检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Nikolas Wilhelm Victor Schaack Annick Leisching Carina Micheler Sami Haddadin Rainer Burgkart Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich Germany Department of Orthopedics and Sports Orthopedics Klinikum Rechts der Isar School of Medicine Munich Germany Professorship for Machine Intelligence in Orthopedics School of Medicine and Health and School of Computation Information and Technology Munich Germany

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This study presents the development and validation of an innovative hand exoskeleton designed for the re-habilitation of patients with Complex Regional Pain Syndrome (CRPS), a condition frequently arising post-injury or surgeries. The prototype is tailored for the hand, a region commonly affected by CRPS, and is notable for its adaptability and a comprehensive sensor system for monitoring individual joint movements. Reliable sensor performance was defined through precise force measurements and stability over time, showing minimal drift. These features enable personalized rehabilitation and objective progress tracking, addressing limitations in traditional physiotherapy such as availability, cost, and time constraints. The contributions of this work lie in its innovative design and the potential for robotic systems to improve therapeutic outcomes in CRPS rehabilitation.

关键词： Hands Tracking Exoskeletons Surgery Robot sensing systems Stability analysis Sensor systems Time factors Reliability Servomotors

来源：评论

学校读者我要写书评

暂无评论

Towards Remote Robotic Competitions: An Internet-Connected Task Board and Dashboard

arXiv

引用

arXiv 2022年

作者： So, Peter Wittmann, Jonas Ruhkamp, Patrick Sarabakha, Andriy Haddadin, Sami The Munich Institute of Robotics and Machine Intelligence TU Munich Germany School of Engineering & Design Munich Institute of Robotics and Machine Intelligence Germany TU Munich Germany

In this work we present a platform to assess robot platform skills using an internet-of-things (IoT) task board device to aggregate performances across remote sites. We demonstrate a concept for a modular, scale-able device and web dashboard enabling remote competitions as an alternative to in-person robot competitions. We share data from nine robot platforms located across four continents in three manipulation task categories of object localization, object insertion, and component disassembly through an organized international robot competition - the Robothon Grand Challenge. This paper discusses the design of an electronic task board, the strategies implemented by the top-performing teams and compares their results with a benchmark solution to the presented task board. Through this platform, we demonstrate fully remote, online competitions can generate innovative robotic solutions and tested a tool for measuring remote performances. Using the open-sourced task board code and design files, the reader can reproduce the benchmark solution or configure the platform for their own use case and share their results transparently without transporting their robot platform. © 2022, CC BY-NC-SA.

关键词： Internet of things

来源：评论

学校读者我要写书评

暂无评论

Accelerating Autonomy: Insights from Pro Racers in the Era of Autonomous Racing - An Expert Interview Study

Accelerating Autonomy: Insights from Pro Racers in the Era o...

引用

IEEE Symposium on Intelligent Vehicle

作者： Frederik Werner René Oberhuber Johannes Betz Professorship of Autonomous Vehicle Systems TUM School of Engineering and Design Technical University of Munich Garching Germany Munich Institute of Robotics and Machine Intelligence (MIRMI)

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

This research aims to investigate professional racing drivers’ expertise to develop an understanding of their cognitive and adaptive skills to create new autonomy algorithms. An expert interview study was conducted with 11 professional race drivers, data analysts, and racing instructors from across prominent racing leagues. The interviews were conducted using an exploratory, non-standardized expert interview format guided by a set of prepared questions. The study investigates drivers’ exploration strategies to reach their vehicle limits and contrasts them with the capabilities of state-of-the-art autonomous racing software stacks. Participants were questioned about the techniques and skills they have developed to quickly approach and maneuver at the vehicle limit, ultimately minimizing lap times. The analysis of the interviews was grounded in Mayring’s qualitative content analysis framework, which facilitated the organization of the data into multiple categories and subcategories. Our findings create insights into human behavior regarding reaching a vehicle’s limit and minimizing lap times. We conclude from the findings the development of new autonomy software modules that allow for more adaptive vehicle behavior. By emphasizing the distinct nuances between manual and autonomous driving techniques, the paper encourages further investigation into human drivers’ strategies to maximize their vehicles’ capabilities.

