检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation (ICRA)

作者： Harvey Stedman Basaran Bahadir Kocer Nejra van Zalk Mirko Kovac Vijay M. Pawar Department of Computer Science Autonomous Manufacturing Laboratory University College London London UK Aerial Robotics Laboratory Imperial College London London UK Department of Aerospace Engineering University of Bristol Bristol UK Dyson School of Design Engineering Imperial College London London UK Laboratory of Sustainability Robotics at the Swiss Federal Laboratories for Materials Science and Technology Switzerland

We present a virtual reality (VR) teleoperation interface for a ground-based robot, featuring dense 3D environment reconstruction and a low latency video stream, with which operators can immersively explore remote environments. At the UK Atomic Energy Authority's (UKAEA) Remote Applications in Challenging Environments (RACE) facility, we applied the interface in a user study where trained robotics operators completed simulated nuclear monitoring and decommissioning style tasks to compare VR and traditional teleoperation interface designs. We found that operators in the VR condition took longer to complete the experiment, had reduced collisions, and rated the generated 3D map with higher importance when compared to non-VR operators. Additional physiological data suggested that VR operators had a lower objective cognitive workload during the experiment but also experienced increased physical demand. Overall the presented results show that VR interfaces may benefit work patterns in teleoperation tasks within the nuclear industry, but further work is needed to investigate how such interfaces can be integrated into real world decommissioning workflows.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Regulable Linear Guidance Flexible Virtual Fixture Based on EMG in Teleoperation System 26

A Regulable Linear Guidance Flexible Virtual Fixture Based o...

引用

26th International Conference on Automation and Computing, ICAC 2021

作者： Fan, Yuheng Luo, Jing Zuo, Lei Wang, Ning South China University of Technology College of Automation Science and Engineering Guangzhou China Wuhan University of Technology School of Automation Wuhan China Changan University School of Electronic and Control Engineering Xian China University of the West of England Bristol Robotics Laboratory Bristol United Kingdom

ISBN: (纸本)9781860435577

Current teleoperation robots still have problems such as insufficient safety and accuracy, and weak humanrobot interaction, which lead to their limited application in many aspects. Considering the operator's manual control cannot guarantee performance of teleoperation in the task, this paper proposes a linear guidance flexible virtual fixture (LGFVF) method. The LGFVF can provide force feedback for the operator and guide the operator to complete the trajectory tracking task more accurately. Additionally, in order to improve the operator's autonomy and decision-making ability in teleoperation control, this paper utilizes electromyography signals as a way to reflect the operator's intention. By adjusting the muscle activity, the human operator can autonomously decide the auxiliary degree of the virtual fixture, so as to adapt to the changes of external environment and interference factors more flexibly. Finally, the effectiveness of the proposed scheme is verified by the teleoperation experiment with obstacles and artificial interference factors. © 2021 Chinese Automation and Computing Society in the UK-CACSUK.

关键词： Remote control

来源：评论

学校读者我要写书评

暂无评论

Automatic Extraction of Understandable Controllers from Video Observations of Swarm behaviors

arXiv

引用

arXiv 2022年

作者： Alharthi, Khulud Abdallah, Zahraa S. Hauert, Sabine Bristol Robotics Laboratory University of Bristol Bristol United Kingdom Department of Engineering Mathematics University of Bristol Bristol United Kingdom Department of Computer Science College of Computers and Information Technology Taif University Saudi Arabia

Swarm behavior emerges from the local interaction of agents and their environment often encoded as simple rules. Extracting the rules by watching a video of the overall swarm behavior could help us study and control swarm behavior in nature, or artificial swarms that have been designed by external actors. It could also serve as a new source of inspiration for swarm robotics. Yet extracting such rules is challenging as there is often no visible link between the emergent properties of the swarm and their local interactions. To this end, we develop a method to automatically extract understandable swarm controllers from video demonstrations. The method uses evolutionary algorithms driven by a fitness function that compares eight high-level swarm metrics. The method is able to extract many controllers (behavior trees) in a simple collective movement task. We then provide a qualitative analysis of behaviors that resulted in different trees, but similar behaviors. This provides the first steps toward automatic extraction of swarm controllers based on observations. © 2022, CC BY.

