检索结果-内蒙古大学图书馆

您好，读者！请登录

内蒙古大学图书馆

首页
概况
党建
资源
服务
科研支持
- 论文收录引用证明
- 科技查新
知识产权
档案馆
帮助

咨询与建议

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

您的常用邮箱：*

您的手机号码：*

问题描述：

当前已输入0个字，您还可以输入200个字

全部搜索
期刊论文
图书
学位论文
标准
纸本馆藏
外文资源发现
数据库导航
超星发现

高级检索

时间限定

出版年份：

文献类型

图书期刊文献学位论文多媒体

馆藏选择

电子馆藏纸本馆藏

核心期刊

全部期刊 SCI 收录期刊 SSCI 收录期刊 EI 收录期刊 CSCD 收录期刊 CSSCI 收录期刊

语言

中文英文

文献类型

期刊文献图书学位论文标准纸本馆藏

帮助

文字说明：

T=题名（书名、题名），A=作者（责任者），K=主题词，P=出版物名称，PU=出版社名称，O=机构（作者单位、学位授予单位、专利申请人），L=中图分类号，C=学科分类号，U=全部字段，Y=年（出版发行年、学位年度、标准发布年）

检索规则说明：

AND代表“并且”；OR代表“或者”；NOT代表“不包含”；(注意必须大写,运算符两边需空一格)

检索范例：

范例一：(K=图书馆学 OR K=情报学) AND A=范并思 AND Y=1982-2016
范例二：P=计算机应用与软件 AND (U=C++ OR U=Basic) NOT K=Visual AND Y=2011-2016

分类表

所选分类

>> <<

限定检索结果

文献类型

97 篇 会议
35 篇 期刊文献

馆藏范围

132 篇 电子文献
0 种 纸本馆藏

日期分布

学科分类号

70 篇 工学
- 39 篇 控制科学与工程
- 37 篇 计算机科学与技术...
- 33 篇 软件工程
- 20 篇 机械工程
- 19 篇 生物工程
- 12 篇 力学（可授工学、理...
- 10 篇 电气工程
- 9 篇 光学工程
- 9 篇 信息与通信工程
- 9 篇 生物医学工程（可授...
- 8 篇 化学工程与技术
- 7 篇 动力工程及工程热...
- 6 篇 电子科学与技术（可...
- 5 篇 材料科学与工程（可...
- 5 篇 冶金工程
- 3 篇 仪器科学与技术
- 3 篇 交通运输工程
53 篇 理学
- 29 篇 物理学
- 20 篇 生物学
- 19 篇 数学
- 6 篇 化学
- 5 篇 统计学（可授理学、...
- 3 篇 系统科学
13 篇 管理学
- 8 篇 管理科学与工程(可...
- 4 篇 图书情报与档案管...
- 3 篇 工商管理
5 篇 医学
- 4 篇 基础医学(可授医学...
- 3 篇 临床医学
3 篇 法学
- 3 篇 社会学
2 篇 经济学
2 篇 农学
1 篇 文学

主题

16 篇 parallel robots
8 篇 reinforcement le...
8 篇 grippers
8 篇 kinematics
7 篇 accuracy
6 篇 deep learning
6 篇 three-dimensiona...
6 篇 robot sensing sy...
6 篇 robot kinematics
6 篇 service robots
6 篇 training
5 篇 object detection
5 篇 mechatronics
5 篇 mathematical mod...
5 篇 heuristic algori...
4 篇 grasping
4 篇 force
4 篇 manipulators
4 篇 robots
4 篇 tracking

机构

29 篇 human and robot ...
13 篇 school of mechan...
10 篇 university of te...
9 篇 human and robot ...
8 篇 school of electr...
7 篇 human and robot ...
7 篇 school of electr...
4 篇 school of mechan...
4 篇 human-computer c...
4 篇 human and robot ...
4 篇 school of mechan...
3 篇 university of te...
3 篇 university of te...
3 篇 school of mathem...
3 篇 control and inte...
3 篇 school of electr...
3 篇 university of te...
3 篇 state key labora...
3 篇 school of mechan...
2 篇 mechanical eng. ...

