检索结果-内蒙古大学图书馆

IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Zhi Zheng Jin Wang Jun Zhu Luan Liu Haiyun Zhang Guodong Lu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Research Center of Yuyao City Ningbo China Robotics Institute of Zhejiang University Hangzhou China School of Robotics Ningbo University of Technology Ningbo China Zhejiang Qiantang Robot and Intelligent Equipment Research Co. LTD Hangzhou China

Robots use motors for power output and realize joint motion through reducers and mechanical transmissions, which affect the absolute positioning accuracy. In view of this problem, an error model based on Preprocessing-Geometric-Transmission-Flexibility (PGTF) is proposed and solved by Levenberg-Marquardt algorithm. First, the theoretical kinematic model is established by MD-H model method. Second, the data was pre-processed in dimension upgrade and the robot error identification model was established for geometric error, transmission error and flexible error. Third, Levenberg-Marquardt algorithm was used to find the global convergence solution to realize the identification of error parameters, and the actual robot kinematic model was compensated. Finally, the experiment is carried out on the real robot machine. Through theoretical analysis and verification of real machine data, the average error of kenbei-5kg robot is reduced from 6.8787 mm to 0.1267 mm, the positioning accuracy is improved by 98.16%, the accuracy compensation algorithm is accurate, and the compensation effect is remarkable.

关键词：

来源：评论

学校读者我要写书评

暂无评论

引用

IEEE International Conference on Image Processing

作者： Chaowei Han Gaofeng Meng Chunlei Huo State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics HK Institute of Science & Innovation Chinese Academy of Sciences School of Information Engineering Capital Normal University Beijing China

ISBN: (数字)9798350349399

ISBN: (纸本)9798350349405

Content-based video retrieval aims to retrieve near-duplicate entries from a database of a given query video. It plays an important role in combating video piracy. Robustness to video temporal dynamics is crucial for a representation model in video retrieval, as frames extracted from two copied videos are hardly temporally aligned in actual situations. However, current image retrieval datasets have difficulty in evaluating this robustness. To address this issue, we collect Similar Frame Dataset (SFD), which consists of 32,923 query-target pairs with 128,240 distraction images. The task of SFD is to retrieve the target frame from all items given a query frame. SFD is constructed by sampling frames from Kinetics-700 action classification dataset. An object detection model (Faster R-CNN) and a Multimodal Large Language Model (BLIP2) are used during sampling to select those valid frames. Besides, we propose Adjacent Frames Contrastive Learning (AFCL) framework. In AFCL, adjacent frames are sampled from unlabeled videos as positive pairs. An image representation model with robustness to changing frames can be trained under AFCL framework and achieve the state-of-the-art performance on SFD. The code will be released at https://***/Chuan-shanjia/Similar-Frame-Dataset.

关键词： Codes Databases Scalability Large language models Image retrieval Contrastive learning Object detection

来源：评论

学校读者我要写书评

暂无评论

Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Automated Assembly by Two-Fingered Microhand for Fabrication...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

来源：评论

学校读者我要写书评

暂无评论

Spike-HAR++: an energy-efficient and lightweight parallel spiking transformer for event-based human action recognition

引用

Frontiers in Computational Neuroscience 2024年 18卷 1508297页

作者： Lin, Xinxu Liu, Mingxuan Chen, Hong School of Integrated Circuits Tsinghua University Beijing China State Key Laboratory of Integrated Chips and Systems Frontier Institute of Chip and System Fudan University Shanghai China Greater Bay Area National Center of Technology Innovation Research Institute of Tsinghua University in Shenzhen Shenzhen China School of Biomedical Engineering Tsinghua University Beijing China

Event-based cameras are suitable for human action recognition (HAR) by providing movement perception with highly dynamic range, high temporal resolution, high power efficiency and low latency. Spike Neural Networks (SNNs) are naturally suited to deal with the asynchronous and sparse data from the event cameras due to their spike-based event-driven paradigm, with less power consumption compared to artificial neural networks. In this paper, we propose two end-to-end SNNs, namely Spike-HAR and Spike-HAR++, to introduce spiking transformer into event-based HAR. Spike-HAR includes two novel blocks: a spike attention branch, which enables model to focus on regions with high spike rates, reducing the impact of noise to improve the accuracy, and a parallel spike transformer block with simplified spiking self-attention mechanism, increasing computational efficiency. To better extract crucial information from high-level features, we modify the architecture of the spike attention branch and extend it in Spike-HAR to a higher dimension, proposing Spike-HAR++ to further enhance classification performance. Comprehensive experiments were conducted on four HAR datasets: SL-Animals-DVS, N-LSA64, DVS128 Gesture and DailyAction-DVS, to demonstrate the superior performance of our proposed model. Additionally, the proposed Spike-HAR and Spike-HAR++ require only 0.03 and 0.06 mJ, respectively, to process a sequence of event frames, with model sizes of only 0.7 and 1.8 M. This efficiency positions it as a promising new SNN baseline for the HAR community. Code is available at Spike-HAR++. Copyright © 2024 Lin, Liu and Chen.

