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

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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End-to-end throughput maximization for underlay multi-hop cognitive radio networks with rf energy harvesting

arXiv

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arXiv 2017年

作者： Xu, Chi Zheng, Meng Liang, Wei Yu, Haibin Liang, Ying-Chang State Key Laboratory of Robotics Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Robotics Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China School of Electrical and Information Engineering University of Sydney NSW2006 Australia University of Electronic Science and Technology of China Chengdu611731 China

This paper studies a green paradigm for the underlay coexistence of primary users (PUs) and secondary users (SUs) in energy harvesting cognitive radio networks (EH-CRNs), wherein battery-free SUs capture both the spectrum and the energy of PUs to enhance spectrum efficiency and green energy utilization. To lower the transmit powers of SUs, we employ multi-hop transmission with time division multiple access, by which SUs first harvest energy from the RF signals of PUs and then transmit data in the allocated time concurrently with PUs, all in the licensed spectrum. In this way, the available transmit energy of each SU mainly depends on the harvested energy before the turn to transmit, namely energy causality. Meanwhile, the transmit powers of SUs must be strictly controlled to protect PUs from harmful interference. Thus, subject to the energy causality constraint and the interference power constraint, we study the end-to-end throughput maximization problem for optimal time and power allocation. To solve this nonconvex problem, we first equivalently transform it into a convex optimization problem and then propose the joint optimal time and power allocation (JOTPA) algorithm that iteratively solves a series of feasibility problems until convergence. Extensive simulations evaluate the performance of EH-CRNs with JOTPA in three typical deployment scenarios and validate the superiority of JOTPA by making comparisons with two other resource allocation algorithms. Copyright © 2017, The Authors. All rights reserved.

关键词： Cognitive radio

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Generating persistently exciting trajectory based on condition number optimization

Generating persistently exciting trajectory based on conditi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ko Ayusawa Antoine Rioux Eiichi Yoshida Gentiane Venture Maxime Gautier CNRS-AIST JRL (Joint Robotics Laboratory) National Institute of Advanced Industrial Science and Technology(ISAIST) Japan Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology M. Gautier is with University of Nantes/LS2N France

This paper presents a novel optimization method for generating persistently exciting trajectories for inertial parameters identification of a robot. The exciting performance of the trajectories is usually evaluated by the condition number of the regressor matrix, which appears in the linear regression model for identification. In this paper, the efficient formulation is presented to directly compute the gradient of the condition number with respect to joint trajectory parameters, by deriving the derivative of the singular values and regressor matrices. Direct gradient computation can enhance computational performance of optimization, which is essential for large DOF systems under many physical consistent conditions such as humanoid robots. The proposed method is validated by generating several trajectories for the humanoid robot HRP-4.

关键词： Trajectory Humanoid robots Cost function Matrix decomposition Symmetric matrices

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Mechatronic Design of a Human Robot Coupling Interface for Teaching by Demonstration

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IFAC-PapersOnLine 2016年第21期49卷 675-680页

作者： Liang P. Yang C. Wang N. Li Z. Li R. State Key Lab of Robotics Systems Harbin Institute of Technology Harbin China Zienkiewicz Centre for Computational Engineering Swansea University Swansea United Kingdom Centre for Robotics and Neural Systems Plymouth University United Kingdom The MOE Key Laboratory of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology Guangzhou 510640 China

In this paper, we have developed a mechatronic human-robot coupling interface for kinaesthetic guidance based human robot teaching interface, by integration of a 6-axis force sensor, a coupling mechanism and wearable electromyography (EMG) arrays. Our design aims to transfer human operator's arm kinematics, force as well as human upper limb stiffness estimated from EMG signals to robot manipulators. Experiments have been carried out to test the teaching by demonstration performance of the coupling system in two scenarios: i) human teaching a robot for lifting up task; ii) human-robot skill transfer for one joint motion. Experimental results indicated that the coupling design nearly caused no disturbance to human upper limb stiffness estimation. Moreover, human arm kinematics and force/torque in task space can be transferred to the robot in a natural way with guaranteed safety. This coupling interface design can be easily extended to other robot platforms and has great potentials in application of human robot skill transfer. © 2016

关键词： electromyography (EMG) human robot coupling teaching by demonstration

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Tongue interface based on surface EMG signals of suprahyoid muscles

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ROBOMECH Journal 2016年第1期3卷 1-11页

