检索结果-内蒙古大学图书馆

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Mengsha Hu Yunhuan Wu Yibei Guo Yi Wu Chao Shi Lei Xu Rui Liu Department of Computer Science Kent State University Kent OH USA Robotics Institute Carnegie Mellon University Pittsburgh PA USA Cognitive Robotics and AI Lab (CRAI) College of Aeronautics and Engineering Kent State University Kent OH USA Informatique et Sciences du Numérique (Computer Research Laboratory) CentraleSupélec Paris-Saclay University Gif-sur-Yvette France Department of Systems Science and Industrial Engineering Binghamton University Binghamton NY USA

ISBN: (数字)9798350375022

ISBN: (纸本)9798350375039

Robotic navigation aids humans in essential scenarios, including airport customer boarding, commercial meeting receptions, and disaster site navigation. While individuals benefit from robotic services, these services pose accessibility challenges for people with disabilities. Robots may face limitations in mobility, vision, hearing, and cognitive reasoning, hindering disabled individuals' access to these services. As robotic services become increasingly prevalent, ensuring they are inclusive and accessible is crucial, accommodating human disabilities with adaptations such as slower movements, standing support, and hazard detection. To address this issue, this study introduces a novel Accessibility-Aware Reinforcement Learning model (ARL). ARL extracts disability-related information from human behavioral observations using a contextembedding neural network. It then adjusts robot motions to provide inclusive assistance to individuals with disabilities. To assess the effectiveness of this approach, four assisting services in navigation scenarios ('lead', 'wait', 'assist', and 'protect') and three application scenarios involving navigating elderly individuals in a museum, through traffic, and across a building patio were designed. The results validate ARL's efficacy in enabling robots to make accessibility-aware decisions, thereby enhancing their support for individuals with disabilities.

关键词： Robot motion Navigation Neural networks Reinforcement learning Feature extraction People with disabilities Robot learning Data mining Older adults Robots

来源：评论

学校读者我要写书评

暂无评论

Safe and Reliable Distributed Fault-Tolerant Formation Control for Quadrotor Swarms

引用

IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Hu, Yang Miao, Zhiqiang Wang, Yaonan Zhang, Hui Wang, Xiangke He, Wei Hunan University College of Electrical and Information Engineering Changsha410082 China Hunan University School of Robotics Changsha410082 China National University of Defense Technology College of Intelligence Science and Technology Changsha410073 China Beijing Information Science and Technology University School of Automation Institute of Artificial Intelligence China University of Science and Technology Beijing Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education Beijing100083 China

This paper addresses formation control of quadrotor swarms subject to external time-varying disturbances and actuator failures, while ensuring collision avoidance. Firstly, a complete dynamics model incorporating translational movement, rotation, motor, and actuator failures was developed for each quadrotor. Then, nominal controllers for the position and attitude subsystems are designed separately to achieve formation control under ideal conditions. A higher-order sliding mode (HOSM) observer is implemented to effectively estimate and compensate for external disturbances and actuator bias faults, thereby improving the stability of the system. Next, a potential energy function-based collision avoidance mechanism is implemented to ensure inter-quadrotor collision avoidance. Furthermore, a fault detection and fault-tolerant control(FTC) method is designed to estimate the lift coefficient of actuator partial failures online in real time by employing Newtons correction method, which ensures the safe and reliable flight of the system. The stability of the closed-loop system is analyzed using Lyapunov stability theory. Finally, numerical simulations and hardware-in-the-loop (HIL) experiment results are performed to validate the approach's effectiveness and performance in quadrotor swarm formation control. © 2025 IEEE. All rights reserved.

关键词： Potential energy functions

来源：评论

学校读者我要写书评

暂无评论

Dynamic Identification for a Manipulator Model based on Stribeck Friction using the Quasi-Newton Iterative Method

Dynamic Identification for a Manipulator Model based on Stri...