关键词： Full stack Organizations Manuals Software Behavioral sciences Interviews Autonomous vehicles

来源：评论

学校读者我要写书评

暂无评论

Von Industrie 4.0 zu Industrie 5.0 – Idee, Konzept und Wahrnehmung

引用

HMD Praxis der Wirtschaftsinformatik 2023年第6期60卷 1124-1142页

作者： Vogel-Heuser, Birgit Bengler, Klaus Lehrstuhl für Automatisierung und Informationssysteme TUM School of Engineering and Design Work @ Munich Institute of Robotics and Machine Intelligence TU München Garching Deutschland Lehrstuhl für Ergonomie TUM School of Engineering and Design Work @ Munich Institute of Robotics and Machine Intelligence TU München Garching Deutschland

In der sich rasant entwickelnden Landschaft der industriellen Automatisierung läutet das Aufkommen von Industrie 5.0 (I5.0) einen Paradigmenwechsel hin zu einem stärker kollaborativen und menschzentrierten Ansatz ein. In diesem Beitrag wird die Rolle der Mensch-Maschine-Kollaboration und menschzentrierter Werkzeuge bei der Förderung einer symbiotischen Beziehung zwischen fortschrittlichen Technologien und menschlichen Benutzern untersucht, um so das volle Potenzial von I5.0 zu erschließen. Als nächste Stufe in der Entwicklung des Produktionssektors zielt I5.0 darauf ab, ein Gleichgewicht zwischen Automatisierung und menschlichen Fähigkeiten herzustellen und die sich ergänzenden Stärken beider zu nutzen. Es werden Technologien vorgestellt, welche menschzentrierte Lösungen zur Steigerung von Produktivität, Flexibilität und Nachhaltigkeit in der Fabrik der Zukunft fokussieren.

关键词：

来源：评论

学校读者我要写书评

暂无评论

RFOOD: Real-time Facial Authentication and Out -of-distribution Detection with Short-range FMCW Radar

RFOOD: Real-time Facial Authentication and Out -of-distribut...

引用

International Conference on machine Learning and Applications (ICMLA)

作者： Sabri Mustafa Kahya Muhammet Sami Yavuz Boran Hamdi Sivrikaya Eckehard Steinbach Department of Computer Engineering Technical University of Munich School of Computation Information and Technology Chair of Media Technology Munich Institute of Robotics and Machine Intelligence (MIRMI)

ISBN: (数字)9798350374889

ISBN: (纸本)9798350374896

Out-of-distribution (OOD) detection is critical for the safe deployment of modern neural network architectures, as it aims to identify samples outside the training domain. In this paper, we introduce RFOOD, a novel OOD detection framework designed for real-time, privacy-preserving facial authentication using low-cost frequency-modulated continuous-wave (FMCW) radar. RFOOD employs both range-Doppler and micro range- Doppler images to enhance the detection accuracy. The architecture consists of a multi-encoder multi-decoder Body Part (BP) and Intermediate Linear Encoder-Decoder (ILED) components. This design allows the system to accurately classify a single individual's face as in-distribution (ID) while identifying all other faces as OOD. On our dataset collected with 60 GHz short-range FMCW radar, RFOOD achieves an Area Under the Receiver Operating Characteristic (AUROC) curve of 94.13 % and a False Positive Rate of 18.12% at a True Positive Rate of 95 % (FPR95). Additionally, RFOOD outperforms state-of-the-art OOD detection methods in common OOD detection metrics and operates in real-time.

关键词： Measurement Training Accuracy Neural networks Radar detection Authentication Receivers Feature extraction Real-time systems Faces

来源：评论

学校读者我要写书评

暂无评论

Investigation of Cryogenic Aging in 28 nm CMOS: Suppression of BTI and HCD in Circuits and SRAM

Investigation of Cryogenic Aging in 28 nm CMOS: Suppression ...

引用

Annual International Symposium on Reliability Physics

作者： Javier Diaz-Fortuny Mahdi Benkhelifa Alexander Grill Erik Bury Robin Degraeve Ben Kaczer Hussam Amrouch imec Leuven Belgium Technical University of Munich TUM School of Computation Information and Technology Chair of AI Processor Design Munich Institute of Robotics and Machine Intelligence Munich Germany

ISBN: (数字)9798331504779

ISBN: (纸本)9798331504786

The increasing interest in cryogenic circuits is driven by their transformative potential across high-performance computing, medical devices, space exploration, and quantum technologies. Operating transistors at cryogenic temperatures, such as 77 K and below, yields substantial improvements, including increased ON current, reduced OFF current, and enhanced sub-threshold slope, paving the way for significant gains in efficiency. While recent studies have explored device-level reliability at cryogenic temperatures, circuit-level reliability-particularly under bias temperature instability (BTI) and hot carrier degradation (HCD)-remains underexamined, leaving critical aging mechanisms at these temperatures poorly understood. To bridge this gap, we designed and fabricated a fully customized chip in a commercial 28 nm technology. The chip integrates diverse ring oscillator (RO) circuits for precise characterization of BTI and HCD aging effects, enabling evaluation of their impact on performance at cryogenic temperatures as low as 4 K. This work ensures that as cryogenic CMOS technologies drive innovation in critical applications, their reliability is comprehensively understood and advanced.