关键词： Controllers

来源：评论

学校读者我要写书评

暂无评论

Data engineering and AI-Powered Skin Cancer Identification for Healthcare Applications

引用

Procedia Computer Science 2024年 246卷 179-188页

作者： Imran Ahmed Misbah Ahmad Abdellah Chehri Gwanggil Jeon School of Computing and Information Science Anglia Ruskin University Cambridge UK Animal and Agriculture Department Hartpury University Gloucester UK Centre for Machine Vision Bristol Robotics Laboratory University of the West of England Bristol UK Department of Mathematics and Computer Science at the Royal Military College of Canada (RMC) Canada Department of Embedded Systems Engineering Incheon National University Incheon Korea

Skin cancer diagnosis, a critical task in the medical domain, can be revolutionized through the application of advanced deep-learning techniques. This work investigates the efficacy of Convolutional Neural Networks (CNNs) in the automated classification of skin cancer. The process begins with a comprehensive explanation of key CNN layers: Conv2D, MaxPool2D, Dropout, and Dense. The Conv2D layers employ learnable filters that transform localized image segments, while MaxPool2D contributes to downsampling, effectively reducing computational cost and overfitting risk. Integrating these layers enables the network to capture local and global characteristics, which is crucial for accurate classification. Adding Dropout layers enhances generalization and mitigates overfitting by introducing randomness during training. ReLU activation functions infuse non-linearity, and the Flatten layer facilitates the transition to fully connected layers. The proposed CNN architecture is meticulously designed considering filter counts, kernel sizes, and pooling dimensions. The trained model demonstrates promising performance by utilizing the HAM10000 dataset, encompassing diverse skin lesion images across seven classes. The CNN model’s parameters and architecture are systematically presented, offering insights into its design rationale. The model undergoes optimization with the Adam optimizer and annealing techniques to facilitate convergence. The model’s effectiveness is evaluated on validation and test datasets, demonstrating an accuracy of 78.55% and 76.49%, respectively, for skin cancer classification. Data augmentation strategies are introduced to enhance model generalization further. The results underscore CNN’s potential as a robust tool for automating skin cancer diagnosis, aligning with the broader trend of leveraging deep learning for medical image analysis

关键词： Image Processing Medical Imaging Deep learning Skin Cancer Data Analytics

来源：评论

学校读者我要写书评

暂无评论

Optimized Admittance Control for Manipulators Interacting with Unknown Environment

Optimized Admittance Control for Manipulators Interacting wi...

引用

IEEE International Conference on Industrial technology (ICIT)

作者： Haiyi Kong Guangzhu Peng Guang Li Chenguang Yang Department of Electrical and Electronic Engineering University of Manchester Oxford Rd Manchester UK Bristol Robotics Laboratory University of the West of England Bristol UK School of Automation Nanjing University of Information Science and Technology Nanjing China Department of Computer Science University of Liverpool Liverpool UK

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

This paper considers the study scenario that the end-effector of a manipulator follows a desired trajectory and interacts with external environment. To maximize the interaction performance, admittance control is combined with adaptive dynamic programming (ADP). The optimal admittance parameters can be learned online without prior knowledge of the environment. A data-driven Hybrid Iteration is employed in the ADP, which can relax the initial stabilizing requirement and at the same time has a faster convergence rate compared with Value Iteration. In addition, a more accurate environment model is considered in the system control design, where a general iterative expression is proposed to describe the varying contour of the environment. At last, simulation and experimental studies are given to verify the effectiveness of the proposed method.

