检索结果-内蒙古大学图书馆

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Xiongjun Chen Yiming Jiang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China National Engineering Laboratory for Robot Visual Perception and Control Hunan University Changsha China Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

In this paper, we propose a stiffness estimation and intention detection method for human-robot collaboration. The human arm endpoint stiffness can be obtained according to the muscle activation levels of the upper arm and the human arm configurations. The estimated endpoint stiffness of human arm is matching to the robot arm joint stiffness through an appropriate mapping. The motion intention of human arm is detected based on the wrist configuration which is recognized by a Myo armband attached at the forearm of the operator. In order to reduce the time of feature engineering to ensure the performance of real-time collaboration, the wrist configuration recognition is realised based on the neural learning algorithm. The sEMG of the human forearm is directly fed into the neural network after processing by filters and sliding windows. The force sensor at the end of the robot arm is embedded in the feedback loop to make the robot arm better adapted to the operator's movement. The results of experiments performed on Baxter robot platform illustrate a good performance and verifies the proposed method.

关键词： Wrist Neural networks Collaboration Estimation robot sensing systems Manipulators robots

来源：评论

学校读者我要写书评

暂无评论

Online Parameter Estimation For Uncertain robot Manipulators With Fixed-time Convergence

Online Parameter Estimation For Uncertain Robot Manipulators...

引用

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Chengzhi Zhu Yiming Jiang Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China National Engineering Laboratory for Robot Visual Perception and Control Hunan University Changsha China Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

For traditional parameter estimation schemes of uncertain robot, most of them were proposed to identify unknown parameter with desired precision, but few of them focused on the convergence time. Recently finite-time estimation techniques have been proposed by scholars to achieve estimation in finite time. In this paper, we proposed a novel estimation scheme for uncertain robot systems with fixed time instead of finite time. In order to avoid using acceleration signals during the estimation, a kind of auxiliary filtering technique was employed. Besides, a continuous and recursive update law was employed for the parameter estimation such that the computational burdens of real-time inversion of square matrices could be avoided. Finally the effectiveness of the identification algorithm is verified based on a 2-DOF uncertain robot model.

关键词： Parameter estimation Filtering Heuristic algorithms Estimation Real-time systems Manipulator dynamics Convergence

来源：评论

学校读者我要写书评

暂无评论

A fast and robust visual detection method with binary template matching for glass bottle body

A fast and robust visual detection method with binary templa...

引用

第三十八届中国控制会议

作者： Xianen Zhou Yaonan Wang Qing Zhu The College of Electrical and Information Engineering Hunan University The National Engineering Laboratory for Robot Visual Perception and Control Technology

As multiple glass bottle bodies appear in the same one image from a view, the high precision and speed localization of the bottle body is difficult for the traditional visual detection methods. To overcome the problem, the imaging system is first briefly presented. And a new visual detection framework, named BTMfast, for glass bottle body with binary template matching is proposed. First, the input image is down-sampled to reduce the computational complexity. The subimages containing body region are obtained according to the position priors. Then, the neck or body of a bottle is taken as the template, and the template image and each sumimage is segmented with OTSU segmentation algorithm. Thirdly, the central line of the body in the original image can be obtained by the binary template matching. Finally, the top boundary of the bottle mouth is enhanced by a filtering operation with a new kernel. And the mouth position is obtained by segmenting the filtered image and column scanning. Two datasets are created for evaluating the performance of the proposed method. Compared with many conventional approaches on the two datasets, our method can achieve the optimal result. The localization error is about 1.5, the consumed time is about 4.3 ms.

关键词： visual detection template matching localization glass bottle body

来源：评论

学校读者我要写书评

暂无评论

Target Tracking Based on Correlation Filter for Scale Offset

Target Tracking Based on Correlation Filter for Scale Offset

引用

作者： Jianhao Tan Xiaoping Ma Yaonan Wang College of Electrical and Information Engineering Hunan University National Engineering Laboratory for Robot Visual Perception and Control Technology

Existing scale estimation methods mainly use fixed-size tracking box for target ***,when the moving direction of the target changes from near to far or from far to near,the size of the current tracking box cannot adapt to the scale *** order to overcome the disadvantage of invariant size of tracking box in the scale change,this paper proposes a scale offset estimation method based on correlation filter by combining the state of previous frame and current frame of the *** the scale proposal box in the scale layer,and adjust the position and size of the actual tracking box in real time according to the size of the proposal box,target position and scale *** this paper,OTB-100 is used as the *** obtained tracking results show that our algorithm Ours has better tracking performance than the existing others tracking algorithm in scale variation,and it has better tracking effect and stronger robustness in drift and occlusion events.

