检索结果-内蒙古大学图书馆

IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： José Martins Pedro Pereira Raul Campilho Andry Pinto ISEP - School of Engineering Polytechnic of Porto Centre for Robotics and Automation Systems of INESC TEC Porto Portugal Faculty of Engineering University of Porto Centre for Robotics and Automation Systems of INESC TEC Porto Portugal ISEP - School of Engineering Polytechnic of Porto INEGI Institute of Mechanical Engineering Porto Portugal

ISBN: (数字)9798331516239

ISBN: (纸本)9798331516246

Due to the difficult access to the maritime environment, cooperation between different robotic platforms operating in different domains provides numerous advantages when considering Operations and Maintenance (O&M) missions. The nest Uncrewed Surface Vehicle (USV) is equipped with a parallel platform, serving as a landing pad for Uncrewed Aerial Vehicle (UAV) landings in dynamic sea states. This work proposes a methodology for short term forecasting of wave-behaviour using Fast Fourier Transforms (FFT) and a low-pass Butterworth filter to filter out noise readings from the Inertial Measurement Unit (IMU) and applying an Auto-Regressive (AR) model for the forecast, showing good results within an almost 10-second window. These predictions are then used in a Model Predictive Control (MPC) approach to optimize trajectory planning of the landing pad roll and pitch, in order to increase horizontality, consistently mitigating around 80% of the wave induced motion.

关键词： Sea surface Fast Fourier transforms Trajectory planning Surface waves Noise Predictive models Prediction algorithms Autonomous aerial vehicles Forecasting Vehicle dynamics

来源：评论

学校读者我要写书评

暂无评论

Experimental study of hardness and corrosion properties of AZ91 magnesium alloy after electroless nano composite coating

引用

Materials Today: Proceedings 2022年 62卷 2926-2929页

作者： Sayyad, Dr Farook Sayyad, Dr Shabnam Ansari, Dr. Md. Imran Mechanical Engineering Department. Dr. D. Y. Patil School of Engineering Pune India Associate Professor Computer Engineering Department. AISSMS College of Engineering Pune India Robotics & Automation Department. Bharati Vidyappeth Pune India

Magnesium and its numerous alloys have excellent rigidity, low density, and electromagnetic protection properties, making them ideal for usage in numerous industrial components. Magnesium alloys have a significant disadvantage in terms of corrosion and hardness, which restricts their practical uses. One of the most recent ways for improving the corrosion and hardness of Mg alloys is electro-less nano-coating. The experimental research of corrosion and hardness of AZ91 Mg Alloy due to nano composite coating procedures of ENi-B-TiO2is examined in this study. It would be useful to conduct a thorough examination, including experimental analysis, into the possibilities of increasing the deposit efficiency and characteristics of composite deposits by designing a suitable bath composition and operating circumstances. It has been discovered that as the concentration of titania particles increases, so does the surface hardness of coatings. The optimal concentration of second-phase (titania) particles and bath agitation are also examined in order to get superior surface properties following nano coating. Following this nano coating, the materials may be employed for a variety of materials engineering applications. © 2022

关键词： Surface properties

来源：评论

学校读者我要写书评

暂无评论

GroupTrack: Multi-Object Tracking by Using Group Motion Patterns

GroupTrack: Multi-Object Tracking by Using Group Motion Patt...

引用

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

作者： Xinglong Xu Weihong Ren Gan Sun Haoyu Ji Yu Gao Honghai Liu State Key Lab of Robotics and Systems School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The main challenge of Multi-Object Tracking (MOT) lies in maintaining a distinctive identity for each target in dense crowds or occluded scenarios. Although the existing methods have achieved significantly progress by using robust object detectors or complex association strategies, they cannot effectively solve long-term tracking due to individually motion or appearance modeling for each single target. In this paper, we propose a novel 2D MOT tracker GroupTrack, to learn reliable motion state for each target using group motion patterns. Specifically, for each tracklet, we first choose its neighboring ones to form a group of motion patterns, which can provide informative clues for the motion estimation of the current tracklet. Then, we apply the group motion patterns to perform tracklet prediction and data association. By integrating prior from neighboring motion patterns into the data association process, GroupTrack provides a new paradigm for target motion modeling in extremely crowded and occluded scenarios. Through extensive experiments on the public MOT17 and MOT20 datasets, we demonstrate the effectiveness of our approach in challenging scenarios and show state-of-the-art performance at various MOT metrics.

