检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： Xinran Liu Hao Chen Hongbin Liu School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Professor at Chinese Academy of Sciences Institute of Automation (CASIA) Executive Director for the Centre of AI and Robotics (CAIR) Hong Kong Institute of Science & Innovation Chinese Academy of Sciences An Adjunct Reader and Director of the Haptic Mechatronics and Medical Robotics (HaMMeR) lab at the School of Biomedical Engineering and Imaging Sciences King’s College London (KCL) UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This work presents a novel shape evaluation and optimization approach for shape sensing, specifically targeting the constrained, irregular, and intricate spatial shapes of flexible bronchoscopes (FB) in human bronchial tree. The proposed evaluation criteria and optimization methods combine clinical significance related to bronchial anatomical structures and address issues related to singular points and discontinuities in traditional shape reconstruction models. Three-dimensional experiments were conducted within eight spatial complex configurations printed from a proportional bronchial model. The 3D experiment results demonstrate an average reduction of approximately 34.1% in shape reconstruction errors across all eight airway models compared to the traditional model, validating the effectiveness and feasibility.

关键词： Bronchoscopy Solid modeling Optical fiber sensors Three-dimensional displays Shape Atmospheric modeling Optimization methods

来源：评论

学校读者我要写书评

暂无评论

PR2: A Physics- and Photo-realistic Humanoid Testbed with Pilot Study in Competition

arXiv

引用

arXiv 2024年

作者： Liu, Hangxin Xie, Qi Zhang, Zeyu Yuan, Tao Leng, Xiaokun Sun, Lining Zhu, Song-Chun Zhang, Jingwen He, Zhicheng Su, Yao Beijing100080 China Institute for Artificial Intelligence School of Artificial Intelligence Peking University Beijing100871 China Department of Automation Tsinghua University Beijing100084 China Department of Computer Science Harbin Institute of Technology Harbin150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215000 China

This paper presents the development of a Physicsrealistic and Photo-realistic humanoid robot testbed, PR2, to facilitate collaborative research between Embodied Artificial Intelligence (Embodied AI) and robotics. PR2 offers high-quality scene rendering and robot dynamic simulation, enabling (i) the creation of diverse scenes using various digital assets, (ii) the integration of advanced perception or foundation models, and (iii) the implementation of planning and control algorithms for dynamic humanoid robot behaviors based on environmental feedback. The beta version of PR2 has been deployed for the simulation track of a nationwide full-size humanoid robot competition for college students, attracting 137 teams and over 400 participants within four months. This competition covered traditional tasks in bipedal walking, as well as novel challenges in loco-manipulation and language-instruction-based object search, marking a first for public college robotics competitions. A retrospective analysis of the competition suggests that future events should emphasize the integration of locomotion with manipulation and perception. By making the PR2 testbed publicly available at https://***/pr2-humanoid/PR2-Platform, we aim to further advance education and training in humanoid robotics. © 2024, CC BY.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Compositional Construction of Barrier Functions for Switched Impulsive Systems

Compositional Construction of Barrier Functions for Switched...

引用

IEEE Conference on Decision and Control

作者： Katharina Bieker Hugo Kussaba Philipp Scholl Jaesug Jung Abdalla Swikir Sami Haddadin Gitta Kutyniok Department of Mathematics Ludwig-Maximilians-Universität München Germany Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich (TUM) Germany Department of Electrical and Electronic Engineering Omar Al-Mukhtar University (OMU) Albaida Libya Aalto University Finland MBUZAI Abu Dhabi UAE Centre for Tactile Internet with Human-in-the-Loop (CeTI) Munich Center for Machine Learning (MCML) Germany Department of Physics and Technology University of Tromsø Norway Institute of Robotics and Mechatronics DLR-German Aerospace Center Germany

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Many systems occurring in real-world applications, such as controlling the motions of robots or modeling the spread of diseases, are switched impulsive systems. To ensure that the system state stays in a safe region (e.g., to avoid collisions with obstacles), barrier functions are widely utilized. As the system dimension increases, deriving suitable barrier functions becomes extremely complex. Fortunately, many systems consist of multiple subsystems, such as different areas where the disease occurs. In this work, we present sufficient conditions for interconnected switched impulsive systems to maintain safety by constructing local barrier functions for the individual subsystems instead of a global one, allowing for much easier and more efficient derivation. To validate our results, we numerically demonstrate its effectiveness using an epidemiological model.

