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0193 Sleepiness and Slow Rolling Eye Movements are Increased During Autonomous Versus Manual DrivingGet access

Sleep 2019年第SUPPLEMENT_1期42卷 A79–A79页

作者： Wong, Lily R Kuriyagawa, Yukiyo Gowda, Nikhil Cravalho, Patrick Wilaiprasitporn, Theerawit Garcia, Javier Flynn-Evans, Erin E San Jose State University Research Foundation Moffett Field CA USA NASA Ames Research Center Fatigue Countermeasures Laboratory Human Systems Integration Division Moffett Field CA USA Nihon University College of Industrial Technology Chiba Japan Vidyasirimedhi Institute of Science & Technology School of Information Science and Technology Bio-inspired Robotics and Neural Engineering Lab Rayong Thailand U.S. Army Research Laboratory Aberdeen Proving Ground MD USA

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Gone with the Wind: Nonlinear Guidance for Small Fixed-Wing Aircraft in Arbitrarily Strong Windfields

Gone with the Wind: Nonlinear Guidance for Small Fixed-Wing ...

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American Control Conference

作者： Luca Furieri Thomas Stastny Lorenzo Marconi Roland Siegwart Igor Gilitschenski Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna Italy Autonomous Systems Lab Department of Mechanical & Processing Engineering Swiss Federal Institute of Technology (ETH Zurich) Switzerland

ISBN: (纸本)9781509045839

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this paper we present a principled nonlinear guidance strategy, addressing this problem. More broadly, we propose a methodology for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed. The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path. Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach.

关键词： Arbitrarily Strong Windfields Fixed wing aircraft Guidance Wind Wings Unmanned Aerial Vehicle low speed level control vehicle visual tracking wall coping nonlinearity Platform

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Control of cardiomyocyte contraction for actuation of bio-syncretic robots

Control of cardiomyocyte contraction for actuation of bio-sy...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chuang Zhang Wenxue Wang Ning Xi Yuechao Wang Lianqing Liu State Key Laboratory of Robotics China and University of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang China Department of Industrial & Manufacturing Systems Engineering University of Hong Kong Pokfulam Hong Kong State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China

Bio-syncretic robots, consisting of living biological materials and traditional electromechanical systems, have attracted lots of attention due to the potentialities of self-sensing, self-actuation and self-repairing with intrinsic safety and high energy conversion efficiency. However, most of current researches focus on the movement of the devices, and have ignored the study on the control of actuation unit “cells”, which is as important as motors for traditional electromechanical robots. In this work, the effects of cell culturing time, seeding concentration and functional drugs (cytochalasin and adrenalin) on contractile frequency and force strength of cardiomyocytes have been studied using scanning ion conductance microscope (SICM) and arrays of micro-pillars made of PDMS. This work will lay the foundation for the further study of quantitatively control of bio-syncretic robots actuated by cardiomyocytes and is also meaningful for the development of cytology, medicine, and clinical science.

关键词： Robots Force Muscles Actuators Force measurement Automation

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Combining noise-to-image and image-to-image GANs: Brain MR image augmentation for tumor detection

arXiv

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arXiv 2019年

作者： Han, Changhee Rundo, Leonardo Araki, Ryosuke Nagano, Yudai Furukawa, Yujiro Mauri, Giancarlo Nakayama, Hideki Hayashi, Hideaki Machine Perception Group Graduate School of Information Science and Technology University of Tokyo Tokyo113-8657 Japan Research Center for Medical Big Data National Institute of Informatics Tokyo100-0003 Japan Department of Radiology University of Cambridge CambridgeCB2 0QQ United Kingdom Cancer Research UK Cambridge Centre CambridgeCB2 0RE United Kingdom Department of Informatics Systems and Communication University of Milano-Bicocca Milan20126 Italy Machine Perception and Robotics Group Graduate School of Engineering Chubu University Aichi487-8501 Japan Department of Psychiatry Jikei University School of Medicine Tokyo105-8461 Japan Human Interface Laboratory Department of Advanced Information Technology Kyushu University Fukuoka819-0395 Japan

