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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Duygun Erol Nilanjan Sarkar Bibhrajit Halder Department of Electrical Engineering and Computer Science Vanderbilt University USA Department of Mechanical Engineering Robotics and Autonomous Systems Laboratory Vanderbilt University USA

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

关键词： Robot control Rehabilitation robotics Automatic control Robot kinematics Control systems Force control Medical treatment Supervisory control Automata Medical control systems

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face Anti-Spoofing 18

CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face A...

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18th IEEE International Joint Conference on Biometrics, IJCB 2024

作者： Zhang, Ying Zhu, Xiangyu Liu, Ajian Lin, Xun Wan, Jun Zhang, Jing Lei, Zhen Beihang University School of Computer Science and Engineering China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation China University of Chinese Academy of Sciences School of Artificial Intelligence China Macau University of Science and Technology School of Computer Science and Engineering China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation China

ISBN: (纸本)9798350364132

Face anti-spoofing (FAS) is pivotal in safeguarding the integrity of face recognition systems. Flexible-modal FAS utilizes multi-modal data and trains a unified model adaptable to any single-modal testing scenario. This innovation addresses the shortcomings of conventional multi-modal FAS approaches, which typically demand separate model training and deployment for each modality. However, existing flexible-modal FAS approaches activate specific network branches based on the modality of the tested sample. This not only increases the model's parameters but also necessitates the provision of the image's modality for testing, thereby constraining deployment flexibility. To address the issue, we present Compound Prompt Learning CLIP (CPL-CLIP), a novel method for flexible-modal FAS. This approach capitalizes on a learned textual prompt that is nearly independent of modality, thus bolstering class-based classification across arbitrary modalities. Specifically, our CPL-CLIP introduces a Dual-Branch Prompt (DBP), consisting of class and modal prompts that describe and guide classification, where each prompt is composed of learnable vectors and fixed templates. To further render the class prompt as modality-agnostic as possible, a Cosine Similarity Loss (CSL) is proposed to facilitate the maximal separation of the class prompt from the modality prompt. With only the class prompt utilized during testing, CPL-CLIP enables deployment in diverse modal testing scenarios without the necessity of the test image's modality to be known. Extensive experiments demonstrate CPL-CLIP's superiority over existing methods on several flexible-modal FAS benchmarks. © 2024 IEEE.

关键词： Face recognition

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Lidar-Inertial and Downward Vision Based Mobile Robot SLAM in Digital Workshops 13

Lidar-Inertial and Downward Vision Based Mobile Robot SLAM i...

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13th IEEE Data Driven Control and Learning systems Conference, DDCLS 2024

作者： Zhang, Yanchao Geng, Hao Liu, Bin Zhang, Yinlong Yuan, Xudong Zhang, Sichao School of Information Science and Engineering Shenyang University of Technology Shenyang110020 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350361674

In order to solve the problems of long-term cumulative error and the absence of absolute pose in the existing Lidar-Inertial Measurement Unit (IMU) fusion methods for Automated Guided Vehicle (AGV) Simultaneous Localization and Mapping (SLAM), we propose a new SLAM method for mobile robot, integrating Lidar, IMU, and a downward vision camera. Firstly, we tightly couple Lidar-IMU and downward vision camera using a multimodal fusion framework. Downward visual measurements are integrated as QR factors into the factor graph, providing absolute pose information to correct cumulative error in the Lidar-IMU system and enable the joint pose estimation of the AGV. Secondly, an enhanced Iterative Closest Point (ICP) point cloud matching algorithm has been developed to correct the incorrect pose. This approach achieves Scan-to-Map alignment by employing a coarse-to-fine matching strategy, thereby enhancing the accuracy of point cloud alignment. Finally, the extended Kalman filter is used to optimize the Lidar pose drift, as well as the Lidar mapping effectively by using the Lidar-IMU as the measurements and the downward visual measurements as the updates. The algorithm has been extensively evaluated on the developed AGV experimental platform. The experimental results show that the position error is less than 0.02 meters and the orientation error is less than 1°, which solves the problems of long-term error accumulation and the lack of absolute pose information for AGV navigation. © 2024 IEEE.

关键词： Extended Kalman filters

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Improving hierarchical architecture performance with dynamic segmentation

Improving hierarchical architecture performance with dynamic...