引用

IEEE International Conference on robotics and Biomimetics

作者： Feng Xiao Feilong Zhang Bing Han Hualiang Zhang School of Information Science and Engineering Shenyang University of Technology Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China

The performance of dynamic control is intimately tied to modeling accuracy. However, traditional estimation methods and friction models, such as the least squares method and the Coulomb plus viscous model, fail to reflect the actual characteristics accurately. Particularly, the linear nature of the Coulomb plus viscous model overlooks the nonlinear static features of joint friction at slower velocities. To improve the rationality of the model structure, we integrate the Stribeck friction model into the Coulomb plus viscous model. However, introducing such nonlinearities compromises the applicability of the least squares method. As a countermeasure, we propose a new strategy that combines the least square method and the Quasi-Newton iterative method to identify the parameters of the modified nonlinear model. Additionally, the design of the excitation trajectory is critical to achieve high identification accuracy. We utilized the inverse of the smallest singular value of the observation matrix as the objective function. By minimizing it with the interior point method, we generate the excitation trajectory well-suited to stimulate dynamic characteristics. Then we leverage the discrepancies between the measured and estimated torques to assess the precision of the dynamic parameters of the manipulator. Remarkably, our proposed algorithm reduces the mean absolute error of the estimated torque by over 20.40%. Finally, an experiment of the industrial manipulator by hand guiding grab and drag is performed and shows that the proposed approach can provide the manipulator with comprehensive torque compensation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Trajectory Tracking Error Optimization based on Iterative Learning 4

Trajectory Tracking Error Optimization based on Iterative Le...

引用

4th IEEE International Conference on Power, Intelligent Computing and systems, ICPICS 2022

作者： Huang, Haoran Zhang, Tao Jia, Danping Zhang, Hualiang Yan, Hongyu Pei, Quanshen Ding, Fan Shenyang University of Technology School of Information Science and Engineering Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China

ISBN: (数字)9781665467735

ISBN: (纸本)9781665467735

The X-Y precision plane motion platform is widely used in various precision motion control fields. In this paper, to improve the tracking accuracy of the X-Y precision plane motion table, a high-level iterative learning control with forgetting factor is proposed, and it is combined with a kind of PD-type iterative learning control with low-pass filter, and the method is applied to the Simulink model of the linear motor of the X-Y precision plane platform, thereby improving the trajectory accuracy of the X-Y precision plane motion platform. The traditional ILC has the disadvantage that the more number of iterations, the more divergent tracking error is. The new ILC proposed in this paper can not only effectively reduce the noise, reduce the tracking error, but also eliminate the problem of error divergence caused by too many iterations. At last, the experimental results of high-order PD iterative learning with forgetting factor and low-pass filter, PD iterative learning with low-pass filter, ordinary PD iterative learning are compared. The results show that the high-order PD iterative learning with forgetting factor and low-pass filter has better tracking effect than the first-order iterative learning and other several algorithms. It can make the movement trajectory of the X-Y precision plane motion platform more stable and improve the accuracy. © 2022 IEEE.

关键词： Low pass filters

来源：评论

学校读者我要写书评

暂无评论

UAV Path Planning Based on Simultaneous Optimization of Monitoring Frequency and Security

UAV Path Planning Based on Simultaneous Optimization of Moni...

引用

第34届中国控制与决策会议

作者： Yifei Shu Yang Chen Mian Hu Huaiyu Wu Xingang Zhao Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

UAVs have great potential when applied to persistent monitoring,but there are still problems such as difficulty in ensuring the monitoring frequency and easy leakage of monitoring path ***,it is necessary to increase the UAV monitoring frequency of targets and the randomness of monitoring paths as much as possible on the premise of covering all monitoring *** response to the above problems,this paper studies the UAV path planning problem of simultaneous optimization of monitoring frequency and path *** the evaluation of monitoring frequency and path security based on monitoring overdue time and path entropy,a mathematical model for UAV path planning is *** improved ant colony algorithm based on the monitoring overdue time(Overdue-aware Ant Colony Optimization,OACO) is designed,and finally the UAV flight trajectory with high monitoring frequency and the high monitoring path security is *** simulation results show that the method proposed in this paper can effectively improve the monitoring frequency of each monitoring node to be accessed,improve the security of the UAV monitoring path,which is of great significance for enhancing monitoring security and preventing intrusion.

