检索结果-内蒙古大学图书馆

2023 International Conference on Electrical engineering and Informatics, ICEEI 2023

作者： Medyanto, Richard Sanjaya, Nicholas Liawatimena, Suryadiputra Binus Aso School of Engineering Bina Nusantara University Automotive & Robotics Program Computer Engineering Department Jakarta11480 Indonesia Bina Nusantara University Binus Graduate Program - Computer Science Computer Science Department Jakarta11480 Indonesia

ISBN: (纸本)9798350381290

Solar energy is one of the most abundant sources of renewable energy in Indonesia. Solar energy is now typically harnessed using solar panels, but the low efficiency of photovoltaic cells requires the development of other alternatives. The heliostat is a sunlight directing device with mirrors that can be used in a concentrated solar power system. Current heliostats require high capital investment due to their large frames and expensive components. This research was undertaken to develop a lower cost heliostat using a smaller frame, ESP32 microcontroller, servo motor and low-cost components. The position of the sun can be determined using an algorithm based on the National Oceanic and Atmospheric Administration (NOAA) solar calculator, and the mirror is moved to maintain the sun's reflection on a target. The result of this research is a set of heliostat prototypes consisting of the frame and control system. Tests were carried out to test the performance of the designed heliostat and it was found that the heliostat has an accuracy of about 60 cm and can raise temperatures up to 3.41°C. The conclusion is that the heliostat can be used in a concentrated solar power system to heat boilers in solar power towers. © 2023 IEEE.

关键词： Solar energy

来源：评论

学校读者我要写书评

暂无评论

Privacy-sensitive robotics 12

Privacy-sensitive robotics

引用

12th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017

作者： Rueben, Matthew Smart, William D. Grimm, Cindy M. Cakmak, Maya Robotics Program Oregon State University CorvallisOR97331 United States Computer Science and Engineering University of Washington SeattleWA98195 United States

ISBN: (纸本)9781450348850

As robots start to enter our everyday lives, they will bring with them the risk of privacy invasions. Unlike videoconferencing, we might not have control of where the sensors on our robots look, and where the robots go. They might operating in or homes and offices while we are not there, opening the door to an invasion of our privacy that no previous technology has been capable of. How do people think about privacy in terms of robots? Are they worried about their privacy being violated and, if so, in what ways? How does the law view the issues around privacy and robotics? What are the pressing questions that we need to address now, before it's too late. This workshop will bring together researchers from a wide variety of communities to look at these questions, identify others, and help define the new area of Privacy-Sensitive robotics. The workshop will result in a white paper that defines the pressing issues in Privacy-Sensitive robotics, from a variety of perspectives, and will suggest a research agenda to address these problems. © 2017 Authors.

关键词： Human robot interaction

来源：评论

学校读者我要写书评

暂无评论

Kinematic Control of a Planetary Exploration Rover over Rough Terrain

Kinematic Control of a Planetary Exploration Rover over Roug...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Thomas J. Carlone Jon J. Anderson Joseph L. Amato Velin D. Dimitrov Taskin Padir Robotics Institute Carnegie Mellon University Robotics Engineering Program Worcester Polytechnic Institute

Passive averaging suspensions have been proven highly effective on rovers for improving mobility by providing ground compliance. However, the passive degree of freedom poses an added challenge to the controls problem. This paper presents a controller design to increase the accuracy of straight line trajectories for rovers with passive suspension on rough terrain. The chosen approach uses only proprioceptive sensors, a 3D kinematic model, and a trivial ground plane estimator algorithm to adjust individual wheel velocities based on estimates of terrain slope. This has distinct advantages to other techniques that use global position sensors and dynamic models which inevitably lead to more complex and computationally intensive solutions. The proposed controller is simulated in Matlab and found to be successful through experiments conducted with ORYX 2.0, a planetary rover research platform. This paper presents the feed forward velocity controller design, simulations, and experimental results for validation.