关键词： Adaptation models Control design Heuristic algorithms End effectors Dynamic programming Trajectory Iterative methods

来源：评论

学校读者我要写书评

暂无评论

Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

引用

arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

来源：评论

学校读者我要写书评

暂无评论

Stratify: Unifying Multi-Step Forecasting Strategies

arXiv

引用

arXiv 2024年

作者： Green, Riku Stevens, Grant Abdallah, Zahraa Silva Filho, Telmo M. School of Computer Science University of Bristol Merchant Venturers Building Woodland Road BristolBS8 1UB United Kingdom School of Physics University of Bristol HH Wills Physics Laboratory Tyndall Avenue BristolBS8 1TL United Kingdom School of Engineering Mathematics and Technology University of Bristol Ada Lovelace Building Tankard’s Close BristolBS8 1TW United Kingdom

A key aspect of temporal domains is the ability to make predictions multiple time steps into the future, a process known as multi-step forecasting (MSF). At the core of this process is selecting a forecasting strategy, however, with no existing frameworks to map out the space of strategies, practitioners are left with ad-hoc methods for strategy selection. In this work, we propose Stratify, a parameterised framework that addresses multi-step forecasting, unifying existing strategies and introducing novel, improved strategies. We evaluate Stratify on 18 benchmark datasets, five function classes, and short to long forecast horizons (10, 20, 40, 80). In over 84% of 1080 experiments, novel strategies in Stratify improved performance compared to all existing ones. Importantly, we find that no single strategy consistently outperforms others in all task settings, highlighting the need for practitioners explore the Stratify space to carefully search and select forecasting strategies based on task-specific requirements. Our results are the most comprehensive benchmarking of known and novel forecasting strategies. We make code available to reproduce our results. Copyright © 2024, The Authors. All rights reserved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Development and Functional Evaluation of The PrHand V3 Soft-robotics Prosthetic Hand

Development and Functional Evaluation of The PrHand V3 Soft-...

引用

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

作者： Orion Ramos Laura De Arco Marcela Múnera Jorge Robledo Mehran Moazen Helge Wurdemann Carlos A. Cifuentes School of Engineering Science and Technology Universidad del Rosario Bogota Colombia Graduate Program of Electrical Engineering Federal University of Espírito Santo Vitoria Brazil Bristol Robotics Laboratory University of the West of England Bristol UK Colombian School of Engineering Bogotá D.C. Colombia Prótesis Avanzadas SAS Medellin Colombia Department of Mechanical Engineering University College London London UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The affordability and functionality of hand prosthetics in developing countries are still very limited. This work aims to present and evaluate the new version of the PrHand affordable robotic prosthesis (PrHand V3), built with soft robotics and compliant mechanisms. PrHand V3 implements a new frictionless tendon unification system, the degree of freedom of thumb opposition was removed, and the finger flexion was improved to the previous version, PrHand V2. The study contributes by evaluating these mechanical changes and conducting the first functional assessment of PrHand V3 with an amputee user. The Anthropomorphic Hand Assessment Protocol (AHAP) dexterity test was the first evaluation in this work; it evaluated how the prosthesis performs eight different grips. PrHand V3 was compared with a PrHand V2 and a commercial robotic prosthesis A3D from Prótesis Avanzadas SAS. PrHand V3’s score on the AHAP test was 80%. This result is higher than the 69% obtained by the PrHand V2 and the 79% obtained by A3D. The Activities Measure for Upper Limb Amputees (AM-ULA) test was the second evaluation in this work; An A3D amputee user performed 23 Activities of Daily Living with PrHand V3 and an A3D. PrHand V3 obtained an average of 2.86/4 and A3D obtained an average of 2.96/4 without significant differences between the two tests. The soft actuation of PrHand V3 as an affordable prosthesis performs similarly to a commercial robotic prosthesis with the advantage of being more flexible to assist a trans-radial hand amputee.

关键词： Hands Protocols Manufacturing processes Thumb Grasping Soft robotics Synthetic aperture sonar Prosthetic hand Prosthetics Tendons

来源：评论

学校读者我要写书评

暂无评论

一种基于对称化热传导系统的量子算法

引用

Science Bulletin 2023年第5期68卷 494-502,M0004页

作者：魏世杰魏超吕鹏邵长鹏高攀周增荣李可仁辛涛龙桂鲁 Beijing Academy of Quantum Information Sciences Beijing 100193China Shenzhen Institute for Quantum Science and Engineering and Department of Physics Southern University of Science and TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Quantum Science and Engineering Southern University of Science and TechnologyShenzhen 518055China State Key Laboratory of Low-Dimensional Quantum Physics and Department of Physics Tsinghua UniversityBeijing 100084China School of Mathematics Fry BuildingUniversity of BristolBristol BS81UGUK Peng Cheng Laboratory Shenzhen 518055China Beijing National Research Center for Information Science and Technology and School of Information Tsinghua UniversityBeijing 100084China Frontier Science Center for Quantum Information Beijing 100084China

