检索结果-内蒙古大学图书馆

30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Guo, Linlin Dang, Yu Wang, Yue Wu, Jinqiao Yu, Yang Wu, Jialing Han, Jianda College of Artificial Intelligence Nankai University Tianjin300350 China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute Nankai University Shenzhen518083 China Department of Rehabilitation Medicine Tianjin Huanhu Hospital Tianjin300350 China Department of Neurology Tianjin Huanhu Hospital Tianjin300350 China

ISBN: (纸本)9798350391916

As the population ages, the incidence of diseases such as stroke is increasing, leading to a growing number of patients with dysphagia or difficulty swallowing. Dysphagia directly affects the hydration and nutritional intake, potentially leading to serious complications such as aspiration pneumonia, severely threatening patients' health and quality of life. Currently, the rehabilitation of swallowing function mainly relies on therapists to conduct swallowing training for patients. However, the high incidence and long duration of swallowing rehabilitation training pose a burden on the patients and medical resources. There remains a gap in the robotic devices for swallowing rehabilitation. To address this gap, this paper proposes a soft bellow-shaped robot for dysphagia rehabilitation. One mode of the rehabilitation training, where the therapist manipulates the throat to move horizontally, is selected to mimic. This robot simulates the force and displacement applied by the therapist's fingertip during dysphagia rehabilitation. First, swallowing training data were collected and analyzed to understand the variations in displacement and force applied by therapists' fingertips on the throat. Based on this analysis, the technical requirements for the swallowing rehabilitation robot were summarized. Following these requirements, we designed a physical prototype of the pneumatic bellow-shaped robot. The robot simulates the fingertip movement on both sides of the throat through the linear elongation and contraction of the bellows. The performance of the soft bellows was then characterized, verifying that its output force and displacement meet the technical requirements. This characterization lays a foundation for the modeling and control of the displacement and force of the robot. © 2024 IEEE.

关键词： Bellows

来源：评论

学校读者我要写书评

暂无评论

Improved Diagnosis of Lithium-Ion Battery Health in Electric Vehicles via a Hybrid Deep Learning Model Incorporating Wavelet Transform and Attention Mechanism

Improved Diagnosis of Lithium-Ion Battery Health in Electric...

引用

ACS/IEEE International Conference on Computer systems and Applications

作者： Walid Mchara Mohamed Abdellatif Khalfa Lazhar Manai Laboratory of Robotics Informatics and Complex Systems (RISC) National Engineering School of Tunis (ENIT) University of El Manar Le Belvedere Tunis CRETn Photovoltaic Laboratory (LPV) Higher Institute of Information and Communication Technologies Borj-Cedria Higher Institute of Information and Communication Technologies ENIT University of El Manar Hamam Chatt Tunisia

ISBN: (数字)9798331518240

ISBN: (纸本)9798331518257

As the adoption of lithium-ion batteries (LIBs) in electric vehicles increases, ensuring their reliability and safety is essential. The Battery Management System (BMS) is vital for accurately evaluating the State of Health (SOH) of these batteries to ensure safe vehicle operation. To address this, a novel time series model for predicting SOH in Li-ion batteries is proposed. This model combines wavelet transform with a hybrid architecture of convolutional neural networks (CNNs) and long short-term memory (LSTM) networks, enhanced by an attention mechanism to improve performance. Experimental results indicate that the wavelet-enhanced LSTM method significantly improves prediction accuracy. This study presents a promising approach to enhance the reliability and efficiency of electric vehicle battery systems, supporting broader adoption and sustainability in electric transportation.

关键词： Lithium-ion batteries Wavelet transforms Deep learning Attention mechanisms Accuracy Predictive models Prediction algorithms Convolutional neural networks Reliability Long short term memory

来源：评论

学校读者我要写书评

暂无评论

I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry

arXiv

引用

arXiv 2024年

作者： Yu, Wenlu Xu, Jie Zhao, Chengwei Zhao, Lijun Nguyen, Thien-Minh Yuan, Shenghai Bai, Mingming Xie, Lihua State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China The School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore Hangzhou Guochen Robot Technology Company Limited Hangzhou311200 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310000 China

LiDAR odometry is a pivotal technology in the fields of autonomous driving and autonomous mobile robotics. However, most of the current works focus on nonlinear optimization methods, and still existing many challenges in using the traditional Iterative Extended Kalman Filter (IEKF) framework to tackle the problem: IEKF only iterates over the observation equation, relying on a rough estimate of the initial state, which is insufficient to fully eliminate motion distortion in the input point cloud;the system process noise is difficult to be determined during state estimation of the complex motions;and the varying motion models across different sensor carriers. To address these issues, we propose the Dual-Iteration Extended Kalman Filter (I2EKF) and the LiDAR odometry based on I2EKF (I2EKF-LO). This approach not only iterates over the observation equation but also leverages state updates to iteratively mitigate motion distortion in LiDAR point clouds. Moreover, it dynamically adjusts process noise based on the confidence level of prior predictions during state estimation and establishes motion models for different sensor carriers to achieve accurate and efficient state estimation. Comprehensive experiments demonstrate that I2EKF-LO achieves outstanding levels of accuracy and computational efficiency in the realm of LiDAR odometry. Additionally, to foster community development, our code is open-sourced. Copyright © 2024, The Authors. All rights reserved.

