检索结果-内蒙古大学图书馆

arXiv 2021年

作者： Elimelech, Khen Indelman, Vadim Robotics and Autonomous Systems Program Technion-Israel Institute of Technology Haifa3200003 Israel Department of Aerospace Engineering Technion-Israel Institute of Technology

In this work, we examine the problem of online decision making under uncertainty, which we formulate as planning in the belief space. Maintaining beliefs (i.e., distributions) over high-dimensional states (e.g., entire trajectories) was not only shown to significantly improve accuracy, but also allows planning with information-theoretic objectives, as required for the tasks of active SLAM and information gathering. Nonetheless, planning under this "smoothing" paradigm holds a high computational complexity, which makes it challenging for online solution. Thus, we suggest the following idea: before planning, perform a standalone state variable reordering procedure on the initial belief, and "push forwards" all the predicted loop closing variables. Since the initial variable order determines which subset of them would be affected by incoming updates, such reordering allows us to minimize the total number of affected variables, and reduce the computational complexity of candidate evaluation during planning. We call this approach PIVOT: Predictive Incremental Variable Ordering Tactic. Applying this tactic can also improve the state inference efficiency;if we maintain the PIVOT order after the planning session, then we should similarly reduce the cost of loop closures, when they actually occur. To demonstrate its effectiveness, we applied PIVOT in a realistic active SLAM simulation, where we managed to significantly reduce the computation time of both the planning and inference sessions. The approach is applicable to general distributions, and induces no loss in accuracy. Copyright © 2021, The Authors. All rights reserved.

关键词： Computational complexity

来源：评论

学校读者我要写书评

暂无评论

Multi-session Underwater Pose-graph SLAM using Inter-session Opti-acoustic Two-view Factor

Multi-session Underwater Pose-graph SLAM using Inter-session...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Hyesu Jang Sungho Yoon Ayoung Kim Depart. of Civil and Env. Eng KAIST Daejeon S. Korea Robotics Program KAIST Daejeon S. Korea

Concurrent mapping necessitates data association among vehicles to overcome temporal and sensor modality differences. In this work, we focus on an underwater multi-vehicle mapping scenario in which vehicles have various sensor modalities, namely sonar and camera. This inter-session sonar-optical image matching poses two main challenges. First, ensuring covisibility for the opti-acoustic pair is complex due to their projection models and field of view (FOV) difference. Second, even with secured covisible frames, feature matching over various sensor modalities is not trivial. To overcome these challenges, we complete multi-session simultaneous localization and mapping (SLAM) by introducing an opti-acoustic pairwise factor. We alleviate the covisibility requirement by introducing inter-session measurements. We achieved opti-acoustic feature matching by applying a style-transfer and integration with SuperGlue. The proposed method is validated via simulation and real underwater tank tests.

关键词： Integrated optics Simultaneous localization and mapping Automation Image matching Conferences Sonar Optical imaging

来源：评论

学校读者我要写书评

暂无评论

Estimation of Wrist Chattering Angle Based on Disturbance Observer

Estimation of Wrist Chattering Angle Based on Disturbance Ob...

引用

International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)

作者： Xinyu Zhang Zhenyu Sun Bairui Shu Hiroshi Yokoi Xu Yong Guanglin Li Xiaobei Jing Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences (CAS) and the SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Joint Doctoral Program for Sustainability Research The University of Electro-Communications Tokyo Japan Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications Tokyo Japan

Due to the physiological constraints and daily habits of hand movements, the wrist chattering effect (WCE) will inadvertently cause disturbance to the accuracy of fingers’ pattern recognition, when healthy subjects or amputees undergoing mirror training control their fingers according to instructions. This paper proposes a method for estimating WCE angles using a disturbance observer. Based on the Denavit-Hartenberg (D-H) convention and inverse kinematics, the intervals of the WCE during finger flexion and extension are determined. The research objective is to eliminate disturbance terms containing redundant information referring to sliding mode anti-jittering methods, making subsequent machine learning models less susceptible to disturbances.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Fluid-driven traveling waves in soft robots

arXiv

引用

arXiv 2021年

作者： Salem, Lior Gat, Amir D. Or, Yizhar Faculty of Mechanical Engineering TASP- Technion Autonomous Systems and Robotics Program Technion - Israel Institute of Technology Technion City Haifa3200003 Israel

