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IEEE-RAS International Conference on Humanoid Robots

作者： Russ Tedrake Scott Kuindersma Robin Deits Kanako Miura Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Paulson School of Engineering and Applied Sciences Harvard University Humanoid Research Group Intelligent Systems Research Institute National Institute of Advanced Industrial Science & Technology (AIST)

ISBN: (纸本)9781479968862

Here we present a closed-form solution to the continuous time-varying linear-quadratic regulator problem for zero-moment point (ZMP) tracking. This generalizes previous analytical solutions for gait generation by allowing "soft" tracking (with a quadratic cost) of the desired ZMP, and by providing the feedback gains for the resulting time-varying optimal controller. This enables very fast O(n) computation, with n the number of piecewise polynomial segments in the desired ZMP trajectory. Results are presented using the Atlas humanoid robot where dynamic walking is achieved by recomputing the optimal controller online.

关键词： acadesine Closed-form solutions optimal controllers dynamic walking Locomotion Gait tracking

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Motion retargeting for humanoid robots based on identification to preserve and reproduce human motion features

Motion retargeting for humanoid robots based on identificati...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： K. Ayusawa M. Morisawa E. Yoshida CNRS-AIST JRL(Joint Robotics Laboratory) UMI3218/RL Mitsuharu Morisawa is with Humanoid Research Group both Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology(IS-AIST) Japan

This paper presents the method to retarget human motion. The method can evaluate the ability of the preservation of the original characteristics of human motion data. It enables to compute the joint trajectories of the human corresponding with the retargeted ones of the robot at the same time, by utilizing the geometric identification technique. The obtained trajectories of a human are the solution to minimize the cost function about motion reproduction. The proposed method is efficient for such applications that the robot needs to mimic human motion without modifying the detailed features of the original movement of each body segment. The results of the retargeted motions to a humanoid robot are shown.

关键词： Humanoid robots Trajectory Optimization Dynamics Motion segmentation

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On study of a wheel-track transformation robot

On study of a wheel-track transformation robot

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IEEE International Conference on Robotics and Biomimetics

作者： Jianbing Hu Ansi Peng Yongsheng Ou Guolai Jiang Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen China Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781467396769

Wheeled robots usually move fast in relatively even surfaces while losing their major mobility on rough terrains. However, the tracked robots are superior to the wheel-types when they are to move on irregular terrains in spite of lower speed. In this paper, a Wheel-Track Transformation robot which combines the advantages of both mobile types by turning into wheel mode or track mode is designed. The robot consists of a robot platform equipped with an extra support mechanism, two wheels with transformation units and an universal wheel. Each transformation unit is composed of a rotating board and a double two-bar linkage mechanism. Three key mechanical components and several locomotion strategies on rough terrains are presented. Meanwhile, a detailed quasi-dynamic analysis is conducted to obtain proper torque capabilities of motors. Three prototypes of the proposed mechanism were manufactured and their fundamental mobility was evaluated by experiments.

关键词： Mobile robots Wheels Couplings Force Torque Tracking

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Author Correction: Why rankings of biomedical image analysis competitions should be interpreted with care

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Nature communications 2019年第1期10卷 588页