关键词： State estimation

来源：评论

学校读者我要写书评

暂无评论

A Simple Robotic Cell Transportation Method Based on Narrow-necked Micropipette

A Simple Robotic Cell Transportation Method Based on Narrow-...

引用

第43届中国控制会议

作者： Shaojie Fu Jinyu Qiu Ripeng Zhu Ruimin Li Detian Zhang Zijian Guo Mingzhu Sun Xin Zhao Qili Zhao National Key Laboratory of Intelligent Tracking and Forecasting folnfectious Diseases Engineering Research Center of Trusted Behavior IntelligenceMinistry of EducationTianjin Key Laboratory of Intelligent Robotic (tikLIR)Institute of Robotics and Automatic Information System(IRAIS)Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Cell transportation has a wide range of applications in biological and medical research.A key step in cell transportation is to aspirate a single cell into micropipette and hold it at a designated *** current manual operations highly rely on the experience of the experimenters,while automated operations rely on complex control algorithms,which limits the promotion and application of transportation *** paper proposes a simple robotic cell transportation method using narrow-necked micropipette to address this ***,this paper proposes a fabrication method of a narrow-necked micropipette,which is developed to aspirate in and accurately stop cell at the designated narrow-necked ***,whether the cell has been stuck at the designated narrow-neck position is detected based on the changes in image ***,the minimum aspiration force for the cell to be held at the designated narrow-necked position is determined to reduce mechanical damage to the *** to the experimental results of 12 porcine oocytes,this method can aspirate the cell in and hold the designated position in 1.803 seconds on average,which is about 2 times faster than the commonly used transportation methods,and the success rate of cell holding reaches up to 100%.

关键词： Narrow-necked micropipette cell transportation position detection minimal injury holding force

来源：评论

学校读者我要写书评

暂无评论

Improved Diagnosis of Lithium-Ion Battery Health in Electric Vehicles via a Hybrid Deep Learning Model Incorporating Wavelet Transform and Attention Mechanism

Improved Diagnosis of Lithium-Ion Battery Health in Electric...

引用

Artificial Intelligence & Green Energy (ICAIGE), IEEE International Conference on

作者： Walid Mchara Mohamed Abdellatif Khalfa Lazhar Manai Laboratory of Robotics Informatics and Complex Systems (RISC) National Engineering School of Tunis (ENIT) University of El Manar Le Belvedere Tunis Higher Institute of Information and Communication Technologies Hamam Chatt Tunisia LaNSER Laboratory CRETn Borj-Cedria RISC Le Belvédère Tunis Tunisia ENIT University of El Manar

ISBN: (数字)9798350389838

ISBN: (纸本)9798350389845

关键词： Wavelet transforms Lithium-ion batteries Deep learning Attention mechanisms Accuracy Predictive models Prediction algorithms Convolutional neural networks Reliability Long short term memory

来源：评论

学校读者我要写书评

暂无评论

Koopman Representation for Boolean Networks

引用

IFAC-PapersOnLine 2023年第2期56卷 6678-6683页

作者： Hongsheng Qi Maria Elena Valcher Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China Dipartimento di Ingegneria dell'Informazione Universita’ di Padova Padova 35131 Italy Australian Center for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW 2006 Australia

Boolean networks, as logical dynamical systems whose system states are Boolean variables, arise from applications in biology, computer networks, and social networks etc. The representation and control of Boolean networks have attracted a lot of attention in recent years. On a parallel line of research, Koopman developed an operator view of nonlinear dynamical systems in early 1930s, which shows that using observable functions all nonlinear dynamics can be represented as (infinite dimensional) linear systems. In this paper, we present a framework for representing Boolean networks via Koopman approach. First of all, we construct addition and scalar multiplication operations over the set of logical functions over the binary field, defining a linear Boolean function space. Then associated with any Boolean mapping, the induced Koopman operator is defined as an operator over such Boolean function space. Next, we show that if there exists a set of logical functions that are invariant in the Koopman sense, a Boolean network can be represented by a finite-dimensional linear system. This Koopman perspective for Boolean networks is also extended to controlled Boolean networks.

