检索结果-内蒙古大学图书馆

arXiv 2021年

作者： Mishra, Sumit Rajendran, Praveen Kumar Har, Dongsoo The Robotics Program Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of Division of Future Vehicle Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of The CCS Graduate School of Green Transportation Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

In urban cities, with increasing acceptability of shared spaces used by pedestrians and personal mobility devices (PMDs), there is need for pragmatic socially acceptable path planning and navigation management policies. Hence, we propose a socially acceptable global route planner and assess the legibility of the resulting global route. Our approach proposed for choosing global route avoids streets penetrating shared spaces and main routes with high probability of dense usage. The experimental study shows that socially acceptable routes can be effectively found with an average of 10 % increment of route length with optimal hyperparameters. This helps PMDs to reach the goal while taking a socially acceptable and safe route with minimal interaction of different PMDs and pedestrians. When PMDs interact with pedestrians and other types of PMDs in shared spaces, micro-mobility simulations are of prime usage for acceptable and safe navigation policy. Social force models being state of the art for pedestrian simulation are calibrated for capturing random movements of pedestrian behavior. Social force model with calibration can imitate the required behavior of PMDs in a pedestrian mix navigation scheme. Based on calibrated models, simulations on shared space links and gate structures are performed to assist policies related to deciding waiting and stopping time. Also, based on simulated PMDs interaction with pedestrians, location data with finer resolution can be obtained if the resolution of GPS sensor is 0.2 m or less. This will help in formalizing better modelling and hence better micro-mobility policies. Copyright © 2021, The Authors. All rights reserved.

关键词： Navigation

来源：评论

学校读者我要写书评

暂无评论

M2FN: Multi-step modality fusion for advertisement image assessment

arXiv

引用

arXiv 2021年

作者： Park, Kyung-Wha Ha, Jung-Woo Lee, JungHoon Kwon, Sunyoung Kim, Kyung-Min Zhang, Byoung-Tak Interdisciplinary Program in Neuroscience Seoul National University Korea Republic of NAVER AI LAB NAVER CLOVA Statistics and Actuarial Science Soongsil University Korea Republic of School of Biomedical Convergence Engineering Pusan National University Korea Republic of Department of Computer Science and Engineering Seoul National University Korea Republic of Surromind Robotics

Assessing advertisements, specifically on the basis of user preferences and ad quality, is crucial to the marketing industry. Although recent studies have attempted to use deep neural networks for this purpose, these studies have not utilized image-related auxiliary attributes, which include embedded text frequently found in ad images. We, therefore, investigated the influence of these attributes on ad image preferences. First, we analyzed large-scale real-world ad log data and, based on our findings, proposed a novel multi-step modality fusion network (M2FN) that determines advertising images likely to appeal to user preferences. Our method utilizes auxiliary attributes through multiple steps in the network, which include conditional batch normalization-based low-level fusion and attention-based high-level fusion. We verified M2FN on the AVA dataset, which is widely used for aesthetic image assessment, and then demonstrated that M2FN can achieve state-of-the-art performance in preference prediction using a real-world ad dataset with rich auxiliary attributes. © 2021, CC BY-NC-SA.

关键词： Marketing

来源：评论

学校读者我要写书评

暂无评论

Secure-by-synthesis network with active deception and temporal logic specifications

arXiv

引用

arXiv 2020年

作者： Fu, Jie Kulkarni, Abhishek N. Luo, Huan Leslie, Nandi O. Kamhoua, Charles A. Dept. of Electrical and Computer Engineering Robotics Engineering Program Worcester Polytechnic Institute MA United States U.S. Army Research Laboratory MD United States

