检索结果-内蒙古大学图书馆

arXiv 2023年

作者： Barros, Tiago Garrote, Luís Aleksandrov, Martin Premebida, Cristiano Nunes, Urbano J. The University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal Dahlem Center for Machine Learning and Robotics Freie Universität Berlin Berlin Germany

Autonomous driving systems often require reliable loop closure detection to guarantee reduced localization drift. Recently, 3D LiDAR-based localization methods have used retrieval-based place recognition to find revisited places efficiently. However, when deployed in challenging real-world scenarios, the place recognition models become more complex, which comes at the cost of high computational demand. This work tackles this problem from an information-retrieval perspective, adopting a first-retrieve-then-re-ranking paradigm, where an initial loop candidate ranking, generated from a 3D place recognition model, is re-ordered by a proposed lightweight transformer-based re-ranking approach (TReR). The proposed approach relies on global descriptors only, being agnostic to the place recognition model. The experimental evaluation, conducted on the KITTI Odometry dataset, where we compared TReR with s.o.t.a. re-ranking approaches such as αQE and SGV, indicate the robustness and efficiency when compared to αQE while offering a good trade-off between robustness and efficiency when compared to SGV. © 2023, CC BY.

关键词： Efficiency

来源：评论

学校读者我要写书评

暂无评论

A Multimodal Soft Gripper with Variable Stiffness and Variable Gripping Range Based on MASH Actuator

arXiv

引用

arXiv 2024年

作者： Li, Dannuo Zhou, Xuanyi Xiong, Quan Yeow, Chen-Hua The Department of Biomedical Engineering and Advanced Robotics Centre National University of Singapore Singapore117583 Singapore The Department of Biomedical Engineering National University of Singapore Singapore117583 Singapore The Department of Biomedical Engineering and Advanced Robotics Centre National University of Singapore Singapore117583 Singapore The Department of Biomedical Engineering and Advanced Robotics Centre National University of Singapore Singapore117583 Singapore Computer Science & Artificial Intelligence Laboratory Massachusetts Institute of Technology 02139 United States

Soft pneumatic actuators with integrated strain-limiting layers have emerged as predominant components in the field of soft gripper technology for several decades. However, owing to their intrinsic strain-limiting layer design, these soft grippers possess a singular gripping functionality, rendering them incapable of adapting to diverse gripping tasks with different strategies. Based on our previous work, we introduce a novel soft gripper that offers variable stiffness, an adjustable gripping range, and multifunctionality. The MASH actuator-based soft gripper can expand its gripping range up to threefold compared to the original configuration and ensures secure grip by enhancing stiffness when handling heavy objects. Moreover, it supports multitasking gripping through specific gripping strategy control. Copyright © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

来源：评论

学校读者我要写书评

暂无评论

Influence of Centrodes Coefficient on the Characteristic of Gear Ratio Function of the Compound Non-circular Gear Train with Improved Cycloid Tooth Profile 6th

Influence of Centrodes Coefficient on the Characteristic of ...

引用

6th IFToMM Asian Mechanisms and Machine Science Conference, Asian MMS 2021

作者： Thai, Nguyen Hong Van Thom, Phung Trung, Nguyen Thanh Department of Mechanical Design and Robotics School of Mechanical Engineering Hanoi University of Science and Technology Hanoi Viet Nam Vietnam National Research Institute of Mechanical Engineering Hanoi Viet Nam

ISBN: (纸本)9783030918910

In this paper, the authors evaluate the influence of the centrodes coefficients on the gear ratio function characteristics of the compound non-circular gear (CNCG) train formed by two pairs of external non-circular gears (NCGs). First, a mathematical model describing the mating centrodes for the CNCG train has been establishing. From there, evaluate the influence of centrode coefficients μ1 and μ2 of NCGs in the CNCG train on the gear ratio function characteristic for the CNCG train. A design of a CNCG train with an improved cycloid tooth profile by a rack cutter. The evaluation results show that when increasing μ1, transmission size tends to decrease, but the speed and torque variation range rises to 54.31%. While reducing μ2, the speed variation and torque range increase, but the mating centrodes of NCGs 4 is a concave curve that cannot gear shaping by a rack cutter or hob cutter must be by shaper cutter. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Function evaluation

来源：评论

学校读者我要写书评

暂无评论

StructVPR++: Distill Structural and Semantic Knowledge with Weighting Samples for Visual Place Recognition

arXiv

引用

arXiv 2025年

作者： Shen, Yanqing Zhou, Sanping Fu, Jingwen Wang, Ruotong Chen, Shitao Zheng, Nanning National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China