关键词： Boolean networks Koopman operator

来源：评论

学校读者我要写书评

暂无评论

Vibrational Stabilization of Cluster Synchronization in Oscillator Networks

arXiv

引用

arXiv 2023年

作者： Qin, Yuzhen Nobili, Alberto Maria Bassett, Danielle S. Pasqualetti, Fabio Department of Mechanical Engineering University of California RiversideCA United States Perceptual Robotics Laboratory at the IIM Institute Department of Excellence in Robotics and A.I. Scuola Superiore Sant’Anna Pisa Italy Department of Bioengineering Department of Electrical & Systems Engineering Department of Physics & Astronomy The Department of Psychiatry Department of Neurology University of Pennsylvania The Santa Fe Institute United States

Cluster synchronization is of paramount importance for the normal functioning of numerous technological and natural systems. Deviations from normal cluster synchronization patterns are closely associated with various malfunctions, such as neurological disorders in the brain. Therefore, it is crucial to restore normal system functions by stabilizing the appropriate cluster synchronization patterns. Most existing studies focus on designing controllers based on state measurements to achieve system stabilization. However, in many real-world scenarios, measuring system states, such as neuronal activity in the brain, poses significant challenges, rendering the stabilization of such systems difficult. To overcome this challenge, in this paper, we employ an open-loop control strategy, vibrational control, which does not requires any state measurements. We establish some sufficient conditions under which vibrational inputs stabilize cluster synchronization. Further, we provide a tractable approach to design vibrational control. Finally, numerical experiments are conducted to demonstrate our theoretical findings. Copyright © 2023, The Authors. All rights reserved.

关键词： Brain

来源：评论

学校读者我要写书评

暂无评论

A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes

arXiv

引用

arXiv 2022年

作者： Chen, Xinxing Chen, Chuheng Wang, Yuxuan Yang, Bowen Ma, Teng Leng, Yuquan Fu, Chenglong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Department of Biomedical Engineering National University of Singapore Singapore

Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the differential of the human's thigh angle to estimate the gait phase, but accumulative measurement errors and noises can affect the estimation results. In this paper, a more robust gait phase estimation method is proposed using a unified form of piecewise monotonic gait phase-thigh angle models for various locomotion modes. The gait phase is estimated from only the thigh angle, which is a stable variable and avoids phase drifting. A Kalman filter-based smoother is designed to further suppress the mutations of the estimated gait phase. Based on the proposed gait phase estimation method, a gait phase-based joint angle tracking controller is designed for a transfemoral prosthesis. The proposed gait estimation method, the gait phase smoother, and the controller are evaluated through offline analysis on walking data in various locomotion modes. And the real-time performance of the gait phase-based controller is validated in an experiment on the transfemoral prosthesis. © 2022, CC BY.

关键词： Controllers

来源：评论

学校读者我要写书评

暂无评论

Trajectory Planning Towards Water-Air Trans-Media Motion for Robotic Dolphin

Trajectory Planning Towards Water-Air Trans-Media Motion for...

引用

Chinese Automation Congress (CAC)

作者： Yan Xiong Pengfei Zhang Di Chen Junzhi Yu Department of Advanced Manufacturing and Robotics State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing China Shandong Nuclear Power Company LTD. Yantai China School of Intelligence Science and Technology University of Science and Technology Beijing Beijing China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Water-air trans-media navigators have multi-media motion modes, breaking through the limitation that traditional robots can only operate in a single medium. Autonomous navigation is an indispensable component of the process of transmedia motion. Most of the current work has only completed the development and testing of prototypes, and the problem of task-oriented motion planning and control needs to be solved. In this paper, a safe and efficient hierarchical approach is proposed. First, a novel rapidly exploring random tree-based algorithm is proposed to search for a suitable path. Then, by fixing bound waypoints, the time-optimization trajectory is planned. Finally, the trajectory tracker is designed based on nonlinear model predictive control (NMPC). Simulation experiments numerically validate the proposed method, offering some new insights for further trans-media motions.

关键词： Tracking Trajectory planning Navigation Prototypes Prediction algorithms Trajectory Planning Testing Predictive control Dolphins

来源：评论

学校读者我要写书评

暂无评论

A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot

引用

Frontiers of Information Technology & Electronic engineering 2022年第8期23卷 1217-1228页

作者： Manjun TIAN Xiali LI Shihan KONG Licheng WU Junzhi YU First Research Institute of the Ministry of Public Security of PRC Beijing 100048China School of Information Engineering Minzu University of ChinaBeijing 100081China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

To tackle the problem of aquatic environment pollution,a vision-based autonomous underwater garbage cleaning robot has been developed in our *** propose a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object ***,the YOLOv4 algorithm is chosen as a basic neural network framework to perform object *** the purpose of further improvement on the detection accuracy,YOLOv4 is transformed into a four-scale detection *** improve the detection speed,model pruning is applied to the new *** virtue of the improved detection methods,the robot can collect garbage *** detection speed is up to 66.67 frames/s with a mean average precision(mAP)of 95.099%,and experimental results demonstrate that both the detection speed and the accuracy of the improved YOLOv4 are excellent.

关键词： Object detection Aquatic environment Garbage cleaning robot Modified YOLOv4

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：