This paper is concerned with the synthesis of strategies in network systems with active cyber deception. Active deception in a network employs decoy systems and other defenses to conduct defensive planning against the intrusion of malicious attackers who have been confirmed by sensing systems. In this setting, the defender's objective is to ensure the satisfaction of security properties specified in temporal logic formulas. We formulate the problem of deceptive planning with decoy systems and other defenses as a two-player games with asymmetrical information and Boolean payoffs in temporal logic. We use level-2 hypergame with temporal logic objectives to capture the incomplete/incorrect knowledge of the attacker about the network system as a payoff misperception. The true payoff function is private information of the defender. Then, we extend the solution concepts of ω-regular games to analyze the attacker's rational strategy given her incomplete information. By generalizing the solution of level-2 hypergame in the normal form to extensive form, we extend the solutions of games with safe temporal logic objectives to decide whether the defender can ensure security properties to be satisfied with probability one, given any possible strategy that is perceived to be rational by the attacker. Further, we use the solution of games with co-safe (reachability) temporal logic objectives to determine whether the defender can engage the attacker, by directing the attacker to a high-fidelity honeypot. The effectiveness of the proposed synthesis methods is illustrated with synthetic network systems with honeypots. Copyright © 2020, The Authors. All rights reserved.

关键词： Temporal logic

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

OriSnake: Design, Fabrication, and Experimental Analysis of a 3-D Origami Snake Robot

引用

IEEE robotics and Automation Letters 2018年第3期3卷 1993-1999页

作者： Luo, Ming Yan, Ruibo Wan, Zhenyu Qin, Yun Santoso, Junius Skorina, Erik H. Onal, Cagdas D. Mechanical Engineering Department and Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States

Snake robots offer a useful and unique mobility platform for search-and-rescue applications. However, existing prototypes made of rigid links and joints are hampered by a lack of flexibility that limits their utility in highly cluttered, maze-like environments, and their heavy weight limits their energy-efficiency and performance in three-dimensional (3-D) tasks. To address these challenges, this letter presents a new approach using cylindrical, origami continuum modules driven by internal cables and electric motors, as well as a local feedback control system on each module. Thus, we can distribute actuation, sensing, and control for highly scalable soft robotic continuum origami systems. Using this approach, we develop a 3-D origami robotic snake that is able to locomote using lateral undulation and sidewinding gaits similar to those used by biological snakes. The proposed snake robot is a continuously deformable, lightweight, modular, and low cost robotic system made of a folded thin plastic body. We detail the design, fabrication, and control of this first 3-D origami robotic snake prototype, focusing on the analysis of locomotion parameters for each gait. We experimentally search for the optimal parameters for both types of locomotion, with maximum speeds characterized as 40.5 mm/s (0.1 body-lengths per second) for lateral undulation and 35 mm/s (0.09 body-lengths per second) for sidewinding locomotion. © 2016 IEEE.

关键词： Fabrication

来源：评论

学校读者我要写书评

暂无评论

Automatic petrol and diesel engine sound identification based on machine learning approaches 1

Automatic petrol and diesel engine sound identification base...

引用

1st International Conference on Automotive, Manufacturing, and Mechanical engineering, IC-AMME 2018

作者： Frederick, Halim Winda, Astuti Solihin, Mahmud Iwan Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia Faculty of Engineering Technology and Built Environment UCSI University Cheras Kuala Lumpur56000 Malaysia

Petrol and diesel engine have a significantly different way to convert chemical energy into mechanical energy. In this work, the intelligent system approach is used to automatically identify the type of engine based on the sound of the engine. The combination of signal processing and machine learning technique for automatic petrol and diesel engine sound identification is presented in this work. After a signal preprocessing step of the engine sound, a Fast Fourier Transform (FFT)-based frequency characteristic modelling technique is applied as the feature extraction method. The resulting features extracted from the sound signal, in the form of frequency in the FFT matrix, are used as the inputs for the machine learning, the Support Vector Machine (SVM), step of the proposed approach. The experiment of FFT with SVM-based diesel and petrol engine sound identification has been carried out. The results show that the proposed approach produces a good accuracy in the relatively short training time. Experimental results show the training and testing accuracy of 100 % and 100 % respectively. They confirm the effectiveness of the proposed intelligent automatic diesel and petrol engine sound identification based on Fast Fourier Transform (FFT) and Support Vector Machines (SVMs). © 2019 The Authors, published by EDP Sciences.

