检索结果-内蒙古大学图书馆

OCEANS - Europe

作者： Jungwook Han Minju Kang Jeonghyeon Wang Jinwhan Kim Department of Mechanical Engineering Robotics Program KAIST Daejeon Korea

ISBN: (纸本)9781467397254

This paper addresses the three-dimensional (3D) reconstruction of a floating structure with an unmanned surface vehicle (USV). Onboard lidar and sonar sensors are employed to collect a volumetric point cloud of the structure both above and below the waterline. These measurements are obtained in the vehicle-fixed frame; thus, for successful 3D reconstruction, precision estimation of trajectory and attitude is required. GPS signals are severely deteriorated or unavailable near and under floating structures. Therefore, relative navigation with respect to the planar surfaces of their hull structures is performed in the framework of simultaneous localization and mapping (SLAM). This approach enables high-precision navigation and mapping near and under a large floating structure. A field experiment was performed in a semi-submersible offshore platform environment and the results are presented.

关键词： Three-dimensional displays Vehicles Laser radar Sensors Surface reconstruction Sonar navigation Sonar

来源：评论

学校读者我要写书评

暂无评论

Seeing is comforting: Effects of teleoperator visibility in robot-mediated health care 16

Seeing is comforting: Effects of teleoperator visibility in ...

引用

ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Kory Kraft William D. Smart Robotics Program Oregon State University Corvallis OR United States

ISBN: (纸本)9781467383707

Teleoperated robots can be used to provide medical care to patients in infectious disease outbreaks, alleviating workers from being in dangerous infectious zones longer than absolutely needed. Nevertheless, patients' reactions to this technology have not been tested. We test three hypotheses related to patients' comfort and trust of the operator and robot in a simulated Ebola Treatment Unit. Our findings suggest patients trust the robot teleoperator more when they can see the teleoperator.

关键词： Robot sensing systems Medical diagnostic imaging Teleoperators

来源：评论

学校读者我要写书评

暂无评论

SOPHIA: Soft Orthotic Physiotherapy Hand Interactive Aid

引用

Frontiers in Mechanical Engineering 2017年 3卷

作者： McConnell, Alistair C. Vallejo, Marta Moioli, Renan Cipriano Brasil, Fabricio L. Secciani, Nicola Nemitz, Markus P. Riquart, Cecile P. Corne, David W. Vargas, Patricia A. Stokes, Adam A. Robotics Lab School of Mathematical and Computer Sciences Heriot-Watt University Edinburgh United Kingdom Stokes Research Group School of Engineering Institute for Integrated Micro and Nano Systems The University of Edinburgh Edinburgh United Kingdom Graduate Program in Neuroengineering Edmond and Lily Safra International Institute of Neuroscience Santos Dumont Institute Macaiba Brazil

This work describes the design, fabrication, and initial testing of a Soft Orthotic Physiotherapy Hand Interactive Aid (SOPHIA) for stroke rehabilitation. SOPHIA consists of (1) a soft robotic exoskeleton, (2) a microcontroller-based control system driven by a brain–machine interface (BMI), and (3) a sensorized glove for passive rehabilitation. In contrast to other rehabilitation devices, SOPHIA is the first modular prototype of a rehabilitation system that is capable of three tasks: aiding extension based assistive rehabilitation, monitoring patient exercises, and guiding passive rehabilitation. Our results show that this prototype of the device is capable of helping healthy subjects to open their hand. Finger extension is triggered by a command from the BMI, while using a variety of sensors to ensure a safe motion. All data gathered from the device will be used to guide further improvements to the prototype, aiming at developing specifications for the next generation device, which could be used in future clinical trials. © Copyright © 2017 McConnell, Vallejo, Moioli, Brasil, Secciani, Nemitz, Riquart, Corne, Vargas and Stokes.