关键词： Wheels Kinematics Suspensions Three-dimensional displays Trajectory MATLAB Feedforward neural networks

来源：评论

学校读者我要写书评

暂无评论

Three-Dimensional Visual Mapping of Underwater Ship Hull Surface using View-based Piecewise-Planar Measurements

引用

IFAC-PapersOnLine 2019年第21期52卷 384-389页

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

Visual inspection of underwater ship hulls using unmanned underwater vehicles needs to be conducted at very close range to the target surface because of the limited visibility conditions in underwater environments due to light attenuation, scattering, and turbidity. These environmental challenges result in ineffective photometric and geometric information in hull surface images, and thus, the performance of conventional 3D reconstruction techniques is often not satisfactory. This paper presents a visual mapping method for 3D reconstruction of underwater ship hull surface using a monocular camera as a primary mapping sensor. The main idea of the proposed approach is to model the moderately curved hull surface as a combination of piecewise-planar panels, and to generate a global map by aligning the images in a 2D reference frame and correcting them appropriately to reflect the information of perspective projections of the 3D panels. Experimental results are shown to demonstrate the feasibility of the proposed method using a dataset obtained in a field experiment with a full-scale ship in a real sea environment.

关键词： visual mapping 3D reconstruction computer vision autonomous underwater vehicle visual inspection

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

Design and Validation of a Prosthetic Foot Adaptable to Sagittal Plane Ground Irregularity

Design and Validation of a Prosthetic Foot Adaptable to Sagi...

引用

2024 International Symposium on 3D Analysis of Human Movement, 3DAHM 2024

作者： Lagones, Marco Abarca, Victoria E. Elias, Dante A. Biomedical Engineering Program Pontificia Universidad Católica del Perú Biomedical Engineering Program Universidad Peruana Cayetano Heredia Lima Peru Pontificia Universidad Católica del Perú Biomechanics and Applied Robotics Research Laboratory Lima Peru

ISBN: (纸本)9798331521738

Amputation involves the removal of a limb or part of it. In the case of the lower extremity, amputation affects the ankle joint and the metatarsophalangeal and intertarsal joints, improving the foot's adaptability on uneven terrain. Therefore, based on state-of-the-art technology that does not address the other joints of the foot to a large extent, a prosthetic foot has been developed that integrates the support structure of the foot through a foot arch with an extension analogous to the forefoot and an elastic element that mimics the plantar fascia that deforms against obstacles and provides stability to the prosthetic arch foot. The work addresses the design of the prosthetic foot from its design to its prototyping and validation, where the foot was shown to withstand the loads recommended for the P5 category of the ISO 22675 standard and to provide a return energy equal to 95.72%, 77.13%, and 90.21 %, in the heel strike, mid-stance, and toe-off stages, respectively. In addition to showing linear stiffness properties (66.95 kN /m) and torsional stiffness properties(2.05 kN.m/rad) in the forefoot analog element, values that are comparable with those recorded in commercial tests such as LP Variflex categories 7 and 8. © 2024 IEEE.

关键词： Arches

来源：评论

学校读者我要写书评

暂无评论

Online Recurrent Extreme Learning Machine and its Application to Time-series Prediction

Online Recurrent Extreme Learning Machine and its Applicatio...

引用

International Joint Conference on Neural Networks

作者： Jin-Man Park Jong-Hwan Kim Robotics Program KAIST School of Electrical Engineering KAIST

ISBN: (纸本)9781509061839

Online sequential extreme learning machine (OS-ELM) is an online learning algorithm training single-hidden layer feedforward neural networks (SLFNs), which can learn data one-by-one or chunk-by-chunk with fixed or varying data size. Due to its characteristics of online sequential learning, OS-ELM is popularly used to solve time-series prediction problem, such as stock forecast, weather forecast, passenger count forecast, etc. OS-ELM, however, has two fatal drawbacks: Its input weights cannot be adjusted and it cannot be applied to learn recurrent neural network (RNN). Therefore we propose a modified version of OS-ELM, called online recurrent extreme learning machine (OR-ELM), which is able to adjust input weights and can be applied to learn RNN, by applying ELM-auto-encoder and a normalization method called layer normalization (LN). Proposed method is used to solve a time-series prediction problem on New-York City passenger count dataset, and the results show that R-ELM outperforms OS-ELM and other online-sequential learning algorithms such as hierarchical temporal memory (HTM) and online long short-term memory (online LSTM).

关键词： Online sequential extreme learning machine (OS-ELM) Online recurrent extreme learning machine (OR-ELM) Online learning Time-series prediction Auto-encoding e-learning recurrent neural nets Learning machines normalization method Chunking data size learning algorithms

来源：评论

学校读者我要写书评

暂无评论

Modular drive system for a planetary exploration mobility platform

Modular drive system for a planetary exploration mobility pl...