作者

50 篇 mehdi tale masou...
42 篇 masouleh mehdi t...
29 篇 kalhor ahmad
26 篇 ahmad kalhor
7 篇 mohammad reza ha...
6 篇 meng chuizhou
6 篇 guo shijie
5 篇 hosseini hamed
4 篇 navid asadi khom...
4 篇 yu wei
4 篇 li guoxian
4 篇 hasan jalali
4 篇 yang li
3 篇 yazdi mohammad r...
3 篇 khomami navid as...
3 篇 bahrami vahid
3 篇 hamed hosseini
3 篇 babi zeynab ezza...
3 篇 chuizhou meng
3 篇 koosheshi mohamm...

语言

124 篇 英文
6 篇 其他
2 篇 中文

检索条件"机构=School of Electrical and Computer Engineering Human and Robot Interaction Laboratory"

共 132 条记录，以下是1-10 订阅

全选清除本页清除全部题录导出标记到"检索档案"

详细简洁

排序：

Model-Free Dynamic Control of Five-bar Mechanism via Subchain Assembly and Reinforcement Learning 12

Model-Free Dynamic Control of Five-bar Mechanism via Subchai...

引用

12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Sedghi, Soheil Tale Masouleh, Mehdi Kalhor, Ahmad School of Electrical and Computer Engineering University of Tehran Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9798331529734

Parallel robots are versatile but challenging to control due to their complex dynamics and the need for precise modeling. This research presents a novel approach to modular control of parallel robots, utilizing reinforcement learning to dynamically assemble and control complex arbitrary systems. By treating each sub chain of a parallel robot as an individual agent, the proposed method offers a flexible and adaptable framework for various control tasks. The study compares the learning performance of different RL algorithms and proposed decision modeling on the tracking control of a five-bar robot with a 55 cm link length, aiming to achieve an error of less than 5 cm in the PyBullet simulator. In single-agent reinforcement learning, three algorithms (DDPG, PPO, and SAC) were employed, with PPO and SAC effectively solving the problem. In multi-agent reinforcement learning, two algorithms (FACMAC and MAPPO) were utilized. While MAPPO successfully learned the problem, FACMAC exhibited difficulties in grasping the problem. The results obtained from comparing the proposed RL algorithms indicated that single-agent RL learns the control problem better and faster than multi-agent reinforcement learning. In short, the paper focuses on formulating an RL solution which can effectively control parallel robots and can potentially be used for pre-training subchains. © 2024 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

From Bricks to Bots: Automated Collision-Aware Sequence Planning for LEGO Reconstruction with a Two-Finger Gripper 10

From Bricks to Bots: Automated Collision-Aware Sequence Plan...

引用

10th International Conference on Control, Instrumentation and Automation, ICCIA 2024

作者： Barghi, Arman Pasiar, Navid Masouleh, Mehdi Tale Kalhor, Ahmad University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798331509972

An automated, vision-guided assembly method is proposed for reconstructing LEGO arrangements using a 3 DOF Delta Parallel robot with a two-finger gripper. Assembly sequence planning, an NP-complete problem, focuses on determining the optimal sequence of bricks for constructing a target structure. The complexity increases when robotic con-straints-such as avoiding collisions between the gripper and the partially constructed structure-Are integrated into the planning. To address this, the Arrangement Planning Process is introduced, combining target arrangement identification with collision-Aware sequence planning. This process includes precise detection techniques that merge instance segmentation with stud detection. Notable innovations include an assembly-by-disassembly algorithm for efficient planning and experimental techniques such as the Safe Approach and the Wiggling Technique for accurate brick placement. By implementing a homing method, positioning accuracy improved approximately twofold compared to previous work. The results demonstrate the feasibility and precision of the proposed method in automated LEGO reconstruction. © 2024 IEEE.

关键词： Grippers

来源：评论

学校读者我要写书评

暂无评论

Autonomous Rearrangement Planning Using Object Similarity Learning 12

Autonomous Rearrangement Planning Using Object Similarity Le...