关键词： Measurement Target tracking Three-dimensional displays Tracking Motion estimation Detectors Reliability Object tracking Pattern matching Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Design and Analysis of a 2-DOF Actuator with Variable Stiffness Based on Leaf Springs

引用

Journal of Bionic engineering 2022年第5期19卷 1392-1404页

作者： ShangKui Yang Peng Chen DongQi Wang Yi Yu YuWang Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110000China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110000China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Tianjin UniversityTianjin 300192China University of Chinese Academy of Sciences Beijing 100049China

Variable Stiffness Actuator(VSA)is the core mechanism to achieve physical human–robot interaction,which is an inevitable development trend in *** existing variable stiffness actuators are basically single degree-of-freedom(DOF)rotating joints,which are achieving multi-DOF motion by cascades and resulting in complex robot body *** this paper,an integrated 2-DOF actuator with variable stiffness is proposed,which could be used for bionic wrist joints or shoulder *** 2-DOF motion is coupling in one universal joint,which is different from the way of single DOF actuators *** on the 2-DOF orthogonal motion generated by the spherical wrist parallel mechanism,the stiffness could be adjusted by varying the effective length of the springs,which is uniformly distributed in the variable stiffness *** variable stiffness principle,the model design,and theoretical analysis of the VSA are discussed in this *** independence of adjusting the equilibrium position and stiffness of the actuator is validated by *** results show that the measured actuator characteristics are sufficiently matched the theoretical *** the future,VSA could be used in biped robot or robotic arm,ensuring the safety of human–robot interaction.

关键词： Physical human-robot interaction 2-DOF Bionic wrist joints Variable stiffness actuator Leaf spring

来源：评论

学校读者我要写书评

暂无评论

Research on cognitive load evaluation with subjective method in manual assembly

引用

High Technology Letters 2023年第4期29卷 434-444页

作者：任彬 ZHOU Qinyu LI Qibing LUO Wenfa Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444P.R.China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Materials Technology&EngineeringChinese Academy of SciencesNingbo 315201P.R.China SAIC Motor R&D Innovation Headquarters SAIC Motor Corporation LimitedShanghai 201804P.R.China

Subjective scales have different kinds of applicability in diverse *** study intends to implement a quantitative approach to determine the applicability of subjective scales in manual as-sembly work and evaluate the cognitive load of assembly workers.A multi-scale research paradigm based on subjective evaluation method is *** typical task stages are extracted from the process of assembly *** National Aeronautics and Space Administration Task Load Index(NASA-TLX)scale,PAAS scale and Workload Profile Index Ratings(WP)scale are selected for the design of 3×3 multi-factor mixed *** power spectrum density(PSD)characteris-tics of electroencephalogram(EEG)are utilized to identify the difficulty levels of the three task *** relevant indicators of scale applicability are *** results show that in terms of sensitivity,NASA-TLX scale reaches the highest sensitivity(F=999.137,P=0<0.05).In terms of validity,NASA-TLX scale possesses the best concurrent validity(P=0.0255<0.05).In terms of diagnosticity,NASA-TLX scale based on 6 dimensions takes on the best diagnostic *** terms of subject acceptability,WP scale performs the *** to the analytic hierarchy process(AHP)model,the applicability scores of NASA-TLX scale,PAAS scale and WP scale are determined as 3,2.55 and 1.6714,***,NASA-TLX scale is regarded as the most suitable subjective evaluation questionnaire for assembly workers,which is also an effective quantitative evaluation method for the cognitive load of assembly workers.