作者： Lena Maier-Hein Matthias Eisenmann Annika Reinke Sinan Onogur Marko Stankovic Patrick Scholz Tal Arbel Hrvoje Bogunovic Andrew P Bradley Aaron Carass Carolin Feldmann Alejandro F Frangi Peter M Full Bram van Ginneken Allan Hanbury Katrin Honauer Michal Kozubek Bennett A Landman Keno März Oskar Maier Klaus Maier-Hein Bjoern H Menze Henning Müller Peter F Neher Wiro Niessen Nasir Rajpoot Gregory C Sharp Korsuk Sirinukunwattana Stefanie Speidel Christian Stock Danail Stoyanov Abdel Aziz Taha Fons van der Sommen Ching-Wei Wang Marc-André Weber Guoyan Zheng Pierre Jannin Annette Kopp-Schneider Division of Computer Assisted Medical Interventions (CAMI) German Cancer Research Center (DKFZ) 69120 Heidelberg Germany. l.maier-hein@dkfz.de. Division of Computer Assisted Medical Interventions (CAMI) German Cancer Research Center (DKFZ) 69120 Heidelberg Germany. Centre for Intelligent Machines McGill University Montreal QC H3A0G4 Canada. Christian Doppler Laboratory for Ophthalmic Image Analysis Department of Ophthalmology Medical University Vienna 1090 Vienna Austria. Science and Engineering Faculty Queensland University of Technology Brisbane QLD 4001 Australia. Department of Electrical and Computer Engineering Department of Computer Science Johns Hopkins University Baltimore MD 21218 USA. CISTIB - Center for Computational Imaging & Simulation Technologies in Biomedicine The University of Leeds Leeds Yorkshire LS2 9JT UK. Department of Radiology and Nuclear Medicine Medical Image Analysis Radboud University Center 6525 GA Nijmegen The Netherlands. Institute of Information Systems Engineering TU Wien 1040 Vienna Austria. Complexity Science Hub Vienna 1080 Vienna Austria. Heidelberg Collaboratory for Image Processing (HCI Heidelberg University 69120 Heidelberg Germany. Centre for Biomedical Image Analysis Masaryk University 60200 Brno Czech Republic. Electrical Engineering Vanderbilt University Nashville TN 37235-1679 USA. Institute of Medical Informatics Universität zu Lübeck 23562 Lübeck Germany. Division of Medical Image Computing (MIC) German Cancer Research Center (DKFZ) 69120 Heidelberg Germany. Institute for Advanced Studies Department of Informatics Technical University of Munich 80333 Munich Germany. Information System Institute HES-SO Sierre 3960 Switzerland. Departments of Radiology Nuclear Medicine and Medical Informatics Erasmus MC 3015 GD Rotterdam The Netherlands. Department of Computer Science University of Warwick Coventry CV4 7AL UK. Department of Radiation Oncology Massachusetts General Hospital Boston MA

In the original version of this Article the values in the rightmost column of Table 1 were inadvertently shifted relative to the other columns. This has now been corrected in the PDF and HTML versions of the Article.

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A new index of navigating complex for maritime traffic situation

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Journal of Computational Information systems 2014年第24期10卷 10453-10462页

作者： Pan, Jiacai Jiang, Qingshan Shao, Zheping Fujian Key Laboratory of the Brain-like Intelligent Systems Xiamen University Xiamen China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Navigation Institute Jimei University Xiamen China

This paper describes a real time index of navigating complex model based on the traffic information from the ship's Automatic Identification System (AIS). This index model shows the real time navigating complex situation for the navigator for safer passage through the confused water. This model consists of two parts, index of maritime traffic situation minded from the history AIS data and the real time surrounding traffic situation from the real time AIS data. The index of maritime traffic situation is developed from the three dynamic traffic features, namely rate of ship turn, speed acceleration and ship encounter and the surrounding traffic situation indicates the real time traffic situation around the ship underway. This real time index of navigating complex model is verified by the real AIS data from Xiamen Bay and is proved to be useful for the navigator during the passage through complex water.

关键词： Data visualization

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Infeasibility-free inverse kinematics method

Infeasibility-free inverse kinematics method

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IEEE/SICE International Symposium on System Integration

作者： Wael Suleiman Fumio Kanehiro Eiichi Yoshida Electrical and Computer Engineering Department Université de Sherbrooke Sherbrooke Quebec Canada Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan CNRS-AIST JRL (Joint Robotics Laboratory) Tsukuba Ibaraki Japan

ISBN: (纸本)9781467372435

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while respecting velocity limits on both the robot's joints and the end-effector. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, defining an admissible trajectory for the end-effector is still a burdensome task for the user, and the problem can easily become unsolvable. The main idea behind the proposed algorithms is to consider the sampling time as a free variable, hence adding more flexibility to the optimization problem associated with the inverse kinematics. We prove that the reformulated problem has always a solution if the end-effector path is in the reachable space of the robot, thus solving the problem of infeasibility of conventional inverse kinematics methods. To validate the proposed approach, we have conducted three simulations scenarios. The simulation results point that while the conventional inverse kinematics methods fail to track precisely a desired end-effector trajectory, the proposed algorithms always succeed.