关键词： Sufficient conditions Computational modeling Switches Interconnected systems Control systems Polynomials Numerical models Safety Robots Diseases

来源：评论

学校读者我要写书评

暂无评论

A case study on exhaust fan - FEM analysis

引用

IOP Conference Series: Materials Science and engineering 2016年第1期147卷

作者： I Damian V Paleu Mechanical Engineering and Automotive Department 'Gheorghe Asachi' Technical University Iasi Romania Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University Iasi Romania

This paper presents a case study for an exhaust fan rotor made from elements assembled through bolted joints. For this design of the rotor and normal operating conditions the fan achieve the field of resonance, conducting to the failure of rotor bearing assembly, and finally of the entire fan. The finite element method (FEM) is used to study the stress, strain and natural frequencies of the fan rotor. The FEM analysis proves that a rotor with welded construction eliminates the disadvantage of the resonance phenomenon occurrence in the range of the normal operating speed.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A proposal of a method for prototyping M2M/ IoT systems based on ideas and its applications

IEEJ Transactions on Electronics, Information and Systems

引用

IEEJ Transactions on Electronics, Information and Systems 2017年第10期137卷 1402-1413页

作者： Ohe, Nobuhiro Dosaka, Shin Kitagami, Shinji Kaneko, Yousuke Inoue, Masahiro Nakajima, Tsuyoshi Shiotsuki, Tetsuo Koizumi, Hisao Melco Techno Yokohama 325 Kamimachiya Kamakura Kanagawa247-8520 Japan Global Information and Telecommunication Institute Waseda University 1-3-10 Nishi-Waseda Shinjuku-ku Tokyo169-0051 Japan Information Technology R and D Center Mitsubishi Electric Corporation 5-1-1 Ohuna Kamakura Kanagawa247-8501 Japan Department of Electronic Information Systems Shibaura Institute of Technology 307 Fukasaku Minume-ku Saitama-shi Saitama337-8510 Japan Department of Engineering Shibaura Institute of Technology 3-7-5 Toyosu Koto-ku Tokyo135-8548 Japan Department of Robotics and Mechatronics Tokyo Denki University 5 Senju-asahi-cho Adachi-ku Tokyo120-8551 Japan NPO Organization M2M Study Group 388 Fujisawa Fujisawa-shi Kanagawa251-0052 Japan

M2M (Machine to Machine) / IoT (Internet of Things) systems are expected to be used in various application areas such as social infrastructure, industrial automation, and health and medical care. Prototyping of M2M/IoT systems is an effective way to embody the idea on the systems and to examine their feasibility. This paper describes a method for prototyping of M2M/IoT systems, which consists of how to embody the idea of them, how to select their components and how to build them using a framework, so that people can easily construct M2M/IoT systems to solve their problems. This paper also describes three different applications of this method, which proves its effectiveness. © 2017 The Institute of Electrical Engineers of Japan.

关键词： Internet of things

来源：评论

学校读者我要写书评

暂无评论

Preliminary Investigation on the Possible Adaptive Control of an Inverted Pendulum-type Electric Cart

Preliminary Investigation on the Possible Adaptive Control o...