Convolutional Neural Networks (CNNs) can achieve excellent computer-assisted diagnosis performance, relying on sufficient annotated training data. Unfortunately, most medical imaging datasets, often collected from various scanners, are small and fragmented. In this context, as a Data Augmentation (DA) technique, Generative Adversarial Networks (GANs) can synthesize realistic/diverse additional training images to fill the data lack in the real image distribution;researchers have improved classification by augmenting images with noise-to-image (e.g., random noise samples to diverse pathological images) or image-to-image GANs (e.g., a benign image to a malignant one). Yet, no research has reported results combining (i) noise-to-image GANs and image-to-image GANs or (ii) GANs and other deep generative models, for further performance boost. Therefore, to maximize the DA effect with the GAN combinations, we propose a two-step GAN-based DA that generates and refines brain MR images with/without tumors separately: (i) Progressive Growing of GANs (PGGANs), multi-stage noise-to-image GAN for highresolution image generation, first generates realistic/diverse 256 256 images-even a physician cannot accurately distinguish them from real ones via Visual Turing Test;(ii) UNsupervised Image-to-image Translation or SimGAN, image-to-image GAN combining GANs/Variational AutoEncoders or using a GAN loss for DA, further refines the texture/shape of the PGGAN-generated images similarly to the real *** thoroughly investigate CNN-based tumor classification results, also considering the influence of pre-training on ImageNet and discarding weird-looking GAN-generated images. The results show that, when combined with classic DA, our two-step GAN-based DA can significantly outperform the classic DA alone, in tumor detection (i.e., boosting sensitivity from 93:63% to 97:53%) and also in other medical imaging tasks. Copyright © 2019, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

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System Calibration Towards Automated Nanomanipulation Inside Scanning Electron Microscope

System Calibration Towards Automated Nanomanipulation Inside...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Mingyu Wang Yaqiong Wang Zhan Yang Tao Chen Lining Sun Toshio Fukuda Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Department of Micro-Nano Systems Engineering Nagoya University

ISBN: (纸本)9781538604915

This paper presented the calibration of the nanorobotic manipulator inside Scanning Electron Microscope (SEM). Repeating movement is frequently happing to reach the predetermined position and in order to realize the automated nanomanipulation inside SEM, the errors of the nanomanipultor and the system must be analyzed. A series of experiments based on SEM image feedback were conducted and the end-effectors can characterize the relationship of the two axis. An atomic force microscope (AFM) cantilever was assembled on the top of the nanorobotic manipulator, which moved straightly along the X or Y axis under stable speed. Through SEM video stream, a image processing method was used to analyze the errors of the nanomanipultor and the thermal drift of the encoder. The movement of nanomanipultor presented the good linearity and the error between the platform and the image coordinates were deteced. The slope of the x-direction is less than 1.7° and the slope of the y-direction is less than 0.8°. The nanomanipultor corrected his own track until the drift error is accumulated to 260 nm.

关键词： Scanning Electron Microscope (SEM) Nanorobot Nanomanipulation Nanorobotics Scanning Electron Microscope drift loss Atomic Force Microscopy y axis lateral axis image processing method y direction Automation Electron Microscope

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Development of a swarm UAV simulator integrating realistic motion control models for disaster operations

arXiv

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arXiv 2017年

作者： Siddiqui, Kazi Tanvir Ahmed Feil-Seifer, David Jiang, Tianyi Jose, Sonu Liu, Siming Louis, Sushil Robotics Research Laboratory Computer Science and Engineering Department University of Nevada Reno Reno Nevada89557 United States Evolutionary Computing Systems Lab Computer Science and Engineering Department University of Nevada Reno Reno Nevada89557 United States

