检索结果-内蒙古大学图书馆

DG-NBV: A Cognitive Framework for Direct Generation of Next Best View in Continuous View Space

IEEE Transactions on Cognitive and Developmental systems 2024年

作者： Liu, Zhicheng Cao, Zhiqiang Li, Jianjie Guan, Peiyu Yu, Junzhi Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Peking University Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China

The next best view (NBV) plays an important role in the three-dimensional object reconstruction. Existing NBV methods mainly adopt the generate-and-test strategy to select the best view in the discrete view space. This affects the adaptation to diverse objects. To solve this problem, a new NBV paradigm to directly generate the next best view in the continuous view space according to the input point cloud is proposed. Specifically, a point cloud feature extraction module with learnable view and position tokens is presented. These tokens are added upon the neighborhood and the position features of the point cloud to fully mine global contextual information, enhancing the feature representation. The predicted view from the proposed network is linked to a pre-trained view evaluation network. By duplicating this prediction view and then concatenating the duplication result with the extracted point cloud feature, the evaluation network is endowed with the ability to evaluate arbitrary views. Take the evaluation score of the evaluation network corresponding to the predicted view as the supervision signal, the network is trained. In this way, an effective solution of the next best view selection in the continuous view space is obtained. Accordingly, the adaptability to different objects is reinforced. Experimental results on the ShapeNet and MIT CSAIL datasets demonstrate the effectiveness of the proposed method. © 2024 IEEE.

关键词： Feature extraction

来源：评论

学校读者我要写书评

暂无评论

Application of Deep Learning Method to Estimate Bottomhole Pressure Dynamics of Oil Wells

Application of Deep Learning Method to Estimate Bottomhole P...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Haibo Cheng Shichao Li Peng Zeng Valeriy Vyatkin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Helsinki Finland

Surrogate models, which have become an effective and popular method to close loop reservoir management problems, use a data-driven approach to predict dynamic injection and production wells parameters and optimize waterflooding development. In this study, a deep learning-based surrogate model method is proposed to estimate bottomhole pressure (BHP) of production wells in waterflooding reservoirs. Bidirectional long short-term memory (BiLSTM) network, as an efficient deep learning approach, is applied to BHP estimation using fluctuation data. Extended Fourier amplitude sensitivity test (EFAST) method is employed to analyse the influence of different input factors on BHP dynamics, and a reduced dataset is rebuilt to predict BHP parameter based on BiLSTM-EFAST algorithm. The estimation results are tested on a dataset from Volve oilfield in North Sea, and compared with other deep learning methods. The test results indicate that the proposed method can achieve higher prediction accuracy. A reduced dataset-based approach provides a new attempt to reduce model complexity and improve calculation speed for big data-driven surrogate model in oil and gas industry.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Rail-Guided Multi-Robot System for the Cooperative Manipulation of Cross-Scale Targets

Rail-Guided Multi-Robot System for the Cooperative Manipulat...

引用

IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Han Tao Huaping Wang Yaozhen Hou Siyu Guo Kaijun Lin Maolin Wang Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology China Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

In the field of biomedicine, contact micromanipulations are mostly based on multi-robot coordinated operations to achieve mechanical contact interactions with a single type of target in a specific task scenario, which has advantages such as high repeatability, high precision and high stability. With the rapid development of biomedical technology, the increasingly complex biological micromanipulation process has been transformed from a single task to a task sequence of several subtasks, which puts forward higher requirements for the coordination, flexibility, operation accuracy and so on. However, due to the immutable configuration of the end-effector, most microrobotic manipulation systems have a fixed operation dimension, which makes it difficult to include the whole processing of complex tasks and meet the differentiated needs of different operational tasks and objectives. Therefore, this paper proposes a formation control based multi-robot dynamical reconfiguration collaborative micromanipulation to meet the dynamic requirements of multi-process complex tasks. By combining macro multi-robot formation control with collaborative micromanipulation, the dynamical reconfiguration of the end-effector under different manipulation tasks is realized. It can execute efficient and precise manipulation on fragile micro-objects ranging from 50 $\mu \mathrm{m}$ and 1000 $\mu \mathrm{m}$, and provide a new idea for accomplishing the whole processing of complex tasks, such as biological microassembly.

关键词： Viscosity Vibrations Rails Microscopy Collaboration End effectors Formation control

来源：评论

学校读者我要写书评

暂无评论

Robotic dual-arm patch clamp for neuron excitability research under mechanical stimulation

Robotic dual-arm patch clamp for neuron excitability researc...