引用

International Symposium on Computational Intelligence and Informatics

作者： Hamza Khan Tamás Faitli Tamás Szili József K. Tar Doctoral School of Applied Informatics and Applied Mathematics Óbuda University Budapest Hungary Donát Bánki Faculty of Mechanical and Safety Engineering Institute of Mechatronics and Autotechnics Óbuda University Budapest Hungary John von Neumann Faculty of Informatics Óbuda University Budapest Hungary Research and Innovation Center Antal Bejczy Center for Intelligent Robotics Óbuda University Budapest Hungary

The model-based control of Classical Mechanical systems often has to cope with the problem of the lack of precise dynamic models. In the case of underactuated systems this problem is further burdened by the existence of strong nonlinearities, even in the form of dynamic singularities. The simultaneous existence of these problems does not promise successful application of the traditional robust control approaches that are based on a Linear Time-invariant (LTI) approximation of the model in the vicinity of some “working point” and the intensive use of the frequency domain. The relatively simple, strongly nonlinear Robust Variable Structure/Sliding Mode (VS/SM) controllers may produce undesirable chattering while the more sophisticated, Lyapunov function-based adaptive techniques may require complicated computations because the dynamic model of a relatively simple mechanical structure computationally may be quite complicated, especially when the system is driven by a Pulse Width Modulated (PWM), brushless electric DC motor that together with the mechanical components determines a relative order 3 control task yielding terms of order 0, 1, 2, and 3 time-derivatives of the state variables. The aim of the present paper is to investigate whether to what extent the calculation of these terms can be eliminated by the use of a simple, Fixed Point-iteration (FPI)-based adaptive controller that could be implemented by the use of an embedded micro-controller. The simulation results that belong to a certain solution are promising.

关键词： Adaptation models Task analysis Mathematical model Adaptive control Computational modeling Informatics

来源：评论

学校读者我要写书评

暂无评论

The effectiveness of learning simulations for electronic laboratories

引用

Journal of engineering Education 2002年第1期91卷 81-87页

作者： Campbell, J. Olin Bourne, John R. Mosterman, Pieter J. Brodersen, Arthur J. Dept. Instructional Psychol./T. Brigham Young University Department of Electrical Engineering Franklin W. Olin Coll. of Eng. Inst. of Robotics and Mechatronics DLR Research Center Oberpfaffenhofen Department of Electrical Engineering Vanderbilt University 150-KMCKB Brigham Young University Provo UT 84602 Department of Electrical Engineering Franklin W. Olin Coll. of Eng. 1795 Great Plain Avenue Needham MA 02492-1245 Polderweg 10 9163 JM Nes-Ameland Netherlands Department of Electrical Engineering Vanderbilt University Station B Nashville TN 37235

This work investigates the efficacy of software simulations of electronic circuits laboratories to support beginning electrical engineering students. Experiment 1 was a formative evaluation of an Electronic Laboratory Simulator (ELS), as an optional add-on to physical labs for 120 subjects at four universities. All subjects received the same treatment: their normal classes and physical labs, with optional use of simulated labs. Subjects took written tests specific to the lab's content, before and after using each simulated lab. Only subjects who took both pre- and post-tests were included. Pre- and post-test comparisons indicated significant improvement in both theory and lab knowledge when scores for all labs were combined, but inconsistent performance on individual labs. As the treatment included other learning opportunities in addition to simulated labs, the results were not attributed to the simulations, but provided initial indications and qualitative data on subjects' experiences. These helped to improve the labs and the implementation strategies. Experiment 2 used 40 college sophomores in a beginning electronic circuits lab. Physical lab subjects received seven physical labs. Combined lab subjects received a combination of seven simulated labs and two physical labs. The latter repeated two of the simulated labs to provide physical lab practice. Both treatments used the same assignments. Learner outcome measures were: (a) time required to complete a new criterion physical lab;(b) score on written lab and theory tests over all the labs;and (c) comments on the lab experience. The group that used combined simulated and physical labs performed significantly better on the written tests than the group using entirely physical labs. Both groups were equivalent in time to complete the criterion physical lab. Comments about the simulated labs were generally positive, and also provided specific suggestions for changes.