关键词： assembly worker electroencephalogram(EEG) analytic hierarchy process(AHP) National Aeronautics and Space Administration Task Load Index(NASA-TLX)scale subjective evaluation scale applicability

来源：评论

学校读者我要写书评

暂无评论

Computer and Vision Aided Mapping in Farmer's Market and Visually Aided Shopping Strategy for Visually Impaired Individuals

Computer and Vision Aided Mapping in Farmer's Market and Vis...

引用

Computer, Control and robotics (ICCCR), International Conference on

作者： Mei Liu Yunhua Chen Hanlin Chen Xinyue Liu Yuan Fang Jinbo Chen Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (数字)9798350373141

ISBN: (纸本)9798350373158

Existing guide equipment and methods are not fully suitable for the visually impaired (VI) shop in the crowded and narrow farmers' market. Aim assist VI to purchase food more conveniently, this paper proposes computer and vision aided mapping (CVAM) algorithm. It utilizes threshold function to quickly convert the CAD layout of the farmer's market into a navigation-specific grid map. Furthermore, CVAM utilizes the A-star method to traverse each stall, and employs a classification camera based deep learning to identify and record the products on stall. Additionally, this paper proposes a visually aided shopping (VAS) algorithm that allows robot minor seller to select and weigh products. It employs the KCF method to track the seller's hand movements and uses a classification camera to ensure that the products selected by the seller are consistent with the VI's expectations. Subsequently, it uses BP neural network to read the electronic scale indication and feed it back to VI. The experiments conducted in this study confirmed that the guide robot designed in this study is not only capable of navigating the farmer's market for VI, but also greatly improves mapping efficiency compared with general mapping method. Particularly, VAS successfully supervises the entire process of seller selecting and weighing products, preventing them from deliberately deceiving VI.

关键词： Navigation Tracking Robot vision systems Neural networks Layout Process control Cameras

来源：评论

学校读者我要写书评

暂无评论

Design of a Differential Modular Joint-based Nursing Manipulator and its Digital Twin System

Design of a Differential Modular Joint-based Nursing Manipul...

引用

IEEE International Conference on Mechatronics and automation

作者： Chengfang Guang Sheng Bao Minghui He Ruiqing Luo Liang Du Jianjun Yuan Shanghai Robotics Institute School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

We designed and developed a humanoid nursing manipulator to meet the demands of nursing and patient transfer scenarios, with specific consideration given to heavy loads and human-machine interaction. Differential transmission structure was used to determine the parameters of the robot’s driving mode and joint configuration, resulting in a compact structure with greater torque output under the same weight, which enables the robot to perform nursing tasks such as lifting and holding patients. We conducted a transmission principle analysis and kinematic decoupling on a robotic arm composed of differential modular joints. Using Unity, we developed a digital twin system for the nursing robot that enabled bidirectional exchange of information and mapping between the physical entity and its virtual counterpart. To evaluate the performance, we designed nursing experiments and conducted tests on both the physical robot and its digital twin system. The experiments have confirmed that the robot meets the nursing task design specifications. Additionally, the digital twin system enables real-time visualization, bidirectional control, and simulation in virtual environments.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Vision-Based Target Localization Method for Robot-Assisted Sonography 28

A Vision-Based Target Localization Method for Robot-Assisted...