作者： Sasaki, Makoto Onishi, Kohei Stefanov, Dimitar Kamata, Katsuhiro Nakayama, Atsushi Yoshikawa, Masahiro Obinata, Goro Graduate School of Engineering Iwate University MoriokaIwate Japan School of Science and Technology Middlesex University London United Kingdom Pattern Art Laboratory Co. Ltd. HanamakiIwate Japan Department of Intelligent Systems Engineering Ichinoseki National College of Technology IchinosekiIwate Japan Graduate School of Information Science Nara Institute of Science and Technology Nara Japan Department of Robotics Science and Engineering Chubu University Kasugai Japan

The research described herein was undertaken to develop and test a novel tongue interface based on classification of tongue motions from the surface electromyography (EMG) signals of the suprahyoid muscles detected at the underside of the jaw. The EMG signals are measured via 22 active surface electrodes mounted onto a special flexible boomerang-shaped base. Because of the sensor’s shape and flexibility, it can adapt to the underjaw skin contour. Tongue motion classification was achieved using a support vector machine (SVM) algorithm for pattern recognition where the root mean square (RMS) features and cepstrum coefficients (CC) features of the EMG signals were analyzed. The effectiveness of the approach was verified with a test for the classification of six tongue motions conducted with a group of five healthy adult volunteer subjects who had normal motor tongue functions. Results showed that the system classified all six tongue motions with high accuracy of 95.1 ± 1.9 %. The proposed method for control of assistive devices was evaluated using a test in which a computer simulation model of an electric wheelchair was controlled using six tongue motions. This interface system, which weighs only 13.6 g and which has a simple appearance, requires no installation of any sensor into the mouth cavity. Therefore, it does not hinder user activities such as swallowing, chewing, or talking. The number of tongue motions is sufficient for the control of most assistive devices. © 2016, Sasaki et al.

关键词： Support vector machines

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Close range ship noise cross correlations with a vector sensor in view of geoacoustic inversion

Close range ship noise cross correlations with a vector sens...

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IEEE/OES China Ocean Acoustics (COA)

作者： Yanqun Wu Ana Bela Santos Paulo Felisberto Sergio M. Jesus Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Universidade do Algarve Faro Faro PT Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Algarve Faro Portugal

ISBN: (纸本)9781467399791

Distant ship noise has been utilized for geoacoustic inversion and ocean monitoring for many years. In a shallow water experiment, Makai 2005, a 4-element acoustic vector sensor array was deployed at the stern of the research vessel R/V Kilo Moana. The recorded engine noise of R/V Kilo Moana during its dynamic positioning was analyzed by the DEMON (Detection of Envelope Modulation on Noise) method. The strongest modulation frequency band of the ship noise was found by a group of band-pass filters for further data processing. Multipath arrivals in the vertical particle velocity have higher signal-to-noise ratios than those in the horizontal particle velocities because of steep arrival directions. By exploiting this advantage, the cross-correlation of broadband ship noise between the pressure and the vertical particle velocity can be used for multipath information exploration. Since ship noise is often characterized as continuous broadband noise plus strong tonal noise, the cross-correlation of tonal noise would dominate that of broadband noise, and consequently cover the multipath arrival pattern. Therefore, spectral weighting functions are applied in order to reduce the noise contamination and ensure sharp multipath peaks in the cross-correlation. For engine noise emitted by the dynamically positioned ship, a short correlation time of 0.4s was used in order to keep the time delay fluctuation details of multipath arrivals. Clear multiple arrivals are seen in the cross-correlation of different arrivals, and verified by the ray tracing program TRACEO. The results demonstrate the potential of only one acoustic vector sensor in applications of source localization and geoacoustic inversion.

关键词： Frequency measurement Marine vehicles Government Environmental management Europe

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A novel extended potential field controller for use on aerial robots

A novel extended potential field controller for use on aeria...

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2016 IEEE International Conference on Automation science and engineering, CASE 2016

作者： Woods, Alexander C. Lay, Hung M. Ha, Quang P. Advanced Robotics and Automation Laboratory Department of Computer Science and Engineering University of Nevada RenoNV89557 United States School of Electrical Mechanical and Mechatronic Systems University of Technology Sydney Australia

ISBN: (纸本)9781509024094

Unmanned Aerial Vehicles (UAV), commonly known as drones, have many potential uses in real world applications. Drones require advanced planning and navigation algorithms to enable them to safely move through and interact with the world around them. This paper presents an extended potential field controller (ePFC) which enables an aerial robot, or drone, to safely track a dynamic target location while simultaneously avoiding any obstacles in its path. The ePFC outperforms a traditional potential field controller (PFC) with smoother tracking paths and shorter settling times. The proposed ePFC's stability is evaluated by Lyapunov approach, and its performance is simulated in a Matlab environment. Finally, the controller is implemented on an experimental platform in a laboratory environment which demonstrates the effectiveness of the controller. © 2016 IEEE.

关键词： Controllers

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