Realizing high performance of ordinary robots is one of the core problems in robotic research. Improving the performance of ordinary robots usually relies on the collaborative development of multiple research fields, ...
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Realizing high performance of ordinary robots is one of the core problems in robotic research. Improving the performance of ordinary robots usually relies on the collaborative development of multiple research fields, resulting in high costs and difficulty to complete some high-precision tasks. As a comparison,humans can realize extraordinary overall performance under the condition of limited computational-energy consumption and low absolute precision in sensing and controlling each body unit. Therefore, developing human-inspired robotic systems and algorithms is a promising avenue to improve the performance of robotic systems. In this review, the cutting-edge research work on human-inspired intelligent robots in decisionmaking, cognition, motion control, and system design is summarized from behavior-and neural-inspired aspects. This review aims to provide a significant insight into human-inspired intelligent robots, which may be beneficial for promoting the integration of neuroscience, machinery, and control, so as to develop a new generation of robotic systems.
Adaptive dynamic programming(ADP) is a kind of intelligentcontrol method,and it is a non-model-based method that can directly approximate the optimal control policy via online *** gradient algorithm is usually used t...
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Adaptive dynamic programming(ADP) is a kind of intelligentcontrol method,and it is a non-model-based method that can directly approximate the optimal control policy via online *** gradient algorithm is usually used to update weights of action networks and critic networks,however it is clear that gradient descent-based learning methods are generally very slow due to improper learning steps or may easily converge to local *** this paper,in order to overcome those disadvantages of gradient descent-based learning methods,a novel ADP algorithm based on initial-training-free online extreme learning machine(ITF-OELM),in which the critic network link weights of hidden nodes to output nodes can be obtained by least squares instead of gradient algorithm,is ***,the ADP algorithm based on ITF-OELM is tested on a discrete time torsional pendulum system,and simulation results indicate that this algorithm makes the system converge in a shorter time compared with the ADP based on gradient algorithm.
In this paper,a variety of classical convolutional neural networks are trained on two different datasets using transfer learning *** demonstrated that the training dataset has a significant impact on the training resu...
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In this paper,a variety of classical convolutional neural networks are trained on two different datasets using transfer learning *** demonstrated that the training dataset has a significant impact on the training results,in addition to the optimization achieved through the model ***,the lack of open-source agricultural data,combined with the absence of a comprehensive open-source data sharing platform,remains a substantial *** issue is closely related to the difficulty and high cost of obtaining high-quality agricultural data,the low level of education of most employees,underdeveloped distributed training systems and unsecured data *** address these challenges,this paper proposes a novel idea of constructing an agricultural data sharing platform based on a federated learning(FL)framework,aiming to overcome the deficiency of high-quality data in agricultural field training.
KCF is an excellent target tracking algorithm with fast computing speed and high ***,it performs poorly in complex tracking situations such as target deformation,motion blur,scale change and *** view of target deforma...
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KCF is an excellent target tracking algorithm with fast computing speed and high ***,it performs poorly in complex tracking situations such as target deformation,motion blur,scale change and *** view of target deformation and motion blur,we designed a feature fusion method,which combines CN feature and HOG feature to enhance the expression ability of the *** view of the change of scale,the scale pool is *** improve the ability of anti occlusion,we improved the model updating mechanism and designed a SVM detector to detect the target after it is *** experiments on OTB-100 showed that the improved method achieves a great improvement compared with KCF,the accuracy increases by 4.2%,the success rate increases by 12.1%,and our algorithm meets the real-time requirements.
Staple algorithm has been widely proven to be an efficient target tracking method, but it is still easy to fail in some tracking scenarios such as target deformation, motion blur, and complete occlusion. This paper ma...
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Staple algorithm has been widely proven to be an efficient target tracking method, but it is still easy to fail in some tracking scenarios such as target deformation, motion blur, and complete occlusion. This paper makes improvements to the above problems. First of all, we use a binary mask based on spatial reliability to enhance the target information in Staple’s color features, which improves the tracking accuracy of the algorithm in complex scenes. Secondly, we propose a response graph evaluation index based on secondary detection, that is, the least square filter is used for convolution at the original response peak to obtain a more accurate tracking state judgment. Finally, if the current state is judged to be a failure, we use a particle filter-based motion estimation method to relocate the target, thereby improving the algorithm’s tracking success rate when the target is occluded. The test results on the OTB2015 data set show that the overall accuracy of the algorithm in this paper has reached 80%, and the overall success rate has reached 73.2%, which proves the long-term stable tracking performance of the algorithm.
In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, a...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm
3
. The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.
Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel auto...
Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.
In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Althou...
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This study addresses the issue of adaptive cooperative game control (ACGC) design for wing deformation and flight state tracking of morphing hypersonic vehicles (MHVs) with variable wing shapes, input constraints and ...
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In this paper, a monocular visual-inertial odometry that utilize both point and line features is deduced. Compared with point features, line features provide more geometric information of the environment, which are mo...
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In this paper, a monocular visual-inertial odometry that utilize both point and line features is deduced. Compared with point features, line features provide more geometric information of the environment, which are more reliable in textureless scenes. However, extracting line segment features from the image are very time consuming, which will affect the real-time performance of the system. To deal with this problem, EDLines line segment detector is introduced to replace the LSD *** properties of lines are utilized to reject the mismatching of line segment feature. Pl ¨ucker coordinates and orthonormal representation of lines are used to represent 3 D lines. Afterwards, we optimize the state by minimizing a cost function consists of pre-integrated IMU residuals and visual feature re-projection residuals in a sliding window optimization framework. The proposed odometry was tested on the public datasets. The results demonstrate that the presented system can operate in real time with high accuracy.
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