This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using the robust capabilities of the MediaPip...
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Birds have acute vision and many remarkable visual cognition abilities,due to their unique living *** underlying neural mechanisms have also attracted interests of researchers in ***,we firstly summarize the visual co...
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Birds have acute vision and many remarkable visual cognition abilities,due to their unique living *** underlying neural mechanisms have also attracted interests of researchers in ***,we firstly summarize the visual cognition abilities of birds,and make a comparison with ***,the underlying neural mechanisms are presented,including histological structure of avian brain and visual pathways,typical experimental results and conclusions in electrochemistry and *** latter mainly focuses on several higher brain areas related to visual cognition,including mesopallium ventrolaterale,entopallium,visual Wulst,and nidopallium ***,we make a conclusion and provide a suggestion about future studies on revealing the neural mechanisms of avian visual *** review presents a detailed understanding of avian visual cognition and would be helpful in ornithology studies in the field of cognitive neuroscience.
In this paper,we present a novel adaptive performance control approach for strict-feedback nonparametric systems with unknown time-varying control coefficients,which mainly includes the following ***,by introducing se...
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In this paper,we present a novel adaptive performance control approach for strict-feedback nonparametric systems with unknown time-varying control coefficients,which mainly includes the following ***,by introducing several key transformation functions and selecting the initial value of the time-varying scaling function,the symmetric prescribed performance with global and semi-global properties can be handled uniformly,without the need for control ***,to handle the problem of unknown time-varying control coefficient with an unknown sign,we propose an enhanced Nussbaum function(ENF)bearing some unique properties and characteristics,with which the complex stability analysis based on specific Nussbaum functions as commonly used is no longer ***,by utilizing the core-function information technique,the nonparametric uncertainties in the system are gracefully handled so that no approximator is ***,simulation results verify the effectiveness and benefits of the approach.
Human action can be recognized through a unimodal way. However, the information obtained from a single mode is limited due to the fact that a single mode contains only one type of physical attribute. Therefore, it is ...
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In this paper, a novel adaptive dynamic programming (ADP) algorithm, named output-feedback hybrid iteration (HI),is proposed to address the adaptive optimal control problem of discrete-time linear systems. The propose...
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This paper introduces a misalignment-tolerant design method for wireless power transfer (WPT) systems by optimization of compensation network parameters. Leveraging the derivation of two-port impedance parameters and ...
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Manipulators consisting of multiple large deformation limbs can flexibly change their shapes and separate actuation systems from mechanism body, making them particularly suitable for requirements of compact design spa...
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In swarm robotics, most of the control algorithms are inspired by the behaviors of animal swarms. The capability gap between robots and animals, however, hinders the reliability of these algorithms. Toward developing ...
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Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who shoul...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Collaborative manipulation task often requires negotiation using explicit or implicit communication. An important example is determining where to move when the goal destination is not uniquely specified, and who should lead the motion. This work is motivated by the ability of humans to communicate the desired destination of motion through back-and-forth force exchanges. Inherent to these exchanges is also the ability to dynamically assign a role to each participant, either taking the initiative or deferring to the partner’s lead. In this paper, we propose a hierarchical robot control framework that emulates human behavior in communicating a motion destination to a human collaborator and in responding to their actions. At the top level, the controller consists of a set of finite-state machines corresponding to different levels of commitment of the robot to its desired goal configuration. The control architecture is loosely based on the human strategy observed in the human-human experiments, and the key component is a real-time intent recognizer that helps the robot respond to human actions. We describe the details of the control framework, feature engineering and training process of the intent recognition. The proposed controller was implemented on a UR10e robot (Universal Robots) and evaluated through human studies. The experiments show that the robot correctly recognizes and responds to human input, communicates its intent clearly, and resolves conflict. We report success rates and draw comparisons with human-human experiments to demonstrate the effectiveness of the approach.
The statistics of the Conference International des Grands Reseaux Electriques(CIGRE)indicate that the operational reliability of SF6 gas‐insulated equipment(GIE)is very high;however,the failure rate of the GIE in ope...
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The statistics of the Conference International des Grands Reseaux Electriques(CIGRE)indicate that the operational reliability of SF6 gas‐insulated equipment(GIE)is very high;however,the failure rate of the GIE in operation is much higher than that of the IEC standard,and the fault occurs frequently in the GIE at a high voltage *** reason is due to the complex and strong on‐site electromagnetic interference environment and fully enclosed structure of *** key method and technology for effective on‐line monitoring and fault diagnosis of GIE are still *** the partial strong electromagnetic energy and high temperature induced by early latent insulation faults in the equipment,SF6 gas insulation presents different degrees of *** decomposition products mainly include SO_(2)F_(2),SOF_(2),SO_(2),HF,and *** decomposition characteristics of SF6 are closely related to the property of insulation *** present,this area is attracting attention from the power industry and research *** study summarises the current research on SF_(6)decomposition component analysis(DCA).The content mainly includes the latest progress of SF_(6)decomposition characteristics and mechanism under fault conditions,and fault diagnosis methods based on decomposition components.
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