关键词： Kinematics Optimization Robots Trajectory Algorithm design and analysis Jacobian matrices Angular velocity

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Energy Spectrum of Cosmic-Ray Electron and Positron from 10 GeV to 3 TeV Observed with the Calorimetric Electron Telescope on the International Space Station

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Physical Review Letters 2017年第18期119卷 181101-181101页

作者： O. Adriani Y. Akaike K. Asano Y. Asaoka M. G. Bagliesi G. Bigongiari W. R. Binns S. Bonechi M. Bongi P. Brogi J. H. Buckley N. Cannady G. Castellini C. Checchia M. L. Cherry G. Collazuol V. Di Felice K. Ebisawa H. Fuke T. G. Guzik T. Hams M. Hareyama N. Hasebe K. Hibino M. Ichimura K. Ioka W. Ishizaki M. H. Israel A. Javaid K. Kasahara J. Kataoka R. Kataoka Y. Katayose C. Kato N. Kawanaka Y. Kawakubo H. S. Krawczynski J. F. Krizmanic S. Kuramata T. Lomtadze P. Maestro P. S. Marrocchesi A. M. Messineo J. W. Mitchell S. Miyake K. Mizutani A. A. Moiseev K. Mori M. Mori N. Mori H. M. Motz K. Munakata H. Murakami S. Nakahira J. Nishimura G. A. de Nolfo S. Okuno J. F. Ormes S. Ozawa L. Pacini F. Palma P. Papini A. V. Penacchioni B. F. Rauch S. B. Ricciarini K. Sakai T. Sakamoto M. Sasaki Y. Shimizu A. Shiomi R. Sparvoli P. Spillantini F. Stolzi I. Takahashi M. Takayanagi M. Takita T. Tamura N. Tateyama T. Terasawa H. Tomida S. Torii Y. Tsunesada Y. Uchihori S. Ueno E. Vannuccini J. P. Wefel K. Yamaoka S. Yanagita A. Yoshida K. Yoshida T. Yuda Department of Physics University of Florence Via Sansone 1–50019 Sesto Fiorentino Italy INFN Sezione di Florence Via Sansone 1–50019 Sesto Fiorentino Italy of Physics University of Maryland Baltimore County 1000 Hilltop Circle Baltimore Maryland 21250 USA Astroparticle Physics Laboratory NASA/GSFC Greenbelt Maryland 20771 USA Institute for Cosmic Ray Research The University of Tokyo 5-1-5 Kashiwa-no-Ha Kashiwa Chiba 277-8582 Japan Research Institute for Science and Engineering Waseda University 3-4-1 Okubo Shinjuku Tokyo 169-8555 Japan JEM Utilization Center Human Spaceflight Technology Directorate Japan Aerospace Exploration Agency 2-1-1 Sengen Tsukuba Ibaraki 305-8505 Japan Department of Physical Sciences Earth and Environment University of Siena via Roma 56 53100 Siena Italy INFN Sezione di Pisa Polo Fibonacci Largo B. Pontecorvo 3–56127 Pisa Italy Department of Physics Washington University One Brookings Drive St. Louis Missouri 63130-4899 USA Department of Physics and Astronomy Louisiana State University 202 Nicholson Hall Baton Rouge Louisiana 70803 USA Institute of Applied Physics (IFAC) National Research Council (CNR) Via Madonna del Piano 10 50019 Sesto Fiorentino Italy Department of Physics and Astronomy University of Padova Via Marzolo 8 35131 Padova Italy INFN Sezione di Padova Via Marzolo 8 35131 Padova Italy University of Rome “Tor Vergata ” Via della Ricerca Scientifica 1 00133 Rome Italy INFN Sezione di Rome “Tor Vergata ” Via della Ricerca Scientifica 1 00133 Rome Italy Institute of Space and Astronautical Science Japan Aerospace Exploration Agency 3-1-1 Yoshinodai Chuo Sagamihara Kanagawa 252-5210 Japan CRESST and Astroparticle Physics Laboratory NASA/GSFC Greenbelt Maryland 20771 USA St. Marianna University School of Medicine 2-16-1 Sugao Miyamae-ku Kawasaki Kanagawa 216-8511 Japan Kanagawa University 3-27-1 Rokkakubashi Kanagawa Yokohama Kanagawa 221-8686 Japan Faculty of Science and Technology Gradua

