检索结果-内蒙古大学图书馆

Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年第7期47卷 5520-5537页

作者： Jian Liu Wei Sun Hui Yang Pengchao Deng Chongpei Liu Nicu Sebe Hossein Rahmani Ajmal Mian National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Department of Information Engineering and Computer Science University of Trento Trento Italy School of Computing and Communications Lancaster University Lancaster U.K. Department of Computer Science The University of Western Australia Crawley WA Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance.

关键词： Shape Solid modeling Three-dimensional displays Pose estimation Training Robots Grasping Diffusion models Real-time systems Point cloud compression

来源：评论

学校读者我要写书评

暂无评论

Edge AI-Driven Video Analytics: A Mobile Deep Learning Framework for Victim Detection in SAR robotics

Edge AI-Driven Video Analytics: A Mobile Deep Learning Frame...

引用

electrical engineering (FORTEI-ICEE), FORTEI-International Conference on

作者： Muhammad Ihsan Karisma Trinanda Putra Muhamad Yusvin Mustar Aufa Faiz Setyawan Hsueh-Ting Chu Hsing-Chung Chen Department of Electrical Engineering Universitas Muhammadiyah Yogyakarta Bantul Indonesia Department of Electrical Engineering Center of Artificial Intelligence and Robotics Studies Universitas Muhammadiyah Y ogyakarta Bantul Indonesia Department of Computer Science and Information Engineering Asia University Taichung Taiwan

ISBN: (数字)9798331542207

ISBN: (纸本)9798331542214

In post-disaster search and rescue (SAR) missions, it is crucial for robots to distinguish between actual victims and dummy objects, despite their similar characteristics. Edge video analytics have demonstrated exceptional performance in such missions, however, the trade-off between high-performing deep learning models and computational complexity often results in inadequate computational efficiency for SAR robotics. This study tackles this challenge by deploying a deep learning (DL) algorithm, i.e., MobileNet Single Shot Detector (SSD), specifically tailored for embedded systems, to perform object detection and classification tasks on lab-scale SAR robots. The proposed algorithm is developed in Python and implemented on a low-powered edge computing device. The effectiveness of the proposed algorithm in object localization is highlighted by its mAP score of 0.6247 and an average IoU of 0.9036. Experimental tests using a confusion matrix showed that the model accurately predicted 42 dummy objects and 43 victim dolls. The model achieved an overall accuracy of 89.47%, with a precision of 1.0, a recall of 0.8947, and an F1 Score of 0.9444. Real-time testing confirmed the model's robust performance, maintaining high accuracy and a stable frame rate of 47 FPS. These findings corroborate the efficacy of the MobileNet SSD algorithm in reliably detecting and differentiating objects within embedded SAR robotic operations.

关键词： Deep learning Analytical models Accuracy Computational modeling Visual analytics Object detection Real-time systems Classification algorithms Robots Testing

来源：评论

学校读者我要写书评

暂无评论

DeeReCT-APA:Prediction of Alternative Polyadenylation Site Usage Through Deep Learning

引用

Genomics, Proteomics & Bioinformatics 2022年第3期20卷 483-495页

作者： Zhongxiao Li Yisheng Li Bin Zhang Yu Li Yongkang Long Juexiao Zhou Xudong Zou Min Zhang Yuhui Hu Wei Chen Xin Gao King Abdullah University of Science and Technology(KAUST) Computational Bioscience Research Center(CBRC)ComputerElectrical and Mathematical Sciences and Engineering(CEMSE)DivisionThuwal 23955-6900Saudi Arabia Department of Biology Southern University of Science and Technology(SUSTech)Shenzhen 518055China Cancer Science Institute of Singapore Singapore 117599Singapore