引用

28th International Conference on automation and Computing, ICAC 2023

作者： Tian, Jinyan Si, Weiyong Wang, Ning Yang, Chenguang School of Automation Science and Engineering South China University of Technology Guangzhou China University of the West of England Bristol Robotics Lab BristolBS16 1QY United Kingdom

ISBN: (纸本)9798350335859

This article proposes a vision-based ultrasound scanning localization method that solves the issue of human pose constraints. Specifically, by proposing an improved AlphaPose network, the neck positioning for individuals with different body types is addressed. The interference caused by other moving human subjects in the scene is resolved through an improved DeepSORT tracking algorithm. The impact of environmental noise interference is reduced through depth information processing techniques. Additionally, a robotic platform for neck ultrasound scanning is constructed. This system is capable of automatically identifying and localizing moving human necks, planning trajectories for the ultrasound probe approach, and achieving real-time interaction. © 2023 IEEE.

关键词： Ultrasonic imaging

来源：评论

学校读者我要写书评

暂无评论

Integrated Cam Contour Optimization Method Considering Kinematic and Dynamic Characteristics: A Paradigm of Offset Press Open-Close Gripper Mechanism

引用

Journal of Shanghai Jiaotong University (Science) 2024年 1-13页

作者： Li, Wenwei Cao, Shuai Qian, Qian Zhang, Yaling Chen, Nan Robotic Laboratory South China Robotics Innovation Research Institute Guangdong Foshan528300 China Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming650500 China Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangzhou510070 China Foshan Zhiyouren Technology Co. Ltd. Guangdong Foshan528300 China School of Mechanical Engineering Southeast University Nanjing211189 China

To efficiently search out the optimal cam contour, a software integrated optimization method considering cam mechanism’s kinematic and dynamic characteristics was presented, and its effectiveness was demonstrated by a case study of the cam contour optimization for an offset press open-close gripper mechanism. The acceleration curve and the residual vibration model of the follower were separately studied. A symmetric harmonic trapezoidal curve was designed to control the follower’s acceleration, and single-DOF lumped parameter torsional vibration model was proposed to describe the follower’s residual vibration. Accordingly, corresponding motion curve design software and Simulink vibration model of the follower were developed respectively, and they were integrated into an automatic optimization platform with iSIGHT. The multi-objective optimization with objectives of minimizing both the acceleration and the residual vibration of the follower was completed within the platform by using NSGA-II algorithm. An appropriate point with lower acceleration and residual vibration was chosen from Pareto front as an optimal solution of the follower’s motion curve. Based on the follower’s new motion curve, the actual cam contour was generated by inverse kinematic simulation in COSMOSMotion. The offset press that installed our new designed cam exhibited a lower vibration than the previous machine, and the maximum measured acceleration of the offset press at a printing speed of 15 000 r/h is reduced by 7.7%. © Shanghai Jiao Tong University 2024.

关键词： Acceleration

来源：评论

学校读者我要写书评

暂无评论

Ensemble-based Offline Data-driven Evolutionary Optimization for Operation Parameter of Blast Furnace

Ensemble-based Offline Data-driven Evolutionary Optimization...

引用

International Conference on Fuzzy Systems and Knowledge Discovery (FSKD)

作者： Qiucheng Ye Hongxia Cai Yunqi Bian Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (数字)9798350356328

ISBN: (纸本)9798350356335

Stable control of the iron-making process through the adjustment of operating parameters is essential to improve blast furnace productivity. However, due to the complex and dynamic nature of the reaction process, it is difficult to perform accurate modeling and simulation experiments for a blast furnace. This poses great difficulties in performing the evaluation of control strategies in real-time. Offline evolutionary optimization, as an optimization technique that relies only on historical data, enables the search for optimal operation parameters through the introduction of surrogates. Based on the characteristics of historical time-series data of the iron-making process, this study proposes an offline evolutionary optimization method based on advanced time-series surrogates. Ensemble strategy combining surrogates with different prediction time windows contributes robustness during the optimization process. Additionally, multiple sub-regions are maintained to enable extensive searching of the decision space with a multi-objective nature. The efficiency of the proposed pooling method is demonstrated through verification in actual production cases.

关键词： Productivity Accuracy Computational modeling Process control Optimization methods Blast furnaces Knowledge discovery Robustness Real-time systems Fuzzy systems

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：