Simulation environments for Unmanned Aerial Vehicles (UAVs) can be very useful for prototyping user interfaces and training personnel that will operate UAVs in the real world. The realistic operation of such simulations will only enhance the value of such training. In this paper, we present the integration of a model-based waypoint navigation controller into the Reno Rescue Simulator for the purposes of providing a more realistic user interface in simulated environments. We also present potential uses for such simulations, even for real-world operation of UAVs. Copyright © 2017, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Correction to: Fabrication of high-strength polyoxymethylene fibers by gel spinning

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Journal of Materials science 2018年第18期53卷 13316-13316页

作者： Xudong Fang Tom Wyatt Jing Shi Donggang Yao School of Mechanical Engineering Xi’an Jiaotong University Xi’an China School of Materials Science and Engineering Georgia Institute of Technology Atlanta USA State Key Laboratory for Manufacturing Systems Engineering Xi’an China State Key Laboratory of Robotics and System (HIT) Harbin China

In the original article, the name of author Donggang Yao was misspelled. It is correct here.

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Robot Teaching by Teleoperation Based on Visual Interaction and Neural Network Learning

Robot Teaching by Teleoperation Based on Visual Interaction ...

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2017 9th International Conference on Modelling, Identification and Control (ICMIC 2017)

作者： Yang Xu Chenguang Yang Junpei Zhong Hongbin Ma Lijun Zhao Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology National Institute of Advanced Industrial Science and Technology School of Automation Beijing Institution of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a demonstrator to train robot in an intuitive *** specifically,at the beginning the demonstrator controls a robot by visual *** then a learning algorithm based on radial basis function(RBF) network is used to transfer the demonstrator's motions to the *** verify the effectiveness of this developed methods,several simulation experiments have been carried out which based on Microsoft Kinect Sensor and the Virtual Robot Experimentation Platform(V-REP).The experimental results show that this method has achieved satisfactory *** the help of this method,the robot can not only complete the task autonomously after teaching,but also can learn the details of demonstrator's behavior.

关键词： Robot Teaching Teleoperation radial basis function(RBF) network

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Guo, Dejun Wang, Hesheng Chen, Weidong Liu, Ming Xia, Zeyang Leang, Kam K. Lab University of Utah Robotics Center Salt Lake CityUT84112 United States Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Institute of Biomedical and Health Engineering Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781509046331

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme. © 2017 IEEE.

关键词： Mobile robots

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Sparse-then-Dense Alignment based 3D Map Reconstruction Method for Endoscopic Capsule Robots

arXiv

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arXiv 2017年

作者： Turan, Mehmet Pilavci, Yusuf Yigit Ganiyusufoglu, Ipek Araujo, Helder Konukoglu, Ender Sitti, Metin Max Planck Institute for Intelligent Systems Stuttgart Germany Computer Vision Laboratory ETH Zurich Switzerland Robotics Laboratory University of Coimbra Portugal Electrical and Electronics Engineering Middle East Technical University Turkey Computer Science Faculty of Engineering and Natural Sciences Sabanci University Turkey

In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is emerging as a novel, minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Since the development of this technology, medical device companies and many research groups have made substantial progress in converting passive capsule endoscopes to robotic active capsule endoscopes which can be controlled by the doctor. However, robotic capsule endoscopy still has some challenges. In particular, the use of such devices to generate a precise and globally consistent three-dimensional (3D) map of the entire inner organ remains an unsolved problem. Such global 3D maps of inner organs would help doctors to detect the location and size of diseased areas more accurately, precisely, and intuitively, thus permitting more accurate and intuitive diagnoses. The proposed 3D reconstruction system is built in a modular fashion including preprocessing, frame stitching, and shading-based 3D reconstruction modules. We propose an efficient scheme to automatically select the key frames out of the huge quantity of raw endoscopic images. Together with a bundle fusion approach that aligns Copyright © 2017, The Authors. All rights reserved.

关键词： Endoscopy

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