引用

12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Jabari, Parmida Babi, Zeynab Ezzati Ghasemi, Hamed Masouleh, Mehdi Tale Kalhor, Ahmad School of Electrical and Computer Engineering University of Tehran Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9798331529734

This study investigates the integration of artificial intelligence in robotics assembly systems, focusing on enhancing flexibility and adaptability in dynamic environments where the robot might not be given the precise objects of the intended construction. To this end, a developed approach is presented which is based on object detection, similarity assessment, and sequence planning for autonomous construction tasks. The system utilizes a YOLOv8 model for object detection and a Siamese network architecture, which facilitates object replacement. It processes two input images, one representing the target structure and another showing the available objects, extracting attributes such as bounding boxes, centers, and orientations. An exact object-matching step is performed before a two-stage similarity assessment. The two-stage similarity assessment prioritizes single-object matches and employs a multi-object similarity network only when necessary. This multi-stage approach is designed to maintain high similarity to the intended design while minimizing possible object shortcomings. During the construction phase, motion planning is performed using a 3-degrees-of-freedom Delta parallel robot, and a 2-finger gripper is utilized for robotics grasping. The results of this study, conducted on wooden bricks of varying shapes and sizes, demonstrate the effectiveness of the YOLOv8 model for object detection, achieving over 80% accuracy across 18 classes with a classification loss of approximately 0.25. Additionally, the Siamese network performed robustly, with a loss of less than 0.01 for both single and multiple object comparisons. © 2024 IEEE.

关键词： robotic assembly

来源：评论

学校读者我要写书评

暂无评论

Autonomous robotic Assembly and Sequence Planning Based on YOLOv8 11

Autonomous Robotic Assembly and Sequence Planning Based on Y...

引用

11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Babi, Zeynab Ezzati Khomami, Navid Asadi Masouleh, Mehdi Tale Kalhor, Ahmad University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran School of Mechanical Engineering Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9798350308105

This study contributes to autonomous assembly by introducing a robotic building system designed to observe its workspace, plan building sequences, determine appropriate grasps and manipulator motions, and operate hardware in real-time. This study involves the creation of a wooden brick dataset and employs a YOLOv8 deep learning model for object segmentation in two implemented real-time algorithms, namely, Desired Construction Object Detection (DCOD) and robot Current Frame Object Detection (RCFOD). The DCOD algorithm is designed for the desired structure, while the RCFOD algorithm is utilized for detecting objects within the operational environment of the robot. By comparing the outputs of these two algorithms, sequences of objects for assembly are formulated, and the appropriate grasp positions are determined. Subsequently, the robot's motion planning for both grasping and construction tasks is executed. Due to the limitations of using a single RGB gripper-mounted camera, various issues, such as failing to recognize items with the same cross-section but varying heights, have been addressed in this study. The results of this study indicate the effective learning of the YOLOv8 model, as shown by a loss value below 0.2 and an accuracy over 90% for 17 out of the total 18 classes. Practical implementation is done by a common industrial Delta parallel robot, a 2-finger gripper, and a simple RGB camera. Overview of practical implementation system is shown in Fig. 1. The proposed robotic assembly method demonstrates its effectiveness in autonomously constructing structures utilizing a reduced and cost-efficient configuration. © 2023 IEEE.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

Dynamic Modeling of Double Segment Redundant Gough-Stewart Hybrid Manipulator based on the Principle of Virtual Work 12

Dynamic Modeling of Double Segment Redundant Gough-Stewart H...

引用

12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Ardakani, Alireza Kamali Akbari, Hossein Namazian, Parsa Masouleh, Mehdi Tale Bahrami, Arash University of Tehran Human and Robot Interaction Laboratory School of Mechanical Engineering Tehran Iran University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran School of Mechanical Engineering University of Tehran Tehran Iran

ISBN: (纸本)9798331529734

This paper presents the dynamic modeling and analysis of a hyper-redundant manipulator with two Gough-Stewart platforms. Initially, the kinematic model of the manipulator is reviewed and used, since it acts as a base component for the subsequent dynamic modeling. Then, the virtual work approach is introduced to establish a foundation for the dynamic modeling of a single Gough-Stewart platform. This modeling for a single segment is used to form the equation of motion for both segments. However, the external forces applied to the lower Gough-Stewart robot are different from the upper one, since the force and masses in the upper platform act on the lower one. By considering these effects on the lower platform, the dynamic equations for the whole have been formed and presented. The accuracy of the proposed model is validated through a detailed comparison with simulations performed using a Simscape environment. Notable challenges in aligning the results between the model and simulations are discussed, highlighting the complexities involved in ensuring consistency across different platforms. The comparisons show an average error of 1.537 percent per actuator. © 2024 IEEE.