关键词： frame Target Tracking Based on Correlation Filter for Scale Offset Filter

来源：评论

学校读者我要写书评

暂无评论

Adaptive finite-time synchronized control of multi-robotic fiber placement system with model uncertainties and disturbances

引用

ISA Transactions 2025年

作者： Zhang, Ronghua Wang, Yaonan Xie, Wenfang Li, Pengcheng Tan, Haoran Jiang, Yiming College of Electrical and Information Engineering Hunan University Hunan Changsha410082 China Department of Mechanical Industrial and Aerospace Concordia University MontrealQCH3G2W1 Canada College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing210016 China School of Robotics Hunan University Hunan Changsha410082 China National Engineering Laboratory of Robot Visual Perception and Control Technology Hunan University Hunan Changsha410082 China

The use of multiple robots to manufacture composite components represents a critical development direction for fiber placement systems (FPSs). In multi-robotic fiber placement systems (MRFPSs) with heterogeneous mechanical structures, robots collaborate to perform fiber placement tasks. Consequently, robot synchronization emerges as a primary factor in determining the performance of the fiber placement process. However, the difficulty in establishing accurate system models and the presence of disturbances are two significant challenges to achieving precise robot synchronization. Additionally, the system is expected to exhibit desirable dynamic characteristics, such as finite-time error convergence. To address these issues and requirements, we propose a novel adaptive finite-time synchronization control (AFSC) algorithm for the system. Specifically, a finite-time sliding mode observer is developed to handle kinematic uncertainty. A novel fast non-singular terminal sliding mode (FNTSM) manifold is constructed in the AFSC algorithm. Moreover, the control algorithm integrates an adaptive law to handle dynamic uncertainty and an adaptive term to counteract disturbances. Performance analysis demonstrates that the AFSC ensures that the coupled, synchronization, and tracking errors converge to zero within finite time. Furthermore, simulations and experiments are conducted to validate the effectiveness of the AFSC algorithm. © 2025 Elsevier Ltd

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

Projected Sliced Wasserstein Autoencoder-based Hyperspectral Images Anomaly Detection

arXiv

引用

arXiv 2021年

作者： Chen, Yurong Zhang, Hui Wang, Yaonan Wu, Q. M. Jonathan Yang, Yimin National Engineering Laboratory of Robot Visual Perception and Control Technology School of Robotics Hunan University Hunan Changsha410082 China Department of Electrical and Computer Engineering University of Windsor WindsorONN9B3P4 Canada Department of Computer Science Lakehead University ONP7B 5E1 Canada Vector Institute TorontoONM5G 1M1 Canada

Anomaly detection refers to identifying the observation that deviates from the normal pattern, which has been an active research area in various domains. Recently, the increasing data scale, complexity, and dimension turns the traditional representation and statistical-based outlier detection method into challenging. In this paper, we leverage the generative model in hyperspectral images anomaly detection. The gist is to model the distribution of the normal data, while the out-of-distribution sample can be viewed as the outlier. At first, the variational inference-based anomaly detection methods are investigated. We theoretically and empirically find that they are unstable due to the strong notion of distance (f-divergence) served as the regularization. Secondly, this paper introduces sliced Wasserstein distance, which is a weaker distribution measure compared with f-divergence. However, the number of randomly slicing poses a difficulty to estimate the true distance. In the end, we propose a projected sliced Wasserstein (PSW) autoencoder-based anomaly screening method. In particular, we leverage a computation-friendly eigen-decomposition method to find the principal component as slicing the high-dimensional data. Furthermore, our proposed distance can be calculated with the closed-form, even the prior distribution is not Gaussian. Comprehensive experiments conducted on various real-world hyperspectral anomaly detection benchmarks demonstrate the superior performance of our proposed method. © 2021, CC BY.