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IEEE International Conference on systems, Man and Cybernetics

作者： C.M. Aras R.C. Luo D.S. Reeves Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Robotics and Intelligent Systems Laboratory Department of Computer Science North Carolina State University Raleigh NC USA

Dynamic segmentation is a method for improving the performance of cooperating tasks executed on loosely coupled multiprocessors. Four different data transfer techniques that can be used for intersegment data transfers in dynamically segmented buses are analyzed. Preemptive data transfers are considered for uniform message latencies and results are provided for message latency comparisons using various locality factors. These results indicate dynamic segmentation improves performance considerably, at a fraction of the cost of more complex interconnection networks such as multiple buses.< >

关键词： Mobile robots Intelligent robots Computer architecture Control systems Communication system control Communication channels Communication networks Bandwidth Robot control Delay

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Hand tracking accuracy enhancement by data fusion using leap motion and myo armband

Hand tracking accuracy enhancement by data fusion using leap...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Chen, Jingxiang Liu, Chao Cui, Rongxin Yang, Chenguang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China LIRMM CNRS-University of Montpellier France School of Marine Engineering Northwestern Polytechnical University Xi'an China Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom

ISBN: (纸本)9781728158594

In this paper, by using the combination of Leap Motion and Myo armband, two methods for hand tracking and online hand gesture identification are proposed. With the proposed methods, We have improved the measurement accuracy of the palm direction and solved the problem of insufficient accuracy when the palm is at the limit of the measurement range. We use the Kalman filter algorithm and the neural network classification method to process the data measured by Leap Motion and Myo, so that the tracking of the operator's hand gesture is more accurate and robust even when the hand is at positions close to the measurement limit of one single sensor. The methods, which improve the hand tracking accuracy, can be used for robotic control, demonstration or teleoperation. The effectiveness of the proposed methods has been demonstrated through comparative experiments. © 2019 IEEE.

关键词： Palmprint recognition

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Development of 3-DOF finger module for micro manipulation

Development of 3-DOF finger module for micro manipulation

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Y. Ohya T. Arai Y. Mae K. Inoue T. Tanikawa Department of Systems and Human Science Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan Department of Robotics Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

A compact and economical 3-DOF finger module for micro manipulation is developed; it is designed for a two-finger micro manipulator which can manipulate micrometer-size objects dexterously like chopsticks. A 3-DOF parallel mechanism for this finger is proposed, and its inverse kinematics between the end effector position and the actuator displacements is formulated. The design parameters are determined so that its workspace volume may be as large as possible. A prototype using three piezo-electric actuators and two types of flexure joints, which are proposed for realizing a compact finger, is developed. The Jacobian matrix used for calculating the actuator displacements corresponding to the given end effector position is obtained by experiments. The repeatability and absolute positioning accuracy-about 2.0 /spl mu/m-of this prototype are evaluated.

关键词： Fingers Actuators Prototypes End effectors Glass Hydrogen Humans Design engineering Humanoid robots Mechanical engineering

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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Triangular formation control using range measurements: An application to marine robotic vehicles

Triangular formation control using range measurements: An ap...

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3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, António M. Gallieri, Marco Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisboa Portugal CH-1015 Lausanne Switzerland Control Group Engineering Department Sidney Sussex College CB21PZ Cambridge United Kingdom

ISBN: (纸本)9783902823199

This paper addresses the problem of maintaining an autonomous robotic vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The robotic vehicle has no a priori knowledge of the path described by the leaders and its goal is to follow them by constantly regulating the inter-vehicle distances to a desired fixed value, using range-only measurements. To solve this station keeping problem, we propose a control strategy that estimates the formation speed and heading from the ranges obtained to the two leading vehicles, and uses simple feedback laws for speed and heading commands to drive suitably defined common and differential errors to zero. For straight-line motion, we provide guaranteed conditions under which the proposed control strategy achieves local convergence of the distance errors to zero. We also indicate how our design procedure can be extended to full dynamic models of marine robotic vehicles equipped with inner loops for yaw and speed control. Simulation results using realistic models are described and discussed.

关键词： Vehicles

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Development of multi-limb robot with omnidirectional manipulability and mobility

Development of multi-limb robot with omnidirectional manipul...

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： Y. Takahashi T. Arai Y. Mae K. Inoue N. Koyachi Department of Systems and Human Science Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan Department of Robotics Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

In order to develop a high performance working robot, we design and develop a new robot based on the concept of "limb mechanism " for integration of legged locomotion and arm manipulation. The robot developed has six limbs which can be used for both locomotion and manipulation. The six limbs are set on vertices of regular hexagonal body so that this robot can have omnidirectional manipulability and mobility. We evaluate the stroke and the stability margin in all walking directions on six-legged and four-legged locomotion. As a result, this robot has higher omnidirectional mobility than conventional mechanisms.

关键词： Mobile robots Robot kinematics Legged locomotion Orbital robotics Service robots Leg Couplings Grippers Stability Robotic assembly

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