Alternative polyadenylation(APA)is a crucial step in post-transcriptional *** bioinformatic studies have mainly focused on the recognition of polyadenylation sites(PASs)in a given genomic sequence,which is a binary classification ***,computational methods for predicting the usage level of alternative PASs in the same gene have been ***,all of them cast the problem as a non-quantitative pairwise comparison task and do not take the competition among multiple PASs into *** address this,here we propose a deep learning architecture,Deep Regulatory Code and Tools for Alternative Polyadenylation(DeeReCT-APA),to quantitatively predict the usage of all alternative PASs of a given *** accommodate different genes with potentially different numbers of PASs,DeeReCT-APA treats the problem as a regression task with a variable-length *** on a convolutional neural network-long short-term memory(CNN-LSTM)architecture,DeeReCT-APA extracts sequence features with CNN layers,uses bidirectional LSTM to explicitly model the interactions among competing PASs,and outputs percentage scores representing the usage levels of all PASs of a *** addition to the fact that only our method can quantitatively predict the usage of all the PASs within a gene,we show that our method consistently outperforms other existing methods on three different tasks for which they are trained:pairwise comparison task,highest usage prediction task,and ranking ***,we demonstrate that our method can be used to predict the effect of genetic variations on APA patterns and sheds light on future mechanistic understanding in APA *** code and data are available at https://***/lzx325/DeeReCT-APA-repo.

关键词： Polyadenylation Gene regulation Sequence analysis Deep learning Bioinformatics

来源：评论

学校读者我要写书评

暂无评论

Adaptive Beamforming Based on Interference-Plus-Noise Covariance Matrix Reconstruction for Speech Separation

Adaptive Beamforming Based on Interference-Plus-Noise Covari...

引用

Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA)

作者： Yongxiong Xiao Shiqiang Zhu Te Li Minhong Wan Wei Song Jason Gu Qiang Fu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

Estimating the interference-plus-noise covariance matrix (INCM) is critical for the robustness of the minimum variance distortionless response (MVDR) beamformer. Existing INCM reconstruction methods are computationally intensive and not suitable for real-time speech separation. We propose a singular value decomposition (SVD) based INCM reconstruction method for speech separation. The spatial covariance matrix (SCM) for each source is obtained by rank-1 approximation using the nominal steering vector (SV) or the pre-measured relative transfer function (RTF). The INCM used to separate each source is reconstructed as the sum of the covariance matrices of interference and spherical isotropic noise. The proposed method is evaluated using the mixed signal received by a circular array with six microphones placed in a simulated reverberation chamber. The results show that the proposed method has comparable sound quality performance to the reference method, but requires much less computation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Seven Benefits of Using Series Elastic Actuators in the Design of an Affordable, Simple Controlled, and Functional Prosthetic Hand

Seven Benefits of Using Series Elastic Actuators in the Desi...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Erfan Koochakzadeh Alireza Kargar Parsa Sattari Diba Ravanshid Rezvan Nasiri Research Institute for Robotics Artificial Intelligence and Information Science (RAIIS) Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper highlights the benefits of using series elastic actuators (SEA) in designing a cost-efficient, easily controlled, and functional prosthetic hand. The designed 3D-printed hand uses only two motors in an antagonistic configuration, transferring power to the fingers via pulleys, cables, and springs; i.e., the motors are in an SEA configuration with the load/fingers. In the designed underactuated prosthetic hand, the thumb is adjustable for various tasks, and the optimization of pulley diameters ensures synchronized finger movement during hand flexion and extension. Thanks to the SEA configuration of the motors and fingers, simple position control of the motor enables features like hand position control, morphological grasp, force control, impedance control, slippage detection, safe interaction, and efficient grasp. An extensive set of experiments has been conducted to evaluate the designed prosthetic hand’s performance. The experiments confirm the hand’s satisfactory performance while also highlighting the importance of improving the proposed design in different aspects. To attain better position control and morphological grasp, minimizing the cable-body and joint friction is recommended. A higher resolution of the current/torque sensor is needed for the precise force control and slippage detection. Finally, a motor brake system is required to achieve efficient grasping.