关键词： Learning systems

来源：评论

学校读者我要写书评

暂无评论

Modelling cyber-physical systems: some issues and directions

引用

IOP Conference Series: Materials Science and engineering 2018年第4期444卷

作者： J Galvão J Machado G Prisacaru D Olaru C Bujoreanu Mechanical Engineering Department MEtRICs University of Minho Guimarães Portugal Mechanical Engineering Mechatronics and Robotics Department 'Gheorghe Asachi' Technical University of Iasi Iasi Romania

On the context of industry 4.0 there are still huge gaps, in several areas, and some scientific and technological challenges are addressed in the domains of sensing, communication, computing, cognition and autonomous control. In this paper there are discussed some issues on modelling cyber-physical systems, as well as possible directions to follow, in this aspect, for obtaining correct specifications for distributed controllers' systems. This work is focused on the main issues considering plant modelling approaches.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Concept development of an independent electronic system for vibroacoustic diagnostics of vehicles

引用

IOP Conference Series: Materials Science and engineering 2022年第1期1235卷

作者： N A Nitu V Caunii C Bujoreanu Gheorghe Asachi Technical University of Iasi Department of Mechanical Engineering Mechatronics and Robotics 59A Blvd. Mangeron 70005 - Iasi Romania

This paper proposes the concept of electronic noise and vibration diagnostic system for vehicles that aims to avoid wrong or unreasonable replacement of their components in the repair process. Our concept for a vibroacoustic diagnostic system consists of a set of sensors that receive noise and vibration, judiciously arranged and connected to a DAQ (Data Acquisition System). This allows the ECU (Electronic Control Unit) to accurately determine, by three-dimensional detection, the area in which vibroacoustic anomalies are manifesting (due to current or incipient defects). The data storage memory works according to the first in - first out principle, retaining only significant information to save resources. Establishing a mathematical model is one of the focuses for this concept for predicting the failure of various components of the vehicle based on vibroacoustic and then developing an artificial intelligence program capable of identifying and classifying new behaviours are the steps which we follow in the development of this tool. Also, the benefits of early detection of a subassembly failure are found in increasing traffic safety.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Application of deep convolutional and long short-term memory neural networks to red blood cells motion detection and velocity approximation

Application of deep convolutional and long short-term memory...

引用

Saratov Fall Meeting 2021: Computational Biophysics and Nanobiophotonics

作者： Kornaev, Alexey V. Dremin, Viktor V. Kornaeva, Elena P. Volkov, Mikhail V. Dept. Of Mechatronics Mechanics and Robotics Orel State University 95 Komsomolskaya Street Orel302026 Russia Lab. of Artificial Intelligence Innopolis University 1 Universitetskaya street Innopolis 420500 Russia Research and Development Center of Biomedical Photonics Orel State University 95 Komsomolskaya Street Orel302026 Russia College of Engineering and Physical Sciences Aston University BirminghamB4 7ET United Kingdom Dept. of Information Systems Orel State University 95 Komsomolskaya Street Orel302026 Russia Faculty of Applied Optics ITMO University 49 Kronverksky St. Petersburg197101 Russia

ISBN: (数字)9781510653702

ISBN: (纸本)9781510653696

The paper deals with processing data obtained using nailfold high-speed videocapillaroscopy. To detect the red blood cells velocity two approaches are used. The deterministic approach is based on pixel intensities analysis for object detection and calculation of the displacement and velocity of red blood cells in a capillary. The obtained data formulate targets for the second approach. The stochastic approach is based on a sequence of artificial neural networks. The semantic segmentation network UNet is used for capillary detection. Then, the classification network GoogLeNet or ResNet is used as a feature extractor to convert masked video frames to a sequence of feature vectors. And finally, the long short-term memory network is used to approximate the red blood cells velocity. The results demonstrated that the accuracy of the mean velocity approximation in the time range of several seconds is up to 0.96. But the accuracy at each specific time moment is less accurate. So, the proposed algorithm allows the determination of the RBCs mean velocity but it doesn't allow determination of the RBCs pulsations accurate enough. © 2022 SPIE.

关键词： Stochastic systems

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：