关键词： Degradation Semiconductor device measurement Voltage measurement Accelerated aging Cryogenics Hot carriers CMOS technology Frequency measurement Integrated circuit reliability Stress

来源：评论

学校读者我要写书评

暂无评论

Long-Term Action Anticipation Based on Contextual Alignment

Long-Term Action Anticipation Based on Contextual Alignment

引用

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Constantin Patsch Jinghan Zhang Yuankai Wu Marsil Zakour Driton Salihu Eckehard Steinbach Department of Computer Engineering Chair of Media Technology Munich Institute of Robotics and Machine Intelligence (MIRMI) School of Computation Information and Technology Technical University of Munich

In action anticipation, the model predicts the next future action after a certain observation period. In long-term action anticipation, this idea is further extended to predicting multiple actions and their respective duration. Thus, in this problem setting the model should not only capture relationships between past actions but also predict several future actions that fit into a certain context. Compared to autoregressive models, our model employs an encoder decoder structure to determine future actions and durations in parallel, which prevents the accumulation of prediction errors and reduces the inference time. Furthermore, it is ensured that the predicted actions are aligned with respect to a context representation, which resembles the way humans approach this task as the feasible action set is restricted by the respective context. We evaluate our model on the long-term anticipation benchmark datasets, Breakfast, and 50Salads, where we achieve state-of-the-art results.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations

Identification of a Generalized Base Inertial Parameter Set ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Mario Tröbinger Abdeldjallil Naceri Xiao Chen Hamid Sadeghian Sami Haddadin Munich School of Robotics and Machine Intelligence Technical University of Munich Munich Germany Faculty of Engineering University of Isfahan Isfahan Iran

Identifying the inertial parameters of real robotic manipulators is a fundamental step towards realistic modeling and better controller performances, which is crucial for safe human-robot interaction. Our work introduces a novel framework for identifying a generalized set of base inertial parameters of a serial link manipulator. This framework is designed to be adaptable to accommodate any new mounting configuration of the robot. Our theoretical analysis highlights the influence of the robot's mounting configuration on the emergence of new parameters that cannot be identified through the conventional vertical base-axis mounting approach studied previously. To validate our proposed framework, we carried out two main experiments: the first involved simulation to establish the feasibility of our concept, and in the second, our framework was employed on a Franka Emika Robot in a real-world scenario to demonstrate and validate our approach. Our simulation results confirmed the feasibility of our proposed framework, while our real-world experiment successfully identified the generalized base inertial parameter set and validated its applicability to a new robot mounting configuration.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping

Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale V...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Simon Boche Sebastián Barbas Laina Stefan Leutenegger Smart Robotics Lab School of Computation Information and Technology (CIT) Technical University of Munich Germany Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich Germany Department of Computing Imperial College London UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is indispensable. We present a fully tightly-coupled LiDAR-Visual-Inertial SLAM system and 3D mapping framework applying local submapping strategies to achieve scalability to large-scale environments. A novel and correspondence-free, inherently probabilistic, formulation of LiDAR residuals is introduced, expressed only in terms of the occupancy fields and its respective gradients. These residuals can be added to a factor graph optimisation problem, either as frame-to-map factors for the live estimates or as map-to-map factors aligning the submaps with respect to one another. Experimental validation demonstrates that the approach achieves state-of-the-art pose accuracy and furthermore produces globally consistent volumetric occupancy submaps which can be directly used in downstream tasks such as navigation or exploration.

关键词： Visualization Laser radar Three-dimensional displays Simultaneous localization and mapping Accuracy Navigation Planning

来源：评论

学校读者我要写书评

暂无评论

FERT: Real-Time Facial Expression Recognition with Short-Range FMCW Radar

FERT: Real-Time Facial Expression Recognition with Short-Ran...

引用

IEEE SENSORS

作者： Sabri Mustafa Kaliya Muhammet Sami Yavuz Eckehard Steinbach Department of Computer Engineering Chair of Media Technology Munich Institute of Robotics and Machine Intelligence (MIRMI) Technical University of Munich School of Computation Information and Technology Munich Germany

ISBN: (数字)9798350363517

ISBN: (纸本)9798350363524

This study proposes a novel approach for real-time facial expression recognition utilizing short-range Frequency-Modulated Continuous-Wave (FMCW) radar equipped with one transmit (Tx), and three receive (Rx) antennas. The system leverages four distinct modalities simultaneously: Range-Doppler images (RDIs), micro range-Doppler Images (micro-RDIs), range azimuth images (RAIs), and range elevation images (REIs). Our innovative architecture integrates feature extractor blocks, intermediate feature extractor blocks, and a ResNet block to accurately classify facial expressions into smile, anger, neutral, and no-face classes. Our model achieves an average classification accuracy of 98.91% on the dataset collected using a 60 GHz short-range FMCW radar. The proposed solution operates in real-time in a person-independent manner, which shows the potential use of low-cost FMCW radars for effective facial expression recognition in various applications.

关键词： Solid modeling Accuracy Face recognition Transmitting antennas Radar Virtual reality Radar imaging Feature extraction Radar antennas Real-time 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：