Many marine creatures, gastropods, and earthworms generate continuous traveling waves in their bodies for locomotion within marine environments, complex surfaces, and inside narrow gaps. In this work, we study theoretically and experimentally the use of embedded pneumatic networks as a mechanism to mimic nature and generate bi-directional traveling waves in soft robots. We apply long-wave approximation to theoretically calculate the required distribution of pneumatic network and inlet pressure oscillations needed to create desired moving wave patterns. We then fabricate soft robots with internal pneumatic network geometry based on these analytical results. The experimental results agree well with our model and demonstrate the propagation of moving waves in soft robots, along with locomotion capabilities. The presented results allow fabricating soft robots capable of continuous moving waves via the common approach of embedded pneumatic networks and requiring only two input controls. Copyright © 2021, The Authors. All rights reserved.

关键词： Fluid structure interaction

来源：评论

学校读者我要写书评

暂无评论

Development of a Hybrid Actuation Hand Exoskeleton with Redundant Compliant Mechanisms

Development of a Hybrid Actuation Hand Exoskeleton with Redu...

引用

International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)

作者： Bairui Shu Zhenyu Sun Xinyu Zhang Hiroshi Yokoi Xiaobei Jing Guanglin Li Xu Yong Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences (CAS) and the SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China Department of Mechanical Engineering and Intelligent Systems The University of Electro-Communications Tokyo Japan Joint Doctoral Program for Sustainability Research The University of Electro-Communications Tokyo Japan

Exoskeleton robots are currently widely used in the field of rehabilitation medicine to effectively assist patients with hand function loss in their rehabilitation training. To accommodate the physiological characteristics of the hand, particularly the deviation of the joint rotation axis, this paper proposes a hybrid-driven hand exoskeleton system with redundant compliant mechanisms and conducts motion and force analysis on it. The exoskeleton system can independently drive three fingers and drive their joints separately. To verify whether the exoskeleton system meets the rehabilitation requirements, angle verification experiments and object grasping experiments were conducted. The results showed that the maximum joint range of motion of the exoskeleton system reached 66 °, with an average joint range of motion of 55 ° , fully meeting the rehabilitation needs.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Immediate Effect of Ankle Exoskeleton on Spatiotemporal Parameters and Center of Pressure Trajectory After Stroke

Immediate Effect of Ankle Exoskeleton on Spatiotemporal Para...

引用

IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Mouhamed Zorkot Andrezza Luiza Silva Viana Fabricio Lima Brasil Aline Layze Pereira Da Silva Gabriel Fernandes Borges Caroline Cunha Do Espírito Santo Edgard Morya Silvestro Micera Solaiman Shokur Mohamed Bouri Translational Neural Engineering (TNE) lab and Rehabilitation and Assistive Robotics (REHAssist) lab Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Neuroengineering Program Edmond and Lily Safra International Institute of Neuroscience Santos Dumont Institute Macaíba Brazil Biorobotics Institute Scuola Superior Sant’ anna Pisa Italy

Gait impairments is a common condition in post-stroke subjects. We recently presented a wearable ankle exoskeleton called G-Exos, which showed that the device assisted in the ankle's dorsiflexion and inversion/reversion movements. The aim of the current pilot study was to explore spatiotemporal gait parameters and center of pressure trajectories associated with the use of the G-Exos in stroke participants. Three post-stroke subjects (52-63 years, 2 female/1 male) walked 160-meter using the G-Exos on the affected limb, on a protocol divided into 4 blocks of 40-meters: (I) without the exoskeleton, (II) with systems hybrid system, (III) active only and (IV) passive only. The results showed that the use of the exoskeleton improved swing and stance phases on both limbs, reduced stride width on the paretic limb, increased stance COP distances, and made single support COP distances more similar between the paretic and non-paretic limb. This suggests that all G-Exos systems contributed to improving body weight bearing on the paretic limb and symmetry in the gait cycle.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Learning to Locomote with Deep Neural-Network and CPG-based Control in a Soft Snake Robot

arXiv

引用

arXiv 2020年

作者： Liu, Xuan Gasoto, Renato Jiang, Ziyi Onal, Cagdas Fu, Jie Robotics Engineering program at Worcester Polytechnic Institute RNVIDIA Electronic Engineering program Xidian University

In this paper, we present a new locomotion control method for soft robot snakes. Inspired by biological snakes, our control architecture is composed of two key modules: A deep reinforcement learning (RL) module for achieving adaptive goal-tracking behaviors with changing goals, and a central pattern generator (CPG) system with Matsuoka oscillators for generating stable and diverse locomotion patterns. The two modules are interconnected into a closed-loop system: The RL module, analogizing the locomotion region located in the midbrain of vertebrate animals, regulates the input to the CPG system given state feedback from the robot. The output of the CPG system is then translated into pressure inputs to pneumatic actuators of the soft snake robot. Based on the fact that the oscillation frequency and wave amplitude of the Matsuoka oscillator can be independently controlled under different time scales, we further adapt the option-critic framework to improve the learning performance measured by optimality and data efficiency. The performance of the proposed controller is experimentally validated with both simulated and real soft snake robots. Copyright © 2020, The Authors. All rights reserved.