关键词： Spectroscopy

来源：评论

学校读者我要写书评

暂无评论

P-WAE: Generalized patch-wasserstein autoencoder for anomaly screening

arXiv

引用

arXiv 2021年

作者： Zhang, Hui Chen, Yurong Wang, Yaonan Cao, Yihong Wu, Q.M. Jonathan Yang, Yimin National Engineering Laboratory of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha Hunan410082 China Department of Electrical and Computer Engineering University of Windsor WindsorONN9B3P4 Canada Department of Computer Science Lakehead University OntarioP7B 5E1 Canada Vector Institute TorontoM5G 1M1 Canada

To mitigate the inspector’s workload and improve the quality of the product, computer vision-based anomaly detection (AD) techniques are gradually deployed in real-world industrial scenarios. Recent anomaly analysis benchmarks progress to generative models. The aim is to model the defect-free distribution so that anomalies can be classified as out-of-distribution samples. Nevertheless, there are two disturbing factors that need researchers and deployers to prioritize: (i) the simplistic prior latent distribution inducing limited expressive capability;(ii) the collapsed mutual-dependent features resulting in poor generalization. In this paper, we propose a novel Patch-wise Wasserstein AutoEncoder (P-WAE) architecture to alleviate those challenges. In particular, a patch-wise variational inference model coupled with solving the jigsaw puzzle is designed, which is a simple yet effective way to increase the expressiveness and complexity of the latent manifold. This alleviates the blurry reconstruction problem. In addition, the Hilbert-Schmidt Independence Criterion (HSIC) bottleneck is introduced to constrain the over-regularization representation. Comprehensive experiments, conducted on the MVTec AD dataset, demonstrate the superior performance of our proposed method. © 2021, CC BY.

关键词： Anomaly detection

来源：评论

学校读者我要写书评

暂无评论

Edge-Computing-Driven Autonomous Ubiquitous Internet of Things in Electricity: Architecture and Challenges

Edge-Computing-Driven Autonomous Ubiquitous Internet of Thin...

引用

IEEE Conference on Energy Internet and Energy System Integration (EI2)

作者： Dongqi Liu Xiangjun Zeng Yaonan Wang Changsha Unviersity of Science & Technology Changsha P.R.China National Engineering Laboratory for Robot Visual Perception and Control Technology Changsha P.R.China

ISBN: (数字)9781728131375

ISBN: (纸本)9781728131382

The distribution network is developing towards the direction of Internet of Things in Electricity(IoTE). As an emerging technology of the Internet of Things(IoT), edge computing has great application potential in the future IoTE. This paper presents an architecture of edge computing-driven IoTE, whose physical layer is an electrical network containing a high proportion of power electronic devices, and its information layer is a 5G-oriented power communication network containing a large amount of power terminal and mass communication data generated by the power terminal. For the physical layer, the virtual synchronous machine(VSM) algorithm are adopted to control the large number of power electronic components so as to guarantee the dynamic stability of physical power network. For the information layer, a new layered distributed information processing architecture, the Edge Computing Architecture, is introduced to address the needs of information monitoring and protection control in the smart distribution network. The architecture of the edge computing, and the applications that may be deployed in the edge computing gateways are introduced, and the challenges may be faced by the IoTE in the future development are further discussed.

关键词： Edge computing Power system stability Computer architecture Power electronics Logic gates Internet of Things Monitoring

来源：评论

学校读者我要写书评

暂无评论

MyoPS: A Benchmark of Myocardial Pathology Segmentation Combining Three-Sequence Cardiac Magnetic Resonance Images