Visual place recognition is a challenging task for autonomous driving and robotics, which is usually considered as an image retrieval problem. A commonly used two-stage strategy involves global retrieval followed by re-ranking using patch-level descriptors. Most deep learning-based methods in an end-to-end manner cannot extract global features with sufficient semantic information from RGB images. In contrast, re-ranking can utilize more explicit structural and semantic information in one-to-one matching process, but it is time-consuming. To bridge the gap between global retrieval and re-ranking and achieve a good trade-off between accuracy and efficiency, we propose StructVPR++, a framework that embeds structural and semantic knowledge into RGB global representations via segmentation-guided distillation. Our key innovation lies in decoupling label-specific features from global descriptors, enabling explicit semantic alignment between image pairs without requiring segmentation during deployment. Furthermore, we introduce a sample-wise weighted distillation strategy that prioritizes reliable training pairs while suppressing noisy ones. Experiments on four benchmarks demonstrate that StructVPR++ surpasses state-of-the-art global methods by 5-23% in Recall@1 and even outperforms many two-stage approaches, achieving real-time efficiency with a single RGB input. Copyright © 2025, The Authors. All rights reserved.

关键词： Semantic Segmentation

来源：评论

学校读者我要写书评

暂无评论

Multi-Agent Q-Value Mixing Network with Covariance Matrix Adaptation Strategy for the Voltage Regulation Problem 42

Multi-Agent Q-Value Mixing Network with Covariance Matrix Ad...

引用

42nd Chinese Control Conference, CCC 2023

作者： Wang, Yiwen Zhang, Senlin Liu, Meiqin Dong, Shanling Zheng, Ronghao College of Electrical Engineering Zhejiang University Hangzhou310027 China Zhejiang University National Key Laboratory of Industrial Control Technology Hangzhou310027 China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China

ISBN: (纸本)9789887581543

Control and optimization of power systems typically involves schemes that utilize optimal power flow techniques and comprehensive modeling of various electrical components. However, the extensive integration of renewable energy sources and distributed energy resources makes it difficult to obtain accurate models, making the traditional model-based approaches more challenging. In this paper, we propose a Covariance Matrix Adaptation Q-value network mixing method (CMAQMIX), which is a novel model-free multi-agent reinforcement learning method that combines the advantages of Covariance Matrix Adaptation Evolution Strategy and the Q-value network mixing method to solve the problem of continuous action space. We establish a new multi-agent voltage regulation environment based on CityLearn framework to test the CMAQMIX method. The results show that our proposed method outperforms the Independent Proximal Policy Optimization method and can give immediate action response without the complete domain knowledge of the power system. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Optimization

来源：评论

学校读者我要写书评

暂无评论

Competitive Equilibriums of Multi-Agent Systems over an Infinite Horizon

引用

IFAC-PapersOnLine 2023年第1期56卷 37-42页

作者： Zeinab Salehi Yijun Chen Elizabeth L. Ratnam Ian R. Petersen Guodong Shi Research School of Engineering The Australian National University Canberra Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW Australia

In this paper, we investigate the properties of competitive equilibriums for dynamic multi-agent systems (MAS) over an infinite horizon. When there is no external resource supply, a group of dynamic agents with distributed resource allocations form a transactive market to share their resources at a specific price. Each agent makes decisions on the locally consumed resource and the traded resource. The system reaches a competitive equilibrium when each agent's payoff is maximized and the tradings are balanced. Firstly, we consider general utility functions and show that under feasibility assumptions, any competitive equilibrium maximizes the social welfare. Secondly, we prove that for sufficiently small initial conditions, the social welfare maximization solution constitutes a competitive equilibrium with zero price. We also prove for general feasible initial conditions, there exists a time instant after which the optimal price, corresponding to a competitive equilibrium, becomes zero. Finally, we specifically focus on quadratic MAS for which the system-level social welfare optimization becomes a classical constrained linear quadratic regulator (CLQR) problem. We construct explicitly a feasible set of initial conditions under which the price under a competitive equilibrium is zero for all time.

关键词： Competitive equilibrium multi-agent system social welfare maximization resource allocation linear quadratic regulator (LQR)

来源：评论

学校读者我要写书评

暂无评论

Effect of realistic oscillator phase noise on the performance of cell-free networks

arXiv

引用

arXiv 2024年

作者： Zhilin, Igor Vinogradov, Evgenii Autonomous Robotics Research Center Technology Innovation Institute United Arab Emirates Department of Electrical Engineering KU Leuven Belgium

To keep supporting 6G requirements, the radio access infrastructure will increasingly densify. Cell-free (CF) networks offer extreme flexibility by coherently serving users with multiple Access points (APs). This paradigm requires precise and stable phase synchronization. In this article, we adapt the standardized 5G NR setup (subcarrier spacing, OFDM symbol duration and allocation) to investigate the effect of Phase Noise (PN) on the simulated performance of scalable CF networks. In contrast to the prior literature relying on the simplified model of a free-running oscillator with the Wiener process, we deploy a realistic hardware-inspired phase noise model reproducing the Local Oscillator (LO) phase drift. Our results demonstrate that even affordable LOs offer sufficient stability to ensure negligible loss of uplink Spectral Efficiency (SE) on the time scale of the standardized 5G Transmission Time Interval of 1 ms. This study substantiates the feasibility of CF networks based on 5G standards. © 2024, CC BY-NC-SA.