关键词： Support vector machines

来源：评论

学校读者我要写书评

暂无评论

Self driving car path planning modification with respect to rapid emergency vehicle detection 48

Self driving car path planning modification with respect to ...

引用

48th International Congress and Exhibition on Noise Control engineering, INTER-NOISE 2019 MADRID

作者： Tatoglu, Akin King, Eoin Autonomous Mobile Robotics Lab University of Hartford Mechanical Engineering West HartfordCT United States Acoustics Program and Lab University of Hartford Mechanical Engineering West HartfordCT United States

ISBN: (纸本)9788487985317

Self-driving cars and mobile robots utilize visual sensors including cameras and Lidars to perceive the environment. Same data is utilized to generate a 3D map for localization, path planning and obstacle avoidance purposes. These vehicles are also expected to modify their path plans rapidly when an emergency vehicle such as a fire truck or an ambulance is approaching. Required steps include an early detection, determining and maneuvering to a safe spot to park. However, these steps are challenging with a visual perception only system since it requires a direct view without an obstacle in between. At this research effort, we formalized a set of experiments to analyze the robustness of location and velocity vector prediction quality of a robot equipped with a transducer array. Detection and mapping algorithms work simultaneously to mark safe and unsafe routes. Case studies include single and two robots settings with stationary, constant velocity and acceleration motion profiles while occluding planes are placed to simulate a direct and T section occlusions. Accuracy for both systems are compared with plots. It is shown that direction estimation is sufficient enough to modify the occupancy grid rapidly prior to emergency vehicle reaches to a close proximity. © INTER-NOISE 2019 MADRID - 48th International Congress and Exhibition on Noise Control engineering. All Rights Reserved.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Reducing Uncertainty in Pose Estimation under Complex Contacts via Force Forecast

Reducing Uncertainty in Pose Estimation under Complex Contac...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Huitan Mao Jing Xiao Department of Computer Science University of North Carolina Charlotte NC USA Robotics Engineering Program and Department of Computer Science Worcester Polytechnic Institute Worcester MA USA

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

How to reduce uncertainty in object pose estimation under complex contacts is crucial to autonomous robotic manipulation and assembly. In this paper, we introduce an approach through forecasting contact force from simulated complex contacts with calibration based on real force sensing. A constraint-based haptic simulation algorithm is used with sphere-tree representation of contacting objects to compute contact poses and forces, and through matching the computed forces to measured real force data via a regression model, the least-uncertain estimate of the relative contact pose is obtained. Our approach can handle multi-region complex contacts and does not make any assumption about contact types or contact locations. It also does not have restriction on object shapes. We have applied the force forecast approach to reducing uncertainty in estimating object poses in challenging peg-in-hole robotic assembly tasks and demonstrate the effectiveness of the approach by successful completion of contact-rich two-pin and three-pin real peg-in-hole assembly tasks with complex shapes of pins and holes.

关键词： Force Uncertainty Robot sensing systems Task analysis Calibration

来源：评论

学校读者我要写书评

暂无评论

WaiterBot: Comparison of Fuzzy Logic Approaches for Obstacle Avoidance in Dynamic Unmapped Environments Using a Laser Scanning System (LiDAR)

WaiterBot: Comparison of Fuzzy Logic Approaches for Obstacle...

引用

IEEE Latin American robotics Symposium, LARS

作者： Jonathan Cerbaro Dieisson Martinelli André Schneider de Oliveira João Alberto Fabro ederal University of Technology - Paraná (UTFPR) Graduate Program on Electrical Engineering and Applied Informatics (CPGEI) Advanced Laboratory of Embedded Systems and Robotics (LASER) Curitiba Paraná Brazil

ISBN: (数字)9780738111537

ISBN: (纸本)9781665419857

Fuzzy logic is a control technique commonly applied in mobile robotics. This paper contains the analysis of three implementations of control systems for obstacle avoidance of a mobile robot. The simulation environment simulate situations with both fixed and dynamic obstacles - like people walking - aiming to compare the fuzzy control approach most suitable to avoid different kinds of obstacles. The analyzed approaches differ by segmenting the sensor data (provided by a LiDAR sensor) into three regions, five regions or by considering only the position of the nearest obstacle. The three approaches were tested in scenarios containing different obstacles and in a simulation where the robot delivers to tables in a dynamic environment, simulating a social event as an application example of a waiter robot.