由非平衡驱动的热传导通过物理接触传递内部的热能.描述热传导的数学方程是一个典型的偏微分方程.它广泛存在于各种工程问题中,例如粒子扩散、航天器设计和稀释制冷机运行.本文提出了一种显著优于经典算法的热传导量子算法,并在量子硬... 详细信息

由非平衡驱动的热传导通过物理接触传递内部的热能.描述热传导的数学方程是一个典型的偏微分方程.它广泛存在于各种工程问题中,例如粒子扩散、航天器设计和稀释制冷机运行.本文提出了一种显著优于经典算法的热传导量子算法,并在量子硬件上演示了热传导过程.作者通过一个辅助量子比特构造的对称系统来表示原始热传导系统,使得量子线路的复杂度减少到离散格点数量的对数多项式量级.与现有的基于Harrow-Hassidim-Lloyd的线性方程算法相比,本文的方法直接演化线性过程,不进行相位估计,避免相位估计涉及复杂的量子门操作和较大的输出误差,便于在目前的量子硬件实现,显示了该算法是实验友好特性.并且,作者在核自旋量子处理器上实现了两端恒温和绝热条件的一维热传导过程,温度的时空分布与理论预言很好的吻合.该算法可以自然地应用于可归约为热方程的物理过程.

关键词：量子算法相位估计偏微分方程对称系统物理过程线性过程热传导绝热条件

来源：评论

学校读者我要写书评

暂无评论

Toward AI-Powered Edge Intelligence for Object Detection in Self-Driving Cars: Enhancing IoV Efficiency and Safety

引用

IEEE Internet of Things Journal 2025年第11期12卷 16990-16997页

作者： Imran Ahmed Misbah Ahmad Muftooh Ur Rehman Siddiqi Abdellah Chehri Gwangill Jeon School of Computing and Information Science Anglia Ruskin University Cambridge U.K. Centre for Machine Vision Bristol Robotics Laboratory University of the West of England Bristol U.K. Department of Animal and Agriculture Hartpury University Gloucester U.K. College of Engineering and Physical Sciences Aston University Birmingham U.K. Department of Mathematics and Computer Science Royal Military College of Canada Kingston ON Canada Department of Embedded Systems Engineering Incheon National University Incheon South Korea

In the rapidly advancing field of intelligent transportation systems, integrating artificial intelligence (AI) with edge computing presents a promising way to enhance the safety and efficiency of the Internet of Vehicles (IoV). This study explores and presents a deep learning-based object detection model within an edge computing framework which aims to facilitate real time object detection in self driving cars. Using an urban traffic scenarios-based dataset, our research shows the ability of the model to accurately detect and classify various objects important for autonomous driving. The YOLOv8 model is used in this work due to its optimal balance between accuracy and computational efficiency. This model has also demonstrated its worth by achieving good performance results, including an average precision of 0.79, a recall of 0.62, and an F1-score of 0.69. The results are demonstrated by a detailed confusion matrix, highlighting the model’s effectiveness in complex driving environments and underscoring its reliability for in-vehicle deployment. By implementing AI directly on edge devices within vehicles, our approach might be helpful in significantly reducing latency, boosting decision-making speed, and enhancing data privacy by minimising dependence on cloud processing. The findings not only support the model’s capabilities but also illustrate the practical benefits of edge intelligence in autonomous vehicles. These benefits, such as faster decision making and improved data privacy, contribute effectively to the IoV infrastructure. This study marks a substantial step toward recognizing the possibility of AI-enhanced edge computing in driving the next generation of autonomous vehicle technology.

关键词： Computational modeling Object detection Edge computing Image edge detection Artificial intelligence Computer architecture Data models Accuracy Servers Safety

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：