关键词： Hands Actuators Pulleys Thumb Position control Motors Synchronization Force control Springs Prosthetic hand

来源：评论

学校读者我要写书评

暂无评论

Decentralized Acceleration-Based Bird-Inspired Flocking

Decentralized Acceleration-Based Bird-Inspired Flocking

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Luca Iacone Erwin Lejeune Tiziano Manoni Sabato Manfredi Dario Albani Autonomous Robotics Research Center Technology Innovation Institute Abu Dhabi UAE Department of Computer Science Vrije Universiteit Amsterdam The Netherlands Department Electrical Engineering and Information Technology Federico II University Naples Italy

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In the following, we analyze and discuss the implementation of a novel approach for distributed flocking behavior applied to a group of Uncrewed Aerial Vehicle (UAV)s, also referred to as drones. Inspired by natural flocking phenomena observed in birds, which demonstrate coordinated movement in response to internal and external stimuli, we tackle the problem of robust and dynamic aerial motion for robots and design a control law based on a novel physical model. In contrast to previous works that rely on velocity or position-based references, this approach leverages an acceleration-based law to describe the collective dynamics of many interacting particles. As observed in the following, a third-order control possesses several advantages compared to first or second-order control, such as smoother transitions, better force balancing, and more responsive and dynamic behaviors. These advantages are thoroughly analyzed in the following, thanks to physics-based realistic simulations and field experiments with medium-sized UAVs in an unstructured outdoor environment.

关键词： Navigation Robot kinematics Perturbation methods Dynamics Life estimation Autonomous aerial vehicles Trajectory Vehicle dynamics Drones Testing

来源：评论

学校读者我要写书评

暂无评论

RFFCE: Residual Feature Fusion and Confidence Evaluation Network for 6DoF Pose Estimation

RFFCE: Residual Feature Fusion and Confidence Evaluation Net...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Qiwei Meng Shanshan Ji Shiqiang Zhu Tianlei Jin Te Li Jason Gu Wei Song Research Center for Intelligent Robotics Zhejiang Lab Research Institute of Interdisciplinary Innovation Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

In this paper, we propose a novel RGBD-based object 6DoF pose estimation network - RFFCE. It is a two-stage method that firstly leverages deep neural networks for feature extraction and object points matching, and then the geometric principles are utilized for final pose computation. Our approach consists of three primary innovations: residual feature fusion for representative RGBD feature extraction; confidence evaluation and confidence-based paired points offsets regression for self-evaluation and self-optimization respectively. Their effectiveness is verified through an ablation study, and our RFFCE achieves the SOTA performance on LineMOD, Occlusion-LineMOD and YCB-Video datasets. Additionally, we also conduct a real-world object grasping experiment for visualization and qualitative evaluation of the RFFCE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Chiral exceptional point enhanced active tuning and non reciprocity in micro-resonators

引用

光：科学与应用（英文版） 2025年第2期14卷 401-410页

作者： Hwaseob Lee Lorry Chang Ali Kecebas Dun Mao Yahui Xiao Tiantian Li Andrea Alù Sahin K.Özdemir Tingyi Gu Department of Electrical and Computer Engineering University of DelawareNewarkDelaware 19716USA Department of Engineering Science and Mechanics Pennsylvania State UniversityUniversity ParkPA 16802USA Photonics Initiative Advanced Science Research CenterCity University of New YorkNew YorkNY 10031USA Physics Program Graduate CenterCity University of New YorkNew YorkNY 10016USA Department of Engineering Science and Mechanics Pennsylvania State UniversityUniversity ParkPA 16802USA Department of Electrical and Computer Engineering Saint Louis UniversitySaint LouisMO 63103USA

Exceptional points(EPs)have been extensively explored in mechanical,acoustic,plasmonic,and photonic ***,little is known about the role of EPs in tailoring the dynamic tunability of optical devices.A specific type of EPs known as chiral EPs has recently attracted much attention for controlling the flow of light and for building sensors with better responsivity.A recently demonstrated route to chiral EPs via lithographically defined symmetric Mie scatterers on the rim of resonators has not only provided the much-needed mechanical stability for studying chiral EPs,but also helped reduce losses originating from nanofabrication imperfections,facilitating the in-situ study of chiral EPs and their contribution to the dynamics and tunability of ***,we use asymmetric Mie scatterers to break the rotational symmetry of a microresonator,to demonstrate deterministic thermal tuning across a chiral EP,and to demonstrate EP-mediated chiral optical nonlinear response and efficient electro-optic *** results indicate asymmetric electro-optic modulation with up to 17 dB contrast at GHz and CMOS-compatible voltage *** wafer-scale nano-manufacturing of chiral electro-optic modulators and the chiral EP-tailored tunning may facilitate new micro-resonator functionalities in quantum information processing,electromagnetic wave control,and optical interconnects.