关键词： Neural networks

来源：评论

学校读者我要写书评

暂无评论

Robot-aided fN∙m torque sensing within an ultrawide dynamic range

引用

Microsystems & Nanoengineering 2021年第1期7卷 51-61页

作者： Shudong Wang Xueyong Wei Haojian Lu Ziming Ren Zhuangde Jiang Juan Ren Zhan Yang Lining Sun Wanfeng Shang Xinyu Wu Yajing Shen State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049China Mechanical and Biomedical Engineering Department City University of Hong KongHong Kong SAR 999077China Department of Mechatronics Chang’an UniversityXi’an 710054China Robotics and Microsystems Center Soochow UniversitySuzhou 215021China Shenzhen Institutes of Advanced Technology Chinese Academy of SciencesShenzhen 518055China Shenzhen Research Institute City University of Hong KongShenzhen 440305China

In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale ***,as one of the fundamental approaches for material analytics,torsion tests at a small scale remain a major challenge due to the lack of an ultrahigh precise torque sensor and the delicate sample assembly ***,we present a microelectromechanical resonant torque sensor with an ultrahigh resolution of up to 4.78 fN∙m within an ultrawide dynamic range of 123 ***,we propose a nanorobotic system to realize the precise assembly of microscale specimens with nanoscale positioning accuracy and to conduct repeatable in situ pure torsion tests for the first *** a demonstration,we characterized the mechanical properties of Si microbeams through torsion tests and found that these microbeams were five-fold stronger than their bulk *** proposed torsion characterization system pushes the limit of mechanical torsion tests,overcomes the deficiencies in current in situ characterization techniques,and expands our knowledge regarding the behavior of micro/nanomaterials at various loads,which is expected to have significant implications for the eventual development and implementation of materials science.

关键词： torsion precise dynamic

来源：评论

学校读者我要写书评

暂无评论

A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot

引用

Frontiers of Information Technology & Electronic engineering 2022年第8期23卷 1217-1228页

作者： Manjun TIAN Xiali LI Shihan KONG Licheng WU Junzhi YU First Research Institute of the Ministry of Public Security of PRC Beijing 100048China School of Information Engineering Minzu University of ChinaBeijing 100081China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

To tackle the problem of aquatic environment pollution,a vision-based autonomous underwater garbage cleaning robot has been developed in our *** propose a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object ***,the YOLOv4 algorithm is chosen as a basic neural network framework to perform object *** the purpose of further improvement on the detection accuracy,YOLOv4 is transformed into a four-scale detection *** improve the detection speed,model pruning is applied to the new *** virtue of the improved detection methods,the robot can collect garbage *** detection speed is up to 66.67 frames/s with a mean average precision(mAP)of 95.099%,and experimental results demonstrate that both the detection speed and the accuracy of the improved YOLOv4 are excellent.

关键词： Object detection Aquatic environment Garbage cleaning robot Modified YOLOv4

来源：评论

学校读者我要写书评

暂无评论

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

arXiv

引用

arXiv 2023年

作者： Zheng, Zhi Wang, Jin Wu, Yuze Cai, Qifeng Yu, Huan Zhang, Ruibin Tu, Jie Meng, Jun Lu, Guodong Gao, Fei The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Institute of Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China Center for Data Mining and Systems Biology College of Electrical Engineering Zhejiang University Hangzhou310027 China

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor configuration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to navigate through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely navigate through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient navigation through challenging terrains while conserving energy. Copyright © 2023, The Authors. All rights reserved.

关键词： Antennas

来源：评论

学校读者我要写书评

暂无评论

A novel underwater image synthesis method based on a pixel-level self-supervised training strategy

A novel underwater image synthesis method based on a pixel-l...