关键词： Orthotics

来源：评论

学校读者我要写书评

暂无评论

WaterGAN: Unsupervised generative network to enable real-time color correction of monocular underwater images

arXiv

引用

arXiv 2017年

作者： Li, Jie Skinner, Katherine A. Eustice, Ryan M. 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 Naval Architecture and Marine Engineering University of Michigan Ann ArborMI48109 United States

This paper reports on WaterGAN, a generative adversarial network (GAN) for generating realistic underwater images from in-air image and depth pairings in an unsupervised pipeline used for color correction of monocular underwater images. Cameras onboard autonomous and remotely operated vehicles can capture high resolution images to map the seafloor;however, underwater image formation is subject to the complex process of light propagation through the water column. The raw images retrieved are characteristically different than images taken in air due to effects such as absorption and scattering, which cause attenuation of light at different rates for different wavelengths. While this physical process is well described theoretically, the model depends on many parameters intrinsic to the water column as well as the structure of the scene. These factors make recovery of these parameters difficult without simplifying assumptions or field calibration;hence, restoration of underwater images is a non-trivial problem. Deep learning has demonstrated great success in modeling complex nonlinear systems but requires a large amount of training data, which is difficult to compile in deep sea environments. Using WaterGAN, we generate a large training dataset of corresponding depth, in-air color images, and realistic underwater images. This data serves as input to a two-stage network for color correction of monocular underwater images. Our proposed pipeline is validated with testing on real data collected from both a pure water test tank and from underwater surveys collected in the field. Source code, sample datasets, and pretrained models are made publicly available. Copyright © 2017, The Authors. All rights reserved.

关键词： Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

Effect of injection angle,density ratio,and viscosity on droplet formation in a microfluidic T-junction

引用

Theoretical & Applied Mechanics Letters 2017年第4期7卷 243-251页

作者： Mohammad Yaghoub Abdollahzadeh Jamalabadi Mohammadreza Daqiq Shirazi Ali Kosar Mostafa Safdari Shadloo Department of Mechanical Robotics and Energy Engineering Dongguk University Seou104620 Republic of Korea School of Mechanical Engineering College of Engineering University of Tehran Tehran Iran Mechatronics Engineering Program Faculty of Engineering and Natural Sciences Sabanci University Tuzla Istanbu134956 Turkey CORIA-UMR 6614 Normandie University CNRS-University and INSA of Rouen 76000 Rouen France

The T-junction microchannel device makes available a sharp edge to form micro-droplets from biomaterial solutions. This article investigates the effects of injection angle, flow rate ratio, density ratio,viscosity ratio, contact angle, and slip length in the process of formation of uniform droplets in microfluidic T-junctions. The governing equations were solved by the commercial software. The results show that contact angle, slip length, and injection angles near the perpendicular and parallel conditions have an increasing effect on the diameter of generated droplets, while flow rate, density and viscosity ratios, and other injection angles had a decreasing effect on the diameter.

关键词： Microfluidics Droplet formation Flow rate ratio Density ratio

来源：评论

学校读者我要写书评

暂无评论

Semantic segmentation of urban scenes with enhanced spatial contexts

Semantic segmentation of urban scenes with enhanced spatial ...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jeonghyeon Wang Jinwhan Kim Robotics Program KAIST Daejeon Korea Department Of Mechanical Engineering KAIST Daejeon Korea

This paper proposes a method to solve the image segmentation problem effectively by applying local spatial relations. The proposed method is based on the conjecture that spatially neighboring objects have a higher probability of relating each other than nonadjacent objects. Using depth information from 3D lidar, spatial contextual information between image segments is obtained. This information is modeled in the framework of Conditional Random Field to penalize distant objects that are likely to have no particular relation between them. The proposed method is evaluated on the publicly available image dataset, and it shows better global and class classification rates compared to the previous state-of-the-art work.

关键词： Three-dimensional displays Encoding Buildings Robot sensing systems

来源：评论

学校读者我要写书评

暂无评论

A study on robust control method of underwater vehicle using SMCSPO

A study on robust control method of underwater vehicle using...

引用

Asian Control Conference

作者： Hyun Hee Kim Jong Seob Won Hyeon Jin Cho Jun Ho Hwang Min Cheol Lee Interdisciplinary Program in Robotics Pusan National University Geumjeong-gu Busan Korea Department of Mechanical and Automotive Engineering Jeonju University Wansan-gu Jeonju-si Jeollabuk-do Korea Agency for Defense Development Korea School of Mechanical Engineering Pusan National University Geumjeong-gu Busan Korea

ISBN: (纸本)9781509015740;9781509015733

The application of robust control method is required for the design of the automatic control system of the unmanned underwater vehicle which is operated in underwater environment under great disturbance. Sliding Perturbation Observer (SPO) was developed to overcome the chattering phenomenon which is a weak point of the sliding mode control. This control method can be applied to the control of underwater vehicle operating in strong environmental disturbances because it has the advantage of estimating and compensating for nonlinear components, modeling uncertainties and environmental disturbances of the system. In this study, the sliding mode control with sliding perturbation observer (SMCSPO) is simulated in an underwater vehicle to evaluate the disturbance compensation performance and compare it with a PID controller.