关键词： active point micro chiral enhanced exceptional reciprocity resonators tuning

来源：评论

学校读者我要写书评

暂无评论

Ni-SiO2 Cell-Assisted Thermally Stable Broadband Metamaterial Emitter

引用

IEEE Transactions on Nanotechnology 2025年 24卷 307-311页

作者： Saqlain, Muhammad Baqir, Muhammad Abuzar Choudhury, Pankaj Kumar COMSATS University Islamabad Department of Electrical and Computer Engineering Islamabad Pakistan Zhejiang University College of Optical Science and Engineering International Research Center for Advanced Photonics Haining 314400 China

A thermally stable ultra-broadband metasurface-based emitter comprising square-shaped Ni resonators on Si substrate was investigated. The planer multilayer metamaterial emitter exhibits high emissivity of 94% over a span of 400–8450 nm wavelength. With the optimized structural parameters, the results show the thermal emission efficiency of 93.55% and photothermal conversion efficiency of 90.5% at 900K, which determines strong solar energy absorption of the emitter cavity. However, variations in structural parameters and the angle of incidence leave a minor impact on thermal emissivity. The findings show the developed structure to be of potential in efficient solar energy utilization. © 2002-2012 IEEE.

关键词： Metamaterials nanophotonic devices thermal emitter thermal stability

来源：评论

学校读者我要写书评

暂无评论

Attentional Ptycho-Tomography(APT)for three-dimensional nanoscale X-ray imaging with minimal data acquisition and computation time

引用

Light(science & Applications) 2023年第6期12卷 1127-1140页

作者： Iksung Kang Ziling Wu Yi Jiang Yudong Yao Junjing Deng Jeffrey Klug Stefan Vogt George Barbastathis Department of Electrical Engineering and Computer Science Massachusetts Institute of TechnologyCambridgeMA 02139USA Department of Mechanical Engineering Massachusetts Institute of TechnologyCambridgeMA 02139USA Argonne National Laboratory LemontIL 60439USA Singapore-MIT Alliance for Research and Technology(SMART)Centre 1 CREATE WaySingapore 138602Singapore Present address:Department of Molecular and Cell Biology University of CaliforniaBerkeleyCA 94720USA Present address:Singapore-MIT Alliance for Research and Technology(SMART)Centre 1 CREATE WaySingapore 138602Singapore Present address:Center for Transformative Science ShanghaiTech University201210 ShanghaiChina

Noninvasive X-ray imaging of nanoscale three-dimensional objects,such as integrated circuits(ICs),generally requires two types of scanning:ptychographic,which is translational and returns estimates of the complex electromagnetic field through the IC;combined with a tomographic scan,which collects these complex field projections from multiple ***,we present Attentional Ptycho-Tomography(APT),an approach to drastically reduce the amount of angular scanning,and thus the total acquisition *** is machine learning-based,utilizing axial self-Attention for Ptycho-Tomographic *** is trained to obtain accurate reconstructions of the ICs,despite the incompleteness of the *** training process includes regularizing priors in the form of typical patterns found in IC interiors,and the physics of X-ray propagation through the *** show that APT with×12 reduced angles achieves fidelity comparable to the gold standard Simultaneous Algebraic Reconstruction Technique(SART)with the original set of *** using the same set of reduced angles,then APT also outperforms Filtered Back Projection(FBP),Simultaneous Iterative Reconstruction Technique(SIRT)and *** time needed to compute the reconstruction is also reduced,because the trained neural network is a forward operation,unlike the iterative nature of these *** experiments show that,without loss in quality,for a 4.48×93.2×3.92µm^(3) IC(≃6×10^(8) voxels),APT reduces the total data acquisition and computation time from 67.96 h to 38 *** expect our physics-assisted and attention-utilizing machine learning framework to be applicable to other branches of nanoscale imaging,including materials science and biological imaging.

关键词： utilizing computation interior

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：