检索结果-内蒙古大学图书馆

173rd Meeting of Acoustical Society of America, Acoustics 2017 and 8th Forum Acusticum

作者： Ruland, Eduardo Alexander Iscar Shree, Atulya Goumas, Nicholas Johnson-Roberson, Matthew Naval Architecture and Marine Engineering University of Michigan Ann ArborMI48109 United States Robotics Program University of Michigan Ann ArborMI48109 United States University of Michigan Ann ArborMI48109 United States

Over the course of the last decade, the cost of marine robotic platforms has significantly decreased. In part this has lowered the barriers to entry of exploring and monitoring larger areas of the earth's oceans. However, these advances have been mostly focused on autonomous surface vehicles (ASVs) or shallow water autonomous underwater vehicles (AUVs). One of the main drivers for high cost in the deep water domain is the challenge of localizing such vehicles using acoustics. A low cost one-way travel time underwater ranging system is proposed to assist in localizing deep water submersibles. The system consists of location aware anchor buoys at the surface and underwater nodes. This paper presents a comparison of methods together with details on the physical implementation to allow its integration into a deep sea micro AUV currently in development. Additional simulation results show error reductions by a factor of three. © 2018 Acoustical Society of America.

关键词： Travel time

来源：评论

学校读者我要写书评

暂无评论

Continuous Wrist Joint Control using Muscle Deformation Measured on Forearm Skin

Continuous Wrist Joint Control using Muscle Deformation Meas...

引用

IEEE International Conference on robotics and Automation

作者： Akira Kato Masato Hirabayashi Yuya Matsumoto Yasutaka Nakashima Yo Kobayashi Masakatsu G. Fujie Shigeki Sugano Graduate Program for Embodiment Informatics Waseda University Tokyo Japan Graduate Schools of Creative Science and Engineering Waseda University Tokyo Japan Faculty of Engineering Kyushu University Fukuoka Japan JST PRESTO Future Robotics Organization Waseda Universit Tokyo Japan Faculty of Science and Engineering Waseda University Tokyo Japan

Continuous, easy-to-implement, accurate inference of intended joint angles is important for effectively controlling powered prosthetic devices that can improve the lives and capabilities of upper-limb amputees. Estimation of intended joint angles is difficult because conventional biosignals are not directly related to the intended angle motion. In previous work, we began to address this issue by confirming that both transradial amputees and intact subjects, the measured deformation of the muscle bulge on the skin surface change according to the intended wrist joint angle. This paper presents a continuous prosthesis wrist joint control method using this deformation signal. We here verify the effectiveness of the distribution of the muscle bulge for accurate and stable wrist joint angle control in real time. The wrist joint angles were calculated in real time from a muscle viscoelastic model using the previously determined algorithm. We compared the error between measured and estimated angles with a conventional method, the Voigt model, and the KelvinVoigt model. Experimental results obtained for three intact people over three trials of wrist movement tasks gave the accuracy and stability of 7.96±6.16° when using the Voigt model;this is a similar performance compared to related work using a surface electromyogram. A method for continuously controlling the wrist joint angle for a prosthesis using the distribution of the muscle bulge was thus successfully established.

关键词： Wrist Muscles Strain Skin Prosthetic hand Mathematical model Estimation

来源：评论

学校读者我要写书评

暂无评论

A study for estimating reaction force of robot arm by using PDSPO

A study for estimating reaction force of robot arm by using ...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Hyun Hee Kim Sun Oh Park Jin Ho Kyung Hyun Min Do Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Busan Korea School of Mechanical Engineering Pusan National University Busan Korea Department of Robotics and Mechatronics Korea Institute of Machinery and Materials Daejeon Korea

In the industrial field, assembling parts using robot arm requires force information. Some robot arms with torque sensors are commercially available, but they are difficult to use for industrial applications due to durability problems. In addition, mounting a torque sensor on the robot arm increases manufacturing costs and complicates the structure. In this study, we apply Sliding Perturbation Observer (SPO) to 7-axis robot manipulator and estimate reaction force without using torque sensor in simulation. From the estimated perturbation, it can be determined whether the end effector of the robot manipulator will crash part of the assembly.