引用

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Wu, Zhiheng Wu, Zhengxing Lu, Yue Wang, Jian Yu, Junzhi Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781665436786

With the rapid development of deep neural networks, underwater vision plays an increasingly important role in the underwater robotic operation. However, the scarce underwater datasets greatly limit the performance of deep learning on underwater visual tasks, further hindering the applications of underwater operation. To solve this problem, we propose an underwater image synthesis method, which can directly convert the natural light image into the synthetic underwater image end-to-end. Particularly, a pixel-level self-supervised training strategy is designed to maximize the structural similarity between the synthesized and real images, through training the real underwater images. Finally, extensive experiments are carried out, and the obtained results demonstrate the effectiveness and superiority of our methods by quantitative and qualitative comparisons. The proposed underwater image synthesis method offers a valuable sight for underwater vision and manipulating control. © 2021 IEEE.

关键词： Deep neural networks

来源：评论

学校读者我要写书评

暂无评论

Innovative chemistry research driven by medicine

引用

Fundamental Research 2023年第4期3卷 479-480页

作者： Hang Yin Chunhai Fan Catherine Chiulan Wong Lanqun Mao Yanyi Huang Guo-Qiang Chen School of Pharmaceutical Sciences Tsinghua UniversityBeijing 100084China School of Chemistry and Chemical Engineering New Cornerstone Science LaboratoryFrontiers Science Center for Transformative Molecules and National Center for Translational MedicineShanghai Jiao Tong UniversityShanghai 200240China Clinical Research Institute State Key Laboratory of Complex Severe and Rare DiseasesPeking Union Medical College HospitalChinese Academy of Medical Science&Peking Union Medical CollegeBeijing 100730China College of Chemistry Beijing Normal UniversityBeijing 100875China College of Chemistry and Molecular Engineering Beijing National Laboratory for Molecular SciencesBiomedical Pioneering Innovation CenterPeking-Tsinghua Center for Life SciencesPeking UniversityBeijing 100871China Institute of Aging&Tissue Regeneration State Key Laboratory of Systems Medicine for Cancer and Chinese Academy of Medical Sciences Research Unit(No.2019RU043)Ren-Ji HospitalShanghai Jiao Tong University School of MedicineShanghai 200127China

Chemistry,a fundamental scientific discipline,plays a significant role in various fields,including medical *** ability to break down human cells into constituent biomolecules,such as nucleic acids,proteins,carbohydrates and lipids,has been a valuable resource for studying fundamental building blocks at the atomic *** studying the functions of these biomolecules,chemists can gain insights into the underlying mechanisms of various *** integration of chemistry and medical science has facilitated advancements in diagnostic,therapeutic and translational research,leading to fruitful collaborations between these two *** a result,this interdisciplinary approach has yielded cutting-edge research with implications for the improvement of human health.

关键词： insight chemistry advancement

来源：评论

学校读者我要写书评

暂无评论

C2C12 Differentiation and Orientation Approach Towards Actuation Improvement for Biohybrid Robots

C2C12 Differentiation and Orientation Approach Towards Actua...

引用

biomedical engineering International Conference (BMEiCON)

作者： Xuanxuan Xie Wenze Wu Lin Gao Tianjiao Chen Bo Zhang Department of Mechanical Engineering State Key Lab for Manufacturing Systems Engineering Xi’an Jiaotong University Xi’an China Department of Biomedical Engineering School of Life Science and Technology the Key Laboratory of Biomedical Information Engineering of Ministry of Education Xi’an Jiaotong University Xi’an China

ISBN: (纸本)9781665489041

The weak maturity and poor alignment of myotube significantly limit the contractility of C2C12 mouse cell line, which is an important source of engineered skeletal muscle tissue powering biohybrid robots. Currently, substrate material, biochemical factor, topological clue and so on are proved to improve the maturing status and oriented growth of myoblasts, and co-stimulation methods stand a good chance of synergetic enhancement. Therefore, this paper invests C2C12 myogenic differentiation under triple-stimulation: soft substrate, coating and micro-groove structure. The impacts of these three factors are evaluated by the viability, orientation rate and fusion rate of C2C12 myotube, while the viability, obtained by CCK-8 test, is the basic assessment of cell proliferation; the orientation rate and the fusion rate indicates the potential for controllable contractility and the maturity of myotube, and both are analyzed and calculated from fluorescence image processing. After 7 days differentiational culture of C2C12 cell, with a GelMA substrate coated with 10 μg/cm 2 fibronectin, the highest viability reaches 78.1%, and the wider (150 μm) and the shallower (25 μm) micro-groove scaffold provide more advantageous support for C2C12 differentiation and orientation. The results of this study are a referable protocol for unidirectional differentiation of C2C12 cell line based biohybrid actuator.

关键词： Actuators Protocols Image processing Hydrogels Muscles Mice Structural engineering

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：