引用

第43届中国控制会议

作者： Biting Ma Chaoyu Cui Ruimin Li Minghui Li Jinyu Qiu Ke Li Mingzhu Sun Xin Zhao Qili Zhao National Key Laboratory of Intelligent Tracking and Forecasting fo Infectious Diseases Engineering Research Center of Trusted BehaviorIntelligence Ministry of Education Tianjin Key Laboratory of intelligentRobotic (tikLIR) Institute of Robotics and Automatic Information System(IRAlS) Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The dual-arm patch clamp technique, using one micropipette electrode to patch the target cell to record its electric signals with the other micropipette mechanically stimulating the target cell, is a significant technique in neuroscience for studying neuron excitability under mechanical stimulation. A key step for dual-arm patch clamp operation is to coordinate two micropipettes to reach the target cells in the narrow brain tissue environment. The traditional manual operations face issues such as inaccurate workspace estimation, clumsy movements, and collision risks of the two micropipettes, resulting in low operational efficiency. Addressing the above issues, a robotic dual-arm patch clamp method was developed for neuron excitability research under mechanical stimulation in this paper. First, the reachable workspace of the dual-arm was calculated based on a kinematics model. Then, a robotic dual arm patch clamp operation procedure is proposed to approach, whole-cell patch, and mechanically stimulate the target cell. The experiment results on neurons in mouse brain slices show that the success rate of dual micropipette contacting cell surface reaches up to 90%(18/20) at an average speed of 6 mins/cell, which are both significantly improved in comparison to manual operation. An increase in neuron excitability in the primary visual cortex(V1) was found under the mechanical stimulation, proving the feasibility of the proposed system for studying the impact of mechanical stimulation on ion channel activities.

关键词： Robotic Patch Clamp Robotic Cell Measurement Workspace Calculation Whole-cell Recording Mechanical Stimulation

来源：评论

学校读者我要写书评

暂无评论

Development of Autonomous Underwater Robot for Navigation through Narrow Passages

Development of Autonomous Underwater Robot for Navigation th...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yang Luo Xiyu Zhu Yuchuan Zhou You Li Zhihui Xu Yan Wei Wende Ke Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9781665481106

Autonomous Underwater Vehicle (AUV), also called autonomous underwater robot, refers to an underwater robot that can independently complete tasks such as autonomous navigation, autonomous obstacle avoidance, and autonomous operation without human intervention. In some complex and narrow detection scenarios, autonomous underwater robots need to have a small volume, a high level of autonomy, and good maneuverability. Here, we design a miniature autonomous underwater robot driven by propellers, which integrates a high-performance processor, camera module, high-precision inertial measurement unit (IMU), etc. The attitude and position information of the robot is obtained in real-time through the IMU, and the processor controls the motion state of the six propellers, achieving the motion in six degrees of freedom in space. The highly integrated design ensures the maximum length of the whole machine within 15 cm, the 3-way PID controller design ensures an efficient and stable attitude control, and the high-performance processor provides more possibilities for target tracking and recognition. The developed AUV in this study shows superior navigation performance through narrow passages.

关键词： Autonomous underwater vehicles Propellers Attitude control Dynamics Process control Propulsion Aerospace electronics

来源：评论

学校读者我要写书评

暂无评论

All-weather,natural silent speech recognition via machine-learning-assisted tattoo-like electronics

引用

npj Flexible Electronics 2021年第1期5卷 183-191页

作者： Youhua Wang Tianyi Tang Yin Xu Yunzhao Bai Lang Yin Guang Li Hongmiao Zhang Huicong Liu YongAn Huang State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhanChina Flexible Electronics Research Center Huazhong University of Science and TechnologyWuhanChina School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina State Key Laboratory of Industrial Control Technologyg Institute of Cyber Systems and ControlZhejiang UniversityHangzhouChina

The internal availability of silent speech serves as a translator for people with aphasia and keeps human–machine/human interactions working under various *** paper develops a silent speech strategy to achieve all-weather,natural *** strategy requires few usage specialized skills like sign language but accurately transfers high-capacity information in complicated and changeable daily *** the strategy,the tattoo-like electronics imperceptibly attached on facial skin record high-quality bio-data of various silent speech,and the machine-learning algorithm deployed on the cloud recognizes accurately the silent speech and reduces the weight of the wireless acquisition module.A series of experiments show that the silent speech recognition system(SSRS)can enduringly comply with large deformation(~45%)of faces by virtue of the electricitypreferred tattoo-like electrodes and recognize up to 110 words covering daily vocabularies with a high average accuracy of 92.64%simply by use of small-sample machine *** successfully apply the SSRS to 1-day routine life,including daily greeting,running,dining,manipulating industrial robots in deafening noise,and expressing in darkness,which shows great promotion in real-world applications.