关键词： Phase noise

来源：评论

学校读者我要写书评

暂无评论

B-Spline Curve for center of Mass (CoM) Trajectory of Bipedal Humanoid Robots

B-Spline Curve for Center of Mass (CoM) Trajectory of Bipeda...

引用

IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Zhiyong Jiang Dongxiao Ma Jiawei Zhang Yu Wang Jiangcheng Chen Liyan Chen Robotics Engineering Center The 21st Research Institute of China Electronics Technology Group Corporation Shanghai China The 21st Research Institute of CETC SZAR Shenzhen Academy of Robotics (SZAR) Shenzhen Guangdong Province China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

Bipedal humanoid robots recently advanced in control theory and technology, which enable complex movements independently and with stability. center of Mass (CoM) trajectory planning is significant for the walking tasks of bipedal humanoid robots. In practice, a bipedal support period should be interpolated during the switching of the supports to smooth the velocity curves and avoid sudden changes in acceleration. Commonly, the coordinates of the CoM can be modeled by fifth-degree polynomials; however, the polynomial approximation cannot model a more general change in the accelerations. To handle this problem, we proposed a general B-spline curve to model the CoM trajectory for bipedal support interpolation. Simulations showed that the proposed method improved the expressive power compared with the fifth-degree polynomial model. Experiments demonstrated that the proposed method could be applied to a real-world bipedal humanoid robot system.

关键词： Legged locomotion Interpolation Trajectory planning Humanoid robots Switches Polynomials Stability analysis Trajectory Splines (mathematics) Intelligent systems

来源：评论

学校读者我要写书评

暂无评论

UWIA-AODV: Improved Ad-Hoc On-Demand Distance Vector Routing Protocol for Underwater Acoustic Sensor Networks 42

UWIA-AODV: Improved Ad-Hoc On-Demand Distance Vector Routing...

引用

42nd Chinese Control Conference, CCC 2023

作者： Wang, Xueyi Liu, Meiqin Zhang, Senlin Dong, Shanling Zhejiang University National Key Laboratory of Industrial Control Technology Hangzhou310027 China College of Electrical Engineering Zhejiang University Hangzhou310027 China Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an710049 China

ISBN: (纸本)9789887581543

In the past a few years, underwater acoustic networks have developed as a powerful technique used for variety of applications. Ad-Hoc On-Demand Distance Vector (AODV) is a popular and effective routing protocol, while it is not suitable for underwater usage due to the features of underwater acoustic channel such as low data rate, long delay, limited bandwidth and energy. In this paper, we propose an improved AODV based on implicit acknowledgement which employs broadcast features of nodes to overhear packets and retransmit those that fail to be transmitted. In addition, residual energy is considerded for energy balancing. Finally, the in-field experiment results shows that our proposed protocol can select the route with more residual energy for energy balancing. And our proposed protocol also outperforms AODV in terms of throughput and packet discovery ratio. So it is more suitable for underwater scenarios that require high transmission reliability. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Routing protocols

来源：评论

学校读者我要写书评

暂无评论

Dynamic Control Framework for Automated Particle Transport Based on Optically Induced Dielectrophoresis

Dynamic Control Framework for Automated Particle Transport B...

引用

2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Liu, Jiaxin Wang, Huaping Shi, Qing Dong, Xinyi Lin, Kaijun Sun, Tao Huang, Qiang Fukuda, Toshio Intelligent Robotics Institute Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

As a high-Throughput and highly flexible technique, optically induced dielectrophoresis (ODEP) is one of the most promising micromanipulation techniques applied for biomedical studies. However, most ODEP-based manipulation methods have not been explored deeply in terms of accurate control under unstructured environments with multiple interference. This paper reports a dynamic control framework for automatically transporting single particle to goal position in a complex environment with an optically induced dielectrophoresis platform. The POMDP-based path planner periodically provides the optimal motion strategy based on the real-Time environmental information and current position of the particle to avoid collisions with randomly moving obstacles. The optimal motion strategies are smoothly expanded to short-distance trajectories, which are dynamically followed by the target particle with proxy-based sliding mode control (PSMC) closed-loop controller. Experimental results indicated that compared with traditional controllers such as PID, our control method possesses higher accuracy and stability in path following. In addition, the performance of the path planner was demonstrated by transporting a NIH/3T3 cell to the desired position within a relatively crowded environment. © 2022 IEEE.

关键词： Controllers

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：