arXiv

引用

arXiv 2022年

作者： Li, Lei Wu, Fuping Wang, Sihan Luo, Xinzhe Martín-Isla, Carlos Zhai, Shuwei Zhang, Jianpeng Liu, Yanfei Zhang, Zhen Ankenbrand, Markus J. Jiang, Haochuan Zhang, Xiaoran Wang, Linhong Arega, Tewodros Weldebirhan Altunok, Elif Zhao, Zhou Li, Feiyan Ma, Jun Yang, Xiaoping Puybareau, Elodie Oksuz, Ilkay Bricq, Stephanie Li, Weisheng Punithakumar, Kumaradevan Tsaftaris, Sotirios A. Schreiber, Laura M. Yang, Mingjing Liu, Guocai Xia, Yong Wang, Guotai Escalera, Sergio Zhuang, Xiahai School of Data Science Fudan University Shanghai China School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China Departament de Matemàtiques & Informàtica Universitat de Barcelona Barcelona Spain Computer Vision Center Universitat Autònoma de Barcelona Spain School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China School of Computer Science and Engineering Northwestern Polytechnical University Xi'An China College of Electrical and Information Engineering Hunan University Changsha China National Engineering Laboratory for Robot Visual Perception and Control Technology Changsha China College of Physics and Information Engineering Fuzhou University Fuzhou China Comprehensive Heart Failure Center Wuerzburg University Hospitals Wuerzburg Germany School of Engineering University of Edinburgh Edinburgh United Kingdom School of Robotics Xi'an Jiaotong-Liverpool University Suzhou China Department of Electrical and Computer Engineering University of California Los Angeles United States Department of Radiology and Diagnostic Imaging University of Alberta Edmonton Canada Chongqing Key Laboratory of Image Cognition Chongqing University of Posts and Telecomm-Unications Chongqing China ImViA Laboratory Université Bourgogne Franche-Comté Dijon France Computer Engineering Department Istanbul Technical University Istanbul Turkey Le Kremlin-Bicêtre France Department of Mathematics Nanjing University of Science and Technology Nanjing China Department of Mathematics Nanjing University Nanjing China

Assessment of myocardial viability is essential in diagnosis and treatment management of patients suffering from myocardial infarction, and classification of pathology on myocardium is the key to this assessment. This work defines a new task of medical image analysis, i.e., to perform myocardial pathology segmentation (MyoPS) combining three-sequence cardiac magnetic resonance (CMR) images, which was first proposed in the MyoPS challenge, in conjunction with MICCAI 2020. The challenge provided 45 paired and pre-aligned CMR images, allowing algorithms to combine the complementary information from the three CMR sequences for pathology segmentation. In this article, we provide details of the challenge, survey the works from fifteen participants and interpret their methods according to five aspects, i.e., preprocessing, data augmentation, learning strategy, model architecture and post-processing. In addition, we analyze the results with respect to different factors, in order to examine the key obstacles and explore potential of solutions, as well as to provide a benchmark for future research. We conclude that while promising results have been reported, the research is still in the early stage, and more in-depth exploration is needed before a successful application to the clinics. Note that MyoPS data and evaluation tool continue to be publicly available upon registration via its homepage (***/zhuangxiahai/0/myops20/). © 2022, CC BY-NC-SA.

关键词： Magnetic resonance imaging

来源：评论

学校读者我要写书评

暂无评论

A decomposition-based multiobjective evolutionary algorithm for sparse reconstruction 9th

A decomposition-based multiobjective evolutionary algorithm ...

引用

9th International Conference on Swarm Intelligence, ICSI 2018

作者： Zhu, Jiang Cai, Muyao Tian, Shujuan Xu, Yanbing Pei, Tingrui College of Information Engineering Xiangtan University Xiangtan411105 China National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University Changsha410082 China

ISBN: (纸本)9783319938141

Sparse reconstruction is an important method aiming at obtaining an approximation to an original signal from observed data. It can be deemed as a multiobjective optimization problem for the sparsity and the observational error terms, which are considered as two conflicting objectives in evolutionary algorithm. In this paper, a novel decomposition based multiobjective evolutionary algorithm is proposed to optimize the two objectives and reconstruct the original signal more exactly. In our algorithm, a sparse constraint specific differential evolution is designed to guarantee that the solution remains sparse in the next generation. In addition, a neighborhood-based local search approach is proposed to obtain better solutions and improve the speed of convergence. Therefore, a set of solutions is obtained efficiently and is able to closely approximate the original signal. © Springer International Publishing AG, part of Springer Nature 2018.

关键词： Multiobjective optimization

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：