First results of a cosmic-ray electron and positron spectrum from 10 GeV to 3 TeV is presented based upon observations with the CALET instrument on the International Space Station starting in October, 2015. Nearly a half million electron and positron events are included in the analysis. CALET is an all-calorimetric instrument with total vertical thickness of 30 X0 and a fine imaging capability designed to achieve a large proton rejection and excellent energy resolution well into the TeV energy region. The observed energy spectrum over 30 GeV can be fit with a single power law with a spectral index of −3.152±0.016 (stat+syst). Possible structure observed above 100 GeV requires further investigation with increased statistics and refined data analysis.

关键词： Cosmic ray acceleration Cosmic ray composition & spectra Cosmic ray propagation Cosmic ray sources Cosmic rays & astroparticles Particle dark matter

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Reinforcement learning approach to learning human experience in tuning cavity filters

Reinforcement learning approach to learning human experience...

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IEEE International Conference on Robotics and Biomimetics

作者： Zhiyang Wang Jingfeng Yang Jianbing Hu Wei Feng Yongsheng Ou Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen P.R.China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen P.R.China Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Shenzhen P.R.China The Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781467396769

Owing to the rapid development of the communication industry, various kinds of radio frequency components are in great demand and put into mass production. Among them, passive devices such as microwave cavity filters, duplexers and combiners have experienced fast and unexpected upgrades. However, the tuning process of these products, which is always manually operated, still seems hard to be automatically replaced or improved because of the difficulties in extracting human experience. In this study, we make deep investigations into some previous automatic cavity filter tuning solutions, especially the ones using intelligent algorithms. In addition, we propose the method of intelligent tuning based on the reinforcement learning algorithm which dynamically extracts the human strategies during the tuning process. The experimental results prove the powerful performance of reinforcement learning in mastering human skills.

关键词： Tuning Scattering parameters Fasteners Cavity resonators Games Robots Industries

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Author Correction: The challenge of mapping the human connectome based on diffusion tractography

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Nature communications 2019年第1期10卷 5059页