关键词： Adaptive control systems

来源：评论

学校读者我要写书评

暂无评论

Imbalance fault detection in BLDC motors through audio signals using the density of maxima and CNN

Imbalance fault detection in BLDC motors through audio signa...

引用

Brazilian Symposium on Computing System Engineering (SBESC)

作者： Yuri C. Gouveia Alisson V. Brito Tiago P. Nascimento Jorge Gabriel Ramos Abel Lima Filho Graduate Program in Informatics Universidade Federal da Paraiba Joao Pessoa Brazil Laboratory of System Engineering and Robotics Universidade Federal da Paraiba Joao Pessoa Brazil Department of Physics Universidade Federal da Paraiba Joao Pessoa Brazil Department of Mechanical Engineering Universidade Federal da Paraiba Joao Pessoa Brazil

Unmanned Aerial Vehicles (UAVs), commonly known as drones, are increasingly used for various tasks. However, increased usage leads to more failures, posing risks to humans and the environment. This study identifies propeller imbalance faults in Brushless DC (BLDC) motors of UAVs. It compares two fault detection methodologies based on chaotic behavior: the alreadyknown CNN approach, and the SAC-DM+CNN approach. Both methods involve acquiring audio signals, generating spectrograms, and training a Convolutional Neural Network (CNN) model. Results show that the CNN approach achieves 98.18% accuracy, while the SAC-DM+CNN approach achieves 71.43% accuracy in classifying propeller balance faults.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Evaluation of Direct Image Based Visual Tracking System for Autonomous Manipulation* 48

An Evaluation of Direct Image Based Visual Tracking System f...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Islam, S. Saleh, A. Dias, J. Sunda-Meya, A. Xavier University of Louisiana Dual Degree Engineering Program Intelligent Robotics Mechatronics & Autonomous Systems Lab 1 Drexel Drive New OrleansLA70125 United States Khalifa University United Arab Emirates Coimbra3030-260 Portugal Khalifa University Khalifa University Autonomous Vehicles Lab United Arab Emirates Xavier University of Louisiana College of Arts & Sciences 1 Drexel Drive New OrleansLA70125 United States

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

In this paper, we implement and evaluate a direct image-based visual tracking system for autonomous manipulation applications. The direct image-based visual tracking method is developed to relax complex image processing tasks from traditional image and position-based visual tracking methods. The visual signals are constructed by using multiresolution coefficients. The method compares the multiresolution image transformation of the current and desired images and uses the mismatch between them to drive the system. The method needs to design a multiresolution interaction matrix with half and details images. The matrix connects the multiresolution image transformation coefficients with the velocity of the manipulator and controller. To illustrate the effectiveness, the direct image-based tracking system design is implemented and evaluated to locate the position of the valve stem and set of wrenches for autonomous grasping and manipulation for fire fighting applications. © 2022 IEEE.

关键词： Linear transformations

来源：评论

学校读者我要写书评

暂无评论

Perception-Action Coupling in Usage of Telepresence Cameras

Perception-Action Coupling in Usage of Telepresence Cameras

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Alexandra Valiton Zhi Li Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Telepresence tele-action robots enable human workers to reliably perform difficult tasks in remote, cluttered, and human environments. However, the effort to control coordinated manipulation and active perception motions may exhaust and intimidate novice workers. We hypothesize that such cognitive efforts would be effectively reduced if the teleoperators are provided with autonomous camera selection and control aligned with the natural perception-action coupling of the human motor system. Thus, we conducted a user study to investigate the coordination of active perception control and manipulation motions performed with visual feedback from various wearable and standalone cameras in a telepresence scenario. Our study discovered rich information about telepresence camera selection to inform telepresence system configuration and possible teleoperation assistance design for reduced cognitive effort in robot teleoperation.

关键词： Cameras Task analysis Robot vision systems Robot kinematics Telepresence Teleoperators

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：