关键词： Digital elevation model

来源：评论

学校读者我要写书评

暂无评论

On Graph Reduction in Consensus Control of Multi-agent Systems: A Preliminary Study

On Graph Reduction in Consensus Control of Multi-agent Sys...

引用

27th RoboCup International Symposium, 2024

作者： Setayeshi, Amirali Babi, Zeynab Ezzati Saadati, Ali Sadeghnejad, Soroush Tehran Iran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran Tehran Iran

ISBN: (纸本)9783031858581

Since the use of multi-agent systems has significantly increased over the past few decades, it is crucial to study the methods used in this area and take implementation-related practical issues into consideration. For instance, in the formulation of the consensus problem, the communication between the agents is depicted using a graph, where each edge represents a communication link between the agents. In practical terms, there will be significant operational challenges and costs associated with implementing each of these communication channels in various forms. Therefore, in this study, the graph reduction problem has been presented as an optimization problem, accompanied by six distinct cost functions. The objective is to reduce the size of a graph without compromising its fundamental characteristics. Hence, the cost functions provided are formulated to minimize the number of edges in the resulting graph while ensuring that the consensus error remains bounded. Ultimately, simulations were performed to demonstrate the effectiveness of the proposed approach. The outcomes derived from the specified set of cost functions were then compared to several conventional topologies in multi-agent systems. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Cost functions

来源：评论

学校读者我要写书评

暂无评论

HUGGA: human-like Grasp Generation with Gripper's Approach State Using Deep Learning 11

HUGGA: Human-like Grasp Generation with Gripper's Approach S...

引用

11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Balazadeh, Elnaz Masouleh, Mehdi Tale Kalhor, Ahmad University of Tehran Human and Robot Interaction Laboratory Tehran Iran University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798350308105

In this study, an attempt has been made to develop a new method for producing a successful grasp based on human behavior, by considering the gripper's approach state in the final grasp of an object. The dataset collected for the purpose of this paper consists of 14 different daily usage objects with different orientations (In total 2526 images) which a human approaches and grasps them. Data collection has been done based on a protocol shown in TableI to cover all achievable states. From Fig1, it can be seen that the dataset includes one image from a single object without the user's hand. The second image contains the human hand approach and its configuration regarding the object which is subject to be grasped and the third image represents the object which is grasped by the human hand and thus evidently contains both object and human hand grasp configuration. It is important to acknowledge that providing a static hand image does not suffice to facilitate the acquisition of human-like grasping capabilities by robot grippers, so, a mapping from hand fingers to a two-finger gripper should be implemented to fill this gap. In the collected dataset, all grasps are performed by the index finger and thumb to make it possible to map the coordinates of each finger on a gripper finger. Using MediaPipe, which operates a single shot detection network, with only an RGB image containing a human hand the index finger and thumb landmarks were extracted. Finally, a detailed human approach and grasp information were available, and with the collected data, a two-input and one-output deep neural network was trained. The designed model produced a grasp with a human pattern by receiving only the RGB image of the object and the approach vector to the object. Ultimately, through testing and evaluation based on existing criteria, the trained network successfully produced a grasp with 61% accuracy in grasp rectangle overlap, 97% in grasp angle and overall 60.5% met two established grasp crite

关键词： Grippers

来源：评论

学校读者我要写书评

暂无评论

Autonomous Unmanned Aerial Vehicle Indoor Navigation Based on Deep Learning Approaches 11

Autonomous Unmanned Aerial Vehicle Indoor Navigation Based o...