关键词： Underwater vehicles Perturbation methods Vehicle dynamics Observers Mathematical model Sliding mode control PI control

来源：评论

学校读者我要写书评

暂无评论

DMQEA-FCM: An approach for preference-based decision support

DMQEA-FCM: An approach for preference-based decision support

引用

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Seung-Hwan Baek Si-Jeong Ryu Jong-Hwan Kim Robotics Program KAIST Daejeon Korea Department of Electrical Engineering KAIST Daejeon Korea

ISBN: (纸本)9781509006274

This paper proposes a novel algorithm, named dual multiobjective quantum-inspired evolutionary (DMQEA) algorithm augmented fuzzy cognitive map (FCM). DMQEA was developed to help users select preferable solutions out of the non-dominated ones and has been proven to be an effective way compared to other multi-objective optimization methods, such as MQEA, MQEA-PS, etc. DMQEA, in this paper, has been coupled with decision supporting tool, fuzzy cognitive maps (FCMs) to support selecting best models which can reflect users' preferences. Even though the attempts with single optimization such as genetic algorithms (GAs) or particle swarm optimization (PSO) have been frequently carried out, there have been only few attempt to incorporate FCM with multicriteria decision making algorithm, especially to reflect user's preference. This study aims to integrate DMQEA with FCM to build models according to user's preference. In robotics field, the interaction with human operators is an important issue and DMQEA-FCM can aid robots in their decision making process in the context of the interaction.

关键词： Sociology Statistics Optimization Robots Sorting Biological system modeling Heuristic algorithms

来源：评论

学校读者我要写书评

暂无评论

Efficient visual SLAM using selective image registration for autonomous inspection of underwater structures

Efficient visual SLAM using selective image registration for...

引用

Symposium on Autonomous Underwater Vehicle Technology (AUV)

作者： Seonghun Hong Jinwhan Kim Robotics Program KAIST Daejeon Korea Department of Mechanical Engineering KAIST Daejeon Korea

ISBN: (纸本)9781509024438

Visual inspection of underwater structures including ship-hull inspection has been performed by human divers. It is a highly dangerous task and thus can be a potential application for unmanned underwater vehicles. This paper introduces an efficient visual simultaneous localization and mapping (SLAM) algorithm that can be applied to the autonomous inspection of underwater structures. Considering that visual features are sparsely located on the surface of typical underwater structures, the proposed visual SLAM algorithm employs a selective image registration scheme consisting of key-frame selection and key-pair selection. By using only potentially effective images and image pairs for feature-based image registration, the computational burden of the visual SLAM can be substantially reduced, compared with the conventional method. Experimental results using a hover-capable unmanned underwater vehicle verify the practical feasibility and performance of the proposed methodology.

关键词： Visualization Simultaneous localization and mapping Image registration Feature extraction Cameras Inspection Dogs

来源：评论

学校读者我要写书评

暂无评论

Driving in the Matrix: Can virtual worlds replace human-generated annotations for real world tasks?

Driving in the Matrix: Can virtual worlds replace human-gene...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Matthew Johnson-Roberson Charles Barto Rounak Mehta Sharath Nittur Sridhar Karl Rosaen Ram Vasudevan Department of Naval Architecture and Marine Engineering University of Michigan Ann Arbor MI USA Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Robotics Program University of Michigan Ann Arbor MI USA Mechanical Engineering University of Michigan Ann Arbor MI USA

Deep learning has rapidly transformed the state of the art algorithms used to address a variety of problems in computer vision and robotics. These breakthroughs have relied upon massive amounts of human annotated training data. This time consuming process has begun impeding the progress of these deep learning efforts. This paper describes a method to incorporate photo-realistic computer images from a simulation engine to rapidly generate annotated data that can be used for the training of machine learning algorithms. We demonstrate that a state of the art architecture, which is trained only using these synthetic annotations, performs better than the identical architecture trained on human annotated real-world data, when tested on the KITTI data set for vehicle detection. By training machine learning algorithms on a rich virtual world, real objects in real scenes can be learned and classified using synthetic data. This approach offers the possibility of accelerating deep learning's application to sensor-based classification problems like those that appear in self-driving cars. The source code and data to train and validate the networks described in this paper are made available for researchers.

关键词： Engines Training Machine learning Data models Robots Training data Automobiles

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：