关键词： UAV persistent monitoring path planning monitoring frequency overdue time security

来源：评论

学校读者我要写书评

暂无评论

SLAM-based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization

arXiv

引用

arXiv 2024年

作者： Wang, Jiang He, Yuanzheng Su, Daobilige Itoyama, Katsutoshi Nakadai, Kazuhiro Wu, Junfeng Huang, Shoudong Li, Youfu Kong, He The Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology No. 1088 Xueyuan Avenue Shenzhen China The College of Engineering China Agricultural University Beijing China The Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan The School of Data Science The Chinese University of Hong Kong Shenzhen China The Robotics Institute University of Technology Sydney Sydney Australia The Department of Mechanical Engineering City University of Hong Kong Hong Kong

Robot audition systems with multiple microphone arrays have many applications in practice. However, accurate calibration of multiple microphone arrays remains challenging because there are many unknown parameters to be identified, including the relative transforms (i.e., orientation, translation) and asynchronous factors (i.e., initial time offset and sampling clock difference) between microphone arrays. To tackle these challenges, in this paper, we adopt batch simultaneous localization and mapping (SLAM) for joint calibration of multiple asynchronous microphone arrays and sound source localization. Using the Fisher information matrix (FIM) approach, we first conduct the observability analysis (i.e., parameter identifiability) of the above-mentioned calibration problem and establish necessary/sufficient conditions under which the FIM and the Jacobian matrix have full column rank, which implies the identifiability of the unknown parameters. We also discover several scenarios where the unknown parameters are not uniquely identifiable. Subsequently, we propose an effective framework to initialize the unknown parameters, which is used as the initial guess in batch SLAM for multiple microphone arrays calibration, aiming to further enhance optimization accuracy and convergence. Extensive numerical simulations and real experiments have been conducted to verify the performance of the proposed method. The experiment results show that the proposed pipeline achieves higher accuracy with fast convergence in comparison to methods that use the noise-corrupted ground truth of the unknown parameters as the initial guess in the optimization and other existing frameworks. © 2024, CC BY.

关键词： Mapping

来源：评论

学校读者我要写书评

暂无评论

自主水下直升机——海洋探测的新平台

引用

engineering 2023年第6期25卷 21-27页

作者：周晶黄豪彩黄善和司玉林石凯全向前郭春雷陈振纬王智鲲王英强王章霖蔡成业胡若愚荣振威何佳钟刘鸣陈鹰 Intelligent Ocean Technology Center Zhejiang UniversityZhoushan 316021China College of Electrical Engineering Zhejiang UniversityHangzhou 310027China Ocean College Zhejiang UniversityZhoushan 316021China State Key Laboratory of Fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou 310027China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China Institute of Deep-Sea Science and Engineering Chinese Academy of SciencesSanya 572000China

The demand for ocean exploration down to the deep seafloor,for instance,ocean resource exploration and ocean observations,has promoted innovations in underwater *** unmanned vehicles are urgently required to be deployed and operate on the *** most underwater vehicles are unable to operate on the seafloor and even have difficulty reaching there,we developed a seafloor-resident autonomous underwater helicopter(AUH).This paper introduces the new idea and design of AUHs and discusses the pros and cons of AUHs in comparison with other underwater ***,we verify the importance of developing new facilities to enable mankind to easily operate close to the seafloor.

关键词：海洋探测 ocean underwater

来源：评论

学校读者我要写书评

暂无评论

Towards Fast Face Image Quality Assessment via Latent Diffusion Model 18th

Towards Fast Face Image Quality Assessment via Latent Diffu...