引用

11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Ghasemi, Hamed Balazadeh, Elnaz Malekpour, Shayan Kalhor, Ahmad Masouleh, Mehdi Tale University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran University of Tehran Human and Robot Interaction Laboratory Tehran Iran University of Tehran School of Electrical and Computer Engineering Department of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798350308105

This article presents two approaches based on deep learning for achieving autonomous navigation and subsequently, conducts an in-depth comparative analysis to elaborate their respective performance. Both methods leverage neural networks to facilitate navigation. The first approach employs a deep convolutional neural network to identify suitable areas for forward movement, while the second method utilizes the drone's front camera to capture images, which are then processed by a generative network to generate corresponding depth images. Importantly, both approaches rely solely on an RGB camera, resulting in cost savings for the robot and reduced energy consumption. The training data used for classifying collision-free and appropriate paths were gathered from simulated environments closely resembling real indoor settings. The proposed model calculates the probability associated with each segment of the input image, enabling the selection of the most viable area for drone flight. Incorporating generative networks as a depth estimation module enhances flight accuracy, making navigation in uncharted environments more straightforward. The accuracy of depth estimation was evaluated using standard criteria, achieving an accuracy rate of 84%. This result underscores the effectiveness of the proposed method. © 2023 IEEE.

关键词： Drones

来源：评论

学校读者我要写书评

暂无评论

Grasp the Graph (GtG): A Super Light Graph-RL Framework for robotic Grasping 11

Grasp the Graph (GtG): A Super Light Graph-RL Framework for ...

引用

11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Moghadam, Ali Rashidi Masouleh, Mehdi Tale Kalhor, Ahmad University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798350308105

This paper introduces Grasp the Graph, an innovative framework addressing challenges posed by processing point clouds with conventional neural networks for robotic grasping. Such challenges often lead to the conversion of point clouds to multi-view images or voxel grids, requiring large networks with millions of parameters. Grasp the Graph formulates robotic grasping as a one-step reinforcement learning problem and leverages graph representation and graph neural networks to efficiently process geometric relationships in point clouds. The lightweight design with only 67k parameters facilitates swift training and strong generalization to novel objects, offering the capability to propose multiple valid grasping candidates. Empirical testing demonstrates the effectiveness of the proposed approach, achieving a 90.4% success rate on test objects while being trained with only 10 objects. Even with a three-camera setup during training, reducing the cameras during evaluation minimally impacts performance, resulting in less than a 3% decrease.1 © 2023 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Optimal Path Planning of Mobile robots Using IsoCost-Based Dynamic Programming 31

Optimal Path Planning of Mobile Robots Using IsoCost-Based D...

引用

31st International Conference on electrical engineering, ICEE 2023

作者： Alvankarian, Fatemeh Kalhor, Ahmad Masouleh, Mehdi Tale School of Electrical and Computer Engineering University of Tehran Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9798350312560

This paper proposes an optimal local path planning algorithm for mobile robots by means of the so-called IsoCost-based dynamic programming. This algorithm explores and finds the optimal paths to the goal point from different start points in the environment of the robot while avoiding arbitrary numbers and forms of obstacles. The concept of IsoCost HyperSurface (ICHS) is first explained and it is shown that with a certain cost value, the ICHS corresponding to optimal path planning surrounds all other ICHSs corresponding to non-optimal path planning algorithms. Based on this geometric property, agents are initiated and planned to explore and reveal the optimal ICHSs using dynamic programming. The optimality of the proposed method is proved and the results of this method are compared with those of Modified Potential Field and Bug2 algorithms, indicating that the proposed method surpasses the other two algorithms in terms of the optimality of path length and execution time. © 2023 IEEE.

关键词： Dynamic programming

来源：评论

学校读者我要写书评

暂无评论

没有更多数据了...

全选清除本页清除全部题录导出标记到“检索档案”

共14页 << < 1 2 3 4 5 6 7 8 9 10 > >>

检索报告对象比较合并检索0

隐藏清空

合并搜索

回到顶部

执行限定条件

内容：

评分：

请选择保存的检索档案：

请选择收藏分类：

订阅名称：

通借通还

温馨提示：

图书名称：

借书校区：

取书校区：

手机号码：

邮箱地址：

一卡通帐号：

电话和邮箱必须正确填写，我们会与您联系确认。

联系人：

所在院系：

联系邮箱：

联系电话：

内蒙古自治区呼和浩特市赛罕区大学西街235号邮编: 010021

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：