018

作者： Xiaoheng, Dong Minghang, Li Jiashu, Miao Zhengyu, Wang Shanghai Marine Electronic Equipment Research Institute Shanghai China Shanghai University Key Lab. of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China Shanghai Aerospace Control Technology Institute Shanghai China

ISBN: (纸本)9781538649916

Image edge detection is an important basis for image recognition extraction. The traditional segmentation algorithm can't effectively extract important edge information of digital image. In view of the low contrast and edge blur of underwater image, a new feature based on wavelet transform Edge extraction algorithm has been proposed. On the basis of this, an edge detection method based on the details of two-dimensional image wavelet decomposition is further studied. This method eliminates a large number of remaining edges and false edges, and the feature edge of the image is extracted effectively, so it provides reliable information for the subsequent target recognition. © 2018 IEEE.

关键词： Wavelet decomposition

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Early Non-Small Cell Lung Cancer Heterogeneity and Recurrence Assessed by Tissue Next-Generation Sequencing Genotyping and Circulating Tumor Cell EZH2 Characterization

Journal of Liquid Biopsy, The

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Journal of Liquid Biopsy, The 2023年 1卷 100096-100096页

作者： Diaz, A. Garcia Moyano, M. de Miguel Perez, D. Bayarri-Lara, C. Exposito-Hernandez, J. Ortuño, F. Malapelle, U. Garcia-Moreno, A. Landeira, D. Lorente, J. Rolfo, C. Garrido-Navas, M. Serrano, M. GENYO Centre for Genomics and Oncological Research: Pfizer University of Granada Andalusian Regional Government Liquid Biopsy and Cancer Interception Group Granada Spain Department of Thoracic Surgery Virgen de las Nieves University Hospital Av de las Fuerzas Armadas Granada Spain Center for Thoracic Oncology Tisch Cancer Institute Mount Sinai Medical System & Icahn School of Medicine Mount Sinai New York USA IBS Granada Instituto de Investigacion Biosanitaria de Granada Granada Spain Computational Medicine Platform Andalusian Public Foundation Progress and Health-FPS Sevilla Spain Department of Computer Engineering Automation and Robotics University of Granada Granada Spain Department of Public Health University of Naples Federico II Naples Italy Bioinformatics Unit GENYO. Centre for Genomics and Oncological Research: Pfizer / University of Granada / Andalusian Regional Government PTS Granada - Avenida de la Ilustración 114 - 18016 Granada Spain Centre for Genomics and Oncological Research (GENYO) Avenida de la Ilustración 114 Granada Spain Department of Biochemistry and Molecular Biology II Faculty of Pharmacy University of Granada Granada Spain Lab. of Genetic Identification Department of Legal Medicine & Toxicology and Physical Anthropology School of Medicine University of Granada 18016 Granada Spain Genetics Department Faculty of Sciences University of Granada 18071 Granada Spain Comprehensive Oncology Division Virgen de las Nieves University Hospital Av de las Fuerzas Armadas 2 18014 Granada Spain

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A simulator for swarm AUVs acoustic communication networking 11

A simulator for swarm AUVs acoustic communication networking

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11th ACM International Conference on Underwater Networks and Systems, WUWNet 2016

作者： Li, Guannan Liu, Jun Wang, Xue Xu, Hongli Cui, Jun-Hong Shenyang Institute of Automation CAS University of Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Changchun China Shenyang Institute of Automation CAS Northeast University No. 114 Nanta Street Shenhe District Shenyang China Shenyang Institute of Automation CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States

ISBN: (纸本)9781450346375

This paper presents a simulator for swarm operations designed to verify algorithms for a swarm of autonomous underwater robots (AUVs), specifically for constructing an underwater communication network with AUVs carrying acoustic communication devices. This simulator consists of three nodes: a virtual vehicle node (VV), a virtual environment node (VE), and a visual showing node (VS). The modular design treats AUV models as a combination of virtual equipment. An expert acoustic communication simulator is embedded in this simulator, to simulate scenarios with dynamic acoustic communication nodes. The several simulations we have performed demonstrate that this simulator is easy to use and can be further improved.

关键词： Simulators

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Mechanical Design, Fabrication, Kinematics and Dynamics Modeling, Multiple Impedance Control of a Wrist Rehabilitation Robot

Mechanical Design, Fabrication, Kinematics and Dynamics Mode...

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RSI/ISM International Conference on robotics and Mechatronics

作者： Mohammad Reza Sajadi Ali Nasr S. Ali A. Moosavian Hassan Zohoor Center of Excellence in Mechatronics University of Tabriz Tabriz Iran t Center of Excellence in Robotics and Control ARAS Lab. K.N. Toosi University of Technology Tehran Iran Center of Excellence in Robotics and Control ARAS Lab. K.N. Toosi University of Technology Tehran Iran Center of Excellence in Design Robotics and Automation Sharif Univ. of Tech. Tehran Iran

ISBN: (纸本)9781467372350

Rehabilitation is the best approach for patients who suffer physical disability of their upper-limbs. Maintaining the intensity of exercise during treatment is the main factor that makes the robots suitable for rehabilitation since robots do not get tired and do the exercises with constant intensity under supervision of the doctor. Two main categories of rehabilitation robots are End-Effector based robots and wearable robots. According to the fact that most problems occur in need of rehabilitation for hand wrist area, in this paper a wearable rehabilitation robot has been developed for the wrist. Nowadays, wearable robots attract more attention than the other group. Wearable robots are categorized into three types: Exoskeleton robots, Prosthetic robots and Orthotic robot. In this paper, a new structure for an Orthotic wearable robot is developed for human wrist rehabilitation. This structure has an automatic base that makes the robot suitable for both hands. This robot has three degrees of freedom that is similar to human wrist joint. In the remaining of the paper, Conceptual design, mechanical design, kinematics and dynamic analysis of the robot as well as multiple impedance control are presented.

关键词： Wrist Rehabilitation Robot Design and Fabrication Robot Kinematics and Dynamics Modeling Multiple Impedance Control

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