关键词： Robot sensing systems Robots Collision avoidance Robot kinematics Laser radar Fuzzy logic Input variables

来源：评论

学校读者我要写书评

暂无评论

The IDEAL framework for surgical robotics: development, comparative evaluation and long-term monitoring (vol 30, pg 61, 2024)

引用

NATURE MEDICINE 2024年第4期30卷 1213-1213页

作者： Marcus, Hani J. Ramirez, Pedro T. Khan, Danyal Z. Horsfall, Hugo Layard Hanrahan, John G. Williams, Simon C. Beard, David J. Bhat, Rani Catchpole, Ken Cook, Andrew Hutchison, Katrina Martin, Janet Melvin, Tom Stoyanov, Danail Rovers, Maroeska Raison, Nicholas Dasgupta, Prokar Noonan, David Stocken, Deborah Sturt, Georgia Vanhoestenberghe, Anne Vasey, Baptiste McCulloch, Peter Department of Neurosurgery National Hospital of Neurology and Neurosurgery London UK Wellcome/Engineering and Physical Sciences Research Council (EPSRC) Centre for Interventional and Surgical Sciences (WEISS) London UK Department of Obstetrics and Gynaecology Houston Methodist Hospital Neal Cancer Center Houston TX USA RCS Surgical Interventional Trials Unit (SITU) & Robotic and Digital Surgery Initiative (RADAR) Nuffield Dept Orthopaedics Rheumatology and Musculo-skeletal Sciences University of Oxford Oxford UK Department of Gynaecological Oncology Apollo Hospital Bengaluru India Department of Anaesthesia and Perioperative Medicine Medical University of South Carolina Charleston SC USA NIHR Coordinating Centre and Clinical Trials Unit University of Southampton Southampton UK Department of Philosophy Macquarie University Sydney Australia Department of Anesthesia & Perioperative Medicine University of Western Ontario Ontario Canada Department of Medical Gerontology School of Medicine Trinity College Dublin Dublin Republic of Ireland Department of Medical Imaging Radboudumc Nijmegen the Netherlands Department of Biomedical Engineering and Imaging Sciences King’s College London London UK King’s Health Partners Academic Surgery King’s College London London UK Moon Surgical Paris France RCSEng Surgical Trials Centre Leeds Institute of Clinical Trials Research University of Leeds Leeds UK Bowel Research UK London UK School of Biomedical Engineering & Imaging Sciences King’s College London London UK Department of Surgery Geneva University Hospital Geneva Switzerland Nuffield Department of Surgical Sciences University of Oxford John Radcliffe Hospital Oxford UK PRISMA Lab University of Naples Federico II Naples Italy Health Ethics and Policy Lab Department of Health Sciences and Technology Zürich Switzerland School of Computer Science University of Birmingham Birmingham UK Division of Cardiac Surgery Brigham and Women’s Hospital Harvard Medical Schoo

The next generation of surgical robotics is poised to disrupt healthcare systems worldwide, requiring new frameworks for evaluation. However, evaluation during a surgical robot’s development is challenging due to their complex evolving nature, potential for wider system disruption and integration with complementary technologies like artificial intelligence. Comparative clinical studies require attention to intervention context, learning curves and standardized outcomes. Long-term monitoring needs to transition toward collaborative, transparent and inclusive consortiums for real-world data collection. Here, the Idea, Development, Exploration, Assessment and Long-term monitoring (IDEAL) robotics Colloquium proposes recommendations for evaluation during development, comparative study and clinical monitoring of surgical robots—providing practical recommendations for developers, clinicians, patients and healthcare systems. Multiple perspectives are considered, including economics, surgical training, human factors, ethics, patient perspectives and sustainability. Further work is needed on standardized metrics, health economic assessment models and global applicability of recommendations.

关键词： Medical research Surgery

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：