作者： Klaus H Maier-Hein Peter F Neher Jean-Christophe Houde Marc-Alexandre Côté Eleftherios Garyfallidis Jidan Zhong Maxime Chamberland Fang-Cheng Yeh Ying-Chia Lin Qing Ji Wilburn E Reddick John O Glass David Qixiang Chen Yuanjing Feng Chengfeng Gao Ye Wu Jieyan Ma Renjie He Qiang Li Carl-Fredrik Westin Samuel Deslauriers-Gauthier J Omar Ocegueda González Michael Paquette Samuel St-Jean Gabriel Girard François Rheault Jasmeen Sidhu Chantal M W Tax Fenghua Guo Hamed Y Mesri Szabolcs Dávid Martijn Froeling Anneriet M Heemskerk Alexander Leemans Arnaud Boré Basile Pinsard Christophe Bedetti Matthieu Desrosiers Simona Brambati Julien Doyon Alessia Sarica Roberta Vasta Antonio Cerasa Aldo Quattrone Jason Yeatman Ali R Khan Wes Hodges Simon Alexander David Romascano Muhamed Barakovic Anna Auría Oscar Esteban Alia Lemkaddem Jean-Philippe Thiran H Ertan Cetingul Benjamin L Odry Boris Mailhe Mariappan S Nadar Fabrizio Pizzagalli Gautam Prasad Julio E Villalon-Reina Justin Galvis Paul M Thompson Francisco De Santiago Requejo Pedro Luque Laguna Luis Miguel Lacerda Rachel Barrett Flavio Dell'Acqua Marco Catani Laurent Petit Emmanuel Caruyer Alessandro Daducci Tim B Dyrby Tim Holland-Letz Claus C Hilgetag Bram Stieltjes Maxime Descoteaux Division of Medical Image Computing German Cancer Research Center (DKFZ) Heidelberg 69120 Germany. k.maier-hein@dkfz.de. Division of Medical Image Computing German Cancer Research Center (DKFZ) Heidelberg 69120 Germany. Sherbrooke Connectivity Imaging Lab (SCIL) Université de Sherbrooke Sherbrooke QC J1K 0A5 QC Canada. Department of Intelligent Systems Engineering School of Informatics and Computing Indiana University Bloomington IN 47408 USA. Krembil Research Institute University Health Network Toronto Canada M5G 2C4. Department of Neurological Surgery University of Pittsburgh School of Medicine Pittsburgh PA 15213 USA. IMT-Institute for Advanced Studies Lucca 55100 Italy. Department of Diagnostic Imaging St. Jude Children's Research Hospital Memphis TN 38105 USA. University of Toronto Institute of Medical Science Toronto Canada M5S 1A8. Institute of Information Processing and Automation Zhejiang University of Technology Hangzhou 310023 Zhejiang China. United Imaging Healthcare Co Shanghai 201807 China. Shanghai Advanced Research Institute Shanghai 201210 China. Laboratory of Mathematics in Imaging Harvard Medical School Boston MA 02215 USA. Center for Research in Mathematics Guanajuato 36023 Mexico. PROVIDI Lab Image Sciences Institute University Medical Center Utrecht Utrecht 3508 The Netherlands. Cardiff University Brain Research Imaging Centre School of Psychology Cardiff University Maindy Road Cardiff CF24 4HQ UK. Department of Radiology University Medical Center Utrecht Utrecht 3508 The Netherlands. Centre de recherche institut universitaire de geriatrie de Montreal (CRIUGM) Université de Montréal Montreal QC Canada H3W 1W5. Sorbonne Universités UPMC Univ Paris 06 CNRS INSERM Laboratoire d'Imagerie Biomédicale (LIB) 75013 Paris France. Center for Advanced Research in Sleep Medicine Hôpital du Sacré-Coeur de Montréal Montreal Canada H4J 1C5. Neuroimaging Unit Institute of Bioimaging and Molecular Physiology (IBFM) Nat

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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Test wrapper optimization technique using BDF and GA for 3D IP cores 5

Test wrapper optimization technique using BDF and GA for 3D ...

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5th International Conference on Computing Communication and Networking Technologies, ICCCNT 2014

作者： Liu, Jun Qian, Qingqing Wu, Xi Ren, Fuji Wang, Wei Chen, Tian School of Computer and Information Hefei University of Technology Hefei230009 China AnHui Province Key Laboratory of Affective Computing and Advanced Intelligent Machine Hefei University of Technology Hefei230009 China Department of Information Science and Intelligent Systems Faculty of Engineering University of Tokushima Tokushima7708502 Japan

ISBN: (纸本)9781479926961

To reduce pre-bond and post-bond test cost for 3D IP (Three Dimensional Intellectual Property) cores, this paper proposed a test wrapper optimization technique using BFD(Best Fit Decreasing) and GA (Genetic Algorithm) algorithm under the constraints of TSVs(Through Silicon Vias) number, the proposed technique firstly used BFD to balance the length of pre-bond wrapper chains to reduce pre-bond test time. Then, on the basis of optimization results of pre-bond wrapper chains, the GA was used to stitch pre-bond wrapper chains to form balanced post-bond wrapper chains under the constrained TSVs number to reduce hardware overhead and post-bond test time. Experimental results demonstrated the presented methodology can effectively reduce hardware overhead at the cost of little increased test time. © 2014 IEEE.

关键词： Chains

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