关键词： Manipulators Service robots Robot sensing systems Collision avoidance Observers Force

来源：评论

学校读者我要写书评

暂无评论

A Focus Group Study of Privacy Concerns about Telepresence Robots

A Focus Group Study of Privacy Concerns about Telepresence R...

引用

IEEE International Symposium on Robot and Human Interactive Communication

作者： Margaret M. Krupp Matthew Rueben Cindy M. Grimm William D. Smart School of Informatics and Computing Indiana University Bloomington Bloomington IN 47408 Robotics Program Oregon State University Corvallis OR 97331

ISBN: (纸本)9781538635193

The advent of robotics technology raises new privacy concerns, but preliminary research in this area has not included members of the general public in the conversation. This study used three focus groups to see what types of privacy concerns would be mentioned by typical users and to see what other topics were deemed important by the participants. The conversations were based around three concrete scenarios involving telepresence robots: an in-home tele-maid, a boss attending a meeting via telepresence, and a medical robo-ceptionist. Codings of our transcripts yielded privacy-relevant concerns not yet categorized by the literature such as hacking, theft, embarrassment, and marketing. These findings will give privacy-sensitive robotics researchers (1) a more complete list of privacy categories to measure, (2) new research questions to pursue, and (3) privacy-enhancing design suggestions to test.

关键词： Privacy Concerns general public conversation

来源：评论

学校读者我要写书评

暂无评论

CWave: High-performance single-source any-angle path planning on a grid

CWave: High-performance single-source any-angle path plannin...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Dmitry A. Sinyukov Taşkin Padir Robotics Engineering Program Worcester Polytechnic Institute Worcester MA USA Department of Electrical and Computer Engineering Northeastern University Boston MA

Path planning on a 2D-grid is a well-studied problem in robotics. It usually involves searching for a shortest path between two vertices on a grid. Single-source path planning is a modified problem which asks to find distances from a given point to all other points on the map. A high-performance algorithm for single-source any-angle path planning on a grid that we named CWave is proposed in this work. “Any-angle” attribute of a path planning algorithm implies that such algorithm can find paths which may include any angle segments, as opposed to standard A* on an 8-connected graph, the path can turn with 45°-increments only. The key idea of the presented algorithm is that it does not represent the grid as a graph and uses discrete geometric primitives to define the wave front. In its purest form, CWave requires for computation only integer arithmetics and multiplication by two, but can accumulate the distance error at turning points. A modified version of CWave with minimal usage of floating-point calculations is also developed. It allows to eliminate any accumulative errors which is proven mathematically and experimentally on several maps. The performance of the algorithm on three maps is demonstrated to be significantly faster than that of Theta*, Lazy Theta* and Field A* adapted for single-source planning. The limitations of the current implementations of the algorithm as well as potential improvements are discussed.

关键词： Path planning Algorithm design and analysis Two dimensional displays Navigation Planning Mobile robots

来源：评论

学校读者我要写书评

暂无评论

DispSegNet: Leveraging semantics for end-to-end learning of disparity estimation from stereo imagery

arXiv

引用

arXiv 2018年

作者： Zhang, Junming Skinner, Katherine A. Vasudevan, Ram Johnson-Roberson, Matthew Department of Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States Robotics Program University of Michigan Ann ArborMI48109 United States Department of Mechanical Engineering University of Michigan Ann ArborMI48109 United States Department of Naval Architecture and Marine Engineering University of Michigan Ann ArborMI48109 United States

Recent work has shown that convolutional neural networks (CNNs) can be applied successfully in disparity estimation, but these methods still suffer from errors in regions of low-texture, occlusions and reflections. Concurrently, deep learning for semantic segmentation has shown great progress in recent years. In this paper, we design a CNN architecture that combines these two tasks to improve the quality and accuracy of disparity estimation with the help of semantic segmentation. Specifically, we propose a network structure in which these two tasks are highly coupled. One key novelty of this approach is the two-stage refinement process. Initial disparity estimates are refined with an embedding learned from the semantic segmentation branch of the network. The proposed model is trained using an unsupervised approach, in which images from one half of the stereo pair are warped and compared against images from the other camera. Another key advantage of the proposed approach is that a single network is capable of outputting disparity estimates and semantic labels. These outputs are of great use in autonomous vehicle operation;with real-time constraints being key, such performance improvements increase the viability of driving applications. Experiments on KITTI and Cityscapes datasets show that our model can achieve state-of-the-art results and that leveraging embedding learned from semantic segmentation improves the performance of disparity estimation. Copyright © 2018, 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