关键词： translator weather silent

来源：评论

学校读者我要写书评

暂无评论

Adapting NIST Aerial Drone Tests for Thermal Identification, Inspection, and Suppression of Wildfires

Adapting NIST Aerial Drone Tests for Thermal Identification,...

引用

IEEE Annual Computing and Communication Workshop and Conference (CCWC)

作者： Alex Fraley Ethan Nowery McCarthy Devine Adam Jacoff Paul Y. Oh Robotics Research Engineer for the Emergency Response Robots (Ground Aerial Aquatic) Project in the Intelligent Systems Division of the Engineering Laboratory National Institute of Standards and Technology (NIST) Gaithersburg MD USA Department of Mechanical Engineering University of Nevada Las Vegas (UNLV) Las Vegas NV USA Department of Aerospace Engineering University of Colorado Boulder (CU Boulder) Boulder CO USA Project Leader for Emergency Response Robots (Ground Aerial Aquatic) in the Intelligent Systems Division of the Engineering Laboratory National Institute of Standards and Technology (NIST) Gaithersburg MD USA Faculty of Mechanical Engineering University of Nevada Las Vegas

ISBN: (数字)9798331507695

ISBN: (纸本)9798331507701

The National Institute of Standards and Technology (NIST) has developed standard test methods to evaluate the capabilities of aerial drones, ground robots, and aquatic vehicles, as well as the proficiency of their operators. The aerial drone tests measure key capabilities such as maneuverability, visual acuity, and thermal acuity. With a rising demand for aerial drones among first responders, these tests are essential for assessing system performance, mitigating risk, and improving operational effectiveness to ensure the safety of responders and the public. Given the increasing prominence of wildfire threats and the widespread destruction they cause, aerial drones are being adapted to help detect, inspect, and contain them. This paper outlines how NIST-developed aerial drone tests can be adapted to simulate wildfire threats and provide a framework of reproducible tests that measure the system capabilities of aerial drones and the proficiency of operators in mitigating these threats.

关键词： Heating systems Visualization Wildfires System performance NIST Inspection Writing Object recognition Underwater vehicles Drones

来源：评论

学校读者我要写书评

暂无评论

CapsuleBot: A Novel Hybrid Aerial-Ground Bi-Copter Robot with Two Actuated-Wheel-Rotors

arXiv

引用

arXiv 2023年

作者： Zheng, Zhi Cai, Qifeng Wang, Jin Xu, Xinhang Cao, Muqing Yu, Huan Li, Jihao Meng, Jun Lu, Guodong State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Institute of Zhejiang University Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue Singapore639798 Singapore Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh15217 United States Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou310027 China

This paper presents the design, modeling, and experimental validation of CapsuleBot, a novel hybrid aerial-ground bi-copter robot designed for long-endurance and low-noise operations. CapsuleBot combines the maneuverability of a bi-copter in the air with the low power consumption and low noise of a two-wheel self-balancing robot on the ground. To achieve this, we design an innovative mechanical structure named the actuated-wheel-rotor, which uses a servo motor and a brushless motor to function as both a tilting rotor in the air and an actuated wheel on the ground. CapsuleBot is equipped with two actuated-wheel-rotors, enabling it to achieve hybrid aerial-ground propulsion using only four motors, with no additional motors required compared to a bi-copter. Additionally, we develop comprehensive dynamics and control systems for both air and wheel mode, based on the bi-copter model and the two-wheel self-balancing robot model. A prototype of CapsuleBot is constructed, and its performance in terms of low power consumption and low noise is validated through experiments. Challenging tasks demonstrate CapsuleBot’s capability to climb steep, fly over cliffs, and traverse rough terrains. Copyright © 2023, The Authors. All rights reserved.

关键词： Antenna grounds

来源：评论

学校读者我要写书评

暂无评论

Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

引用

arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

来源：评论

学校读者我要写书评

暂无评论

Autonomous navigation of a tracked unmanned ground vehicle*

引用

IFAC-PapersOnLine 2022年第14期55卷 120-125页

作者： Marija Seder Anđela Jurić Ana Šelek Filip Marić Marija Lovrić Ivan Petrović University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics (LAMOR) Zagreb Croatia University of Zagreb Croatian Military Academy Dr. Franjo Tuđman Zagreb Croatia

This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.

关键词： Robot navigation path planning obstacle detection avoidance motion control map building

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：