引用

18th Chinese Conference on Biometric Recognition, CCBR 2024

作者： Yan, Zheyu Zhao, Weisong Zhu, Xiangyu Gao, Li Zhang, Xiao-Yu Lei, Zhen State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China China Mobile Financial Technology Co. Ltd. Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Hong Kong Institute of Information Engineering Chinese Academy of Sciences Beijing China School of Cyber Security University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9789819610679

Face recognition technology has gradually come into wide application in real life. However, in real-life unconstrained scenarios, low-quality images could be matched to unpredictable individuals, thereby affecting the stability of recognition and even causing security problems. Conducting quality assessment on face images before facial recognition can help alleviate these problems by rejecting low-quality samples. In this paper, we propose a Fast Diffusion-model-based Face Image Quality Assessment method (FDif-FIQA). It uses a diffusion model to perturb face images and measures image quality based on the similarity of features before and after the perturbation. The denoising process is transferred from the pixel space to the latent space, thereby reducing the computational cost. We evaluated the performance of this method with multiple mainstream face recognition models on various public datasets. Compared to state-of-the-art methods, our approach demonstrates highly competitive performance and significant improvements in computational efficiency. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Face recognition

来源：评论

学校读者我要写书评

暂无评论

Graph-Based Visual-Kinematic Fusion and Monte Carlo Initialization for Fast-Deployable Cable-Driven Robots

Graph-Based Visual-Kinematic Fusion and Monte Carlo Initiali...

引用

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

作者： R. Khorrambakht H. Damirchi M.R. Dindarloo A. Saki S.A. Khalilpour Hamid D. Taghirad Stephan Weiss Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY School of Computer Science University of Adelaide Australia Faculty of Electrical Engineering University of Technology Tehran Iran Department of Smart Systems Technologies University of Klagenfurt Austria

Ease of calibration and high-accuracy task-space state-estimation purely based on onboard sensors is a key requirement for enabling easily deployable cable robots in real-world applications. In this work, we incorporate the onboard camera and kinematic sensors to drive a statistical fusion framework that presents a unified localization and calibration system which requires no initial values for the kinematic parameters. This is achieved by formulating a Monte-Carlo algorithm that initializes a factor-graph representation of the calibration and localization problem. With this, we are able to jointly identify both the kinematic parameters and the visual odometry scale alongside their corresponding uncertainties. We demonstrate the practical applicability of the framework using our state-estimation dataset recorded with the ARAS-CAM suspended cable driven parallel robot, and published as part of this manuscript.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Robotic Intracellular Electrochemical Sensing for Adherent Cells

引用

Cyborg and Bionic systems 2022年第1期2022卷 75-86页

作者： Weikang Hu Yanmei Ma Zhen Zhan Danish Hussain Chengzhi Hu Shenzhen Key Laboratoryof Biomimetic Robotisand Intlligent Systems Department of Mechanicaland Enery EngineeringSouthern University of Science and TechnologyShenzhenChina Department of Mechatronics Engineering National University of Sciences and TechnologyIslamabadPakistan Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern Universityof Science and TechnologyShenzhenChina

Nanopipette-based observation of intracellular biochemical processes is an important approach to revealing the intrinsic char acteristics and heterogeneity of cells for better investigation of disease progression or early disease ***,the manual operation needs a skilled operator and faces problems such as low throughput and poor *** paper proposes an automated nanopipette-based microoperation system for cell detection,*** nonovershoot positioning of the nanopipette tip in proximity to the cell of interest,cell approaching and proximity detection between nanopipette tip and cell surface,and cell penetration and detection of the intracellular reactive oxygen species(ROS).A robust focus algorithm based on the number of cell contours was proposed for adherent cells,which have sharp peaks while retaining *** automated detection of adherent cells was evaluated on human umbilical cord vein endothelial cells(HUVEC)and NIH/3T3 cells,which provided an average of 95.65%true-positive rate(TPR)and 7.59%false-positive rate(FPR)for in-plane cell *** three dimensional nonovershoot tip positioning of the nanopipette was achieved by template matching and evaluated under the interference of *** current feedback was employed for the proximity detection between the nanopipette tip and cell ***,cell penetration and electrochemical detection of ROS were demonstrated on human breast cancer cells and zebrafish embryo *** work provides a systematic approach for automated intracellular sensing for adherent cells,laying a solid foundation for high-throughput detection,diagnosis,and classification of different forms of biochemical reactions within single cells.

关键词： diagnosis proximity retaining

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：