Histogram based fall prediction of patients using a thermal imagery camera

Histogram based fall prediction of patients using a thermal ...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Kyu-Seob Song Young-Hoon Nho Dong-Soo Kwon Robotics Program Korea Advanced Institute of Science and Technology Daejeon Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea

This paper proposes a monitoring system to prevent falls from a bed. The position of patient on the bed is categorized as stable and unstable. The system has defined the unstable condition as the situation where a patient is lying on the edge of the bed. The patient was then observed using a thermal imagery camera. We extracted x-, and y-axis histograms that can be used as a feature, using this camera. We used the SVM (Support Vector Machine) to decide an optimal decision boundary and achieved an accuracy of 99.70%.

关键词： Histograms Cameras Support vector machines Monitoring Feature extraction Accelerometers Legged locomotion

来源：评论

学校读者我要写书评

暂无评论

Multi-view 3D Reconstruction in Underwater Environments: Evaluation and Benchmark

Multi-view 3D Reconstruction in Underwater Environments: Eva...

引用

Oceans (Conference)

作者： Eduardo Iscar Katherine A. Skinner Matthew Johnson-Roberson Department of Naval Architecture and Marine Engineering University of Michigan Ann Arbor MI USA Robotics Program University of Michigan Ann Arbor MI USA

ISBN: (纸本)9781509064298;9780692946909

Mapping of underwater environments is a critical task for a range of activities from monitoring coral reef habitats to surveying submerged archaeological sites. In recent years, optical reconstruction methods developed for terrestrial (in air) applications have increasingly been applied to the underwater environment by the marine science community. However, assumptions such as the brightness constancy constraint (BCC) and traditional camera pinhole models, which hold in air, do not apply in the underwater environment. There is a lack of literature about how the violation of these assumptions affects the accuracy of the reconstruction. The main contributions of this paper is to develop a quantitative evaluation of computer vision-based 3D reconstruction methods applied to the underwater domain. Comparisons are presented between low- and high-cost camera systems to quantify the tradeoff between equipment cost and performance.

关键词： habitats surveying submerged performance

来源：评论

学校读者我要写书评

暂无评论

Automatic color correction for 3D reconstruction of underwater scenes

Automatic color correction for 3D reconstruction of underwat...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Katherine A. Skinner Eduardo Iscar Matthew Johnson-Roberson Robotics Program University of Michigan Ann Arbor MI USA Department of Naval Architecture and Marine Engineering University of Michigan Ann Arbor MI USA

Mapping of underwater environments is a critical task for a range of activities from monitoring coral reef habitats to surveying submerged archaeological sites. While recent advances in methods for terrestrial mapping can achieve dense 3D reconstructions of scenes in real-time, there remains the challenge of transferring these methods to the underwater domain due to characteristic effects on propagation of light through the water column that violate the brightness constancy constraint used in terrestrial techniques. Current state-of-the-art methods for underwater 3D reconstruction exploit a physical model of light propagation underwater to account for such range-dependent effects as scattering and attenuation; however, these methods necessitate careful calibration of attenuation coefficients required by the physical model, or rely on rough estimates of these coefficients from prior lab experiments. The main contribution of this paper is to develop a novel method to achieve simultaneous estimation of attenuation coefficients for color correction during structure recovery of an underwater scene by integrating this estimation directly into the bundle adjustment step, which performs non-linear optimization. To validate the proposed method, an artificial scene is submerged in a pure water tank and surveyed with a stereo camera platform to simulate an underwater robotic survey in a controlled environment. The target structure is imaged in air with an RGB-D sensor to provide ground truth structure and color, and a color calibration board is place in the scene for further reference. Results show that the proposed method can automatically estimate a water-column aware model for color correction of underwater images simultaneously to 3D reconstruction of the submerged scene.