引用

IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Joseph L. Amato Jon J. Anderson Thomas J. Carlone Michael E. Fagan Kenneth A. Stafford Taskin Padir Robotics Engineering Program Worcester Polytechnic Institute USA

This paper discusses the design of a modular drive system for a planetary rover, and presents the testing and thermal monitoring results to validate the design. A rover, Oryx 2.0, is designed and developed to serve as a research platform that can transport payloads over rough terrain. One of the key design features is the modular drive system. The mechanical design, communications and control interfaces are discussed. Moreover, EPOS2 motion controllers by Maxon Motor are explored as motor controllers for the drive system as they provide an easy-to-use high level motor control functionality. The paper will outline step-by-step instructions for setting up the EPOS2 libraries and drivers in Linux/Robot Operating System (ROS) environment. The details of testing procedures and results for the motor modules are also provided.

关键词： Wheels Temperature sensors Libraries Traction motors Temperature measurement Brushless motors Testing

来源：评论

学校读者我要写书评

暂无评论

Ground Following Locomotion of a Robot Inspired by Pill Bugs

Ground Following Locomotion of a Robot Inspired by Pill Bugs

引用

IEEE International Conference on robotics and Biomimetics

作者： Jongwon Park Young Kook Kim Won Suk Jung Kyung-Soo Kim Soohyun Kim Department of Mechanical Engineering KAIST Robotics Program KAIST

ISBN: (纸本)9781457721366

This paper introduces 'Ground Following Locomotion' as a means to traverse rough terrain inspired by pill bugs (Armadillidium vulgare). The locomotion of pill bugs is unique and effective on irregular terrain. Pill bugs bend their bodies actively along with the terrain to maintain traction force and the behavior enables them to overcome irregular terrain easily. This biological principle can be applied to small robots to overcome rough terrain by adjusting relative positions of body modules. Analysis and simulations will be conducted to compare performance of adjustable joint model (ground following locomotion) and fixed joint model and the results will show that the performance of ground following locomotion is effective to overcome vertical obstacles. The principle described here could be applied to small ground robots to improve mobility on rough terrains.

关键词： Locomotion Rough terrain Robot Pill Dosage Form bugs Bugs small robots terrains ground Traction force landscapes Respiratory Inspiration

来源：评论

学校读者我要写书评

暂无评论

Development of Automatic Detection and Monitoring Application System for Peristaltic Condition based on Machine Learning and Internet of Thing (IoT) System 7

Development of Automatic Detection and Monitoring Applicatio...

引用

7th International Conference of Computer and Informatics engineering, IC2IE 2024

作者： Astuti, Winda Giovanni Benedict Davin, K. Nurul Puji, Muhammad Kunaifi, Matthew Andriatin, Yuli Astuti Bina Nusantara University Binus Aso School of Engineering Automotive and Robotics Program Computer Engineering Department Jakarta Indonesia Cilacap Regional General Hospital Gatot Subroto No.28 Cilacap Indonesia

ISBN: (纸本)9798331505530

Poor sanitation and limited access to clean water are the main causes of increased risk of gastrointestinal diseases. In Indonesia, environmental hygiene problems are the main cause of digestive tract disorders, which contribute to more than 25% of deaths each year according to data from the Ministry of Health. Digestive disease is one of the diseases that often appears due to Poor sanitation and limited access to clean water. The development of a digital stethoscope for early detection of problems in the digestive tract would be useful, especially in remote areas. The sound was recorded from a Mel Frequency Cepstral Coefficient (MFCC) technique. The resulting features extracted from the stethoscope sound signal, are used as the inputs for the machine learning which applied three types of method, they are Logistic Regression (LR), combination of Logistic Regression (LR) and K-Nearest Neighbors (KNN), combination of Logistic Regression (LR) and Support Vector Machine (SVM). The experiment of MFCC with three types of machine learning methods above, based the sound from a stethoscope. Experimental results show the combination of Logistic Regression (LR) and K-Nearest Neighbors (KNN) has exceeded results among other methods, with the training and testing accuracy of 90 % and 88 % respectively. They confirm the effectiveness of the proposed intelligent automatic stethoscope sound identification based on Mel-Frequency Cepstral Coefficient (MFCC) and Linear Regression. Furthermore, the system continuously saves and monitors the result of the patient. © 2024 IEEE.

关键词： Logistic regression

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：