关键词： Attenuation Three-dimensional displays Cameras Image color analysis Image reconstruction Scattering Solid modeling

来源：评论

学校读者我要写书评

暂无评论

Association between air pollution and obstructive sleep apnea in terms of respiratory event frequency and lung-to-finger circulation time

引用

Atmospheric Pollution Research 2025年第10期16卷

作者： Rachel Chien Zhihe Chen Peizheng Wang Wen-Te Liu Ying-Ying Chen Yen-Ling Chen Arnab Majumdar Jiunn-Horng Kang Kang-Yun Lee Wun-Hao Cheng Yi-Chih Lin Cheng-Jung Wu Yi-Chun Kuan Hsin-Chien Lee Cheng-Yu Tsai Research Center of Sleep Medicine College of Medicine Taipei Medical University Taipei Taiwan Department of Civil and Environmental Engineering Imperial College London Londo SW7 2AZ United Kingdom School of Respiratory Therapy College of Medicine Taipei Medical University Taipei Taiwan Research Center of Artificial Intelligence in Medicine Taipei Medical University Taipei Taiwan Division of Pulmonary Medicine Department of Internal Medicine Shuang Ho Hospital Taipei Medical University New Taipei City 235041 Taiwan Sleep Center Shuang Ho Hospital Taipei Medical University New Taipei City Taiwan Department of Biomedical Engineering Taipei Medical University Taipei Taiwan Center for Artificial Intelligence and Advanced Robotics National Taiwan University Taipei Taiwan Department of Physical Medicine and Rehabilitation Taipei Medical University Hospital Taiwan Graduate Institute of Nanomedicine and Medical Engineering College of Biomedical Engineering Taipei Medical University Taipei Taiwan In-Service Master Program in Artificial Intelligence in Medicine College of Medicine Taipei Medical University Taipei Taiwan Division of Pulmonary Medicine Department of Internal Medicine School of Medicine College of Medicine Taipei Medical University Taipei 110301 Taiwan Department of Otolaryngology Shuang Ho Hospital Taipei Medical University New Taipei City Taiwan Department of Neurology School of Medicine College of Medicine Taipei Medical University Taipei Taiwan Taipei Neuroscience Institute Taipei Medical University Taipei Taiwan Dementia Center Shuang Ho Hospital Taipei Medical University New Taipei City Taiwan Department of Neurology Shuang Ho Hospital Taipei Medical University New Taipei City Taiwan Institute of Medical Humanities Taipei Medical University Taipei Taiwan Department of Psychiatry Taipei Medical University Hospital Taipei Taiwan

Air pollutant exposure has been shown to exacerbate obstructive sleep apnea (OSA) manifestations, such as increased respiratory episodes and intermittent oxygen desaturation. However, most studies have focused on episode frequency rather than duration. This study investigated the associations between air pollution and OSA manifestations using both frequency-based indices and the duration-based marker lung-to-finger circulation time (LFCT). Polysomnography data from 820 individuals with suspected OSA (mild-to-moderate: n = 224; severe: n = 596) were analyzed. Sleep disorder indices included the apnea–hypopnea index (AHI), oxygen desaturation index (ODI), arousal index, and mean LFCT. A novel composite metric, respiratory event response time area (RERTA), defined as the square root of the product of LFCT and AHI, was introduced to evaluate the interplay between frequency and duration. Air pollutant exposure was estimated using data from monitoring stations within 4 km of the registered residences of the study cohort. Multivariable Poisson regression models were employed to assess short-term (1-month) and long-term (1-year) exposure effects. Short-term PM 2.5 and NO 2 exposure were significantly associated with increased AHI, ODI, arousal index, and reduced LFCT. Long-term exposure to PM 2.5 , PM 10 , and NO 2 was associated with increased AHI and ODI, while PM 2.5 and PM 10 were linked to reduced LFCT. Both short- and long-term O 3 exposure were associated with increased AHI and ODI. PM 2.5 and O 3 (short-term) were positively associated with RERTA. These findings suggest that air pollution exacerbates OSA by increasing episode frequency and accelerating compensatory responses, thereby elevating cardiopulmonary burden as reflected by RERTA.

关键词：

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：