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检索条件"机构=School of Robotics and Automation Engineering"

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Analysis of Visual Expression of Light and Color in Movies based on Wavelet Neural Network 2

Analysis of Visual Expression of Light and Color in Movies b...

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2nd IEEE International Conference on Communication, Security and Artificial Intelligence, ICCSAI 2023

作者： Murugan, K. Mothi, R. George, Retty Priya, R. Esther Nagarathinam, S. Krishnakumar, S. Kpr Institute of Engineering and Technology Department of Electronics and Communication and Engineering Coimbatore India Dr. N.G.P. Institute of Technology Department of Biomedical Engineering Coimbatore India Scms School of Engineering and Technology Department of Ece Kerala Ernakulam India Jansons Institute of Technology Department of Artificial Intelligence and Data Science Coimbatore India Kumaraguru College of Technology Department of Ece Coimbatore India Sri Ramakrishna Engineering College Department of Robotics and Automation Coimbatore India

ISBN: (纸本)9798350369960

Movies are in the era of 'black, white and gray' ruling the screen, people have a strong desire for movies to truly reproduce colors, because the main rhythm of the 'black, white and gray' film visual music is not clear enough, the momentum is not strong enough, the meaning is not rich enough, and the color is not enough. Visual aesthetics cannot be attractive... Aiming at the dual challenges of colorization quality and timing stability in film colorization, a generative adversarial network with a recurrent structure is proposed, which can be used for automatic colorization of films without any reference frames and artificial intervention. The network generates a confrontation network based on classical conditions: the generator is used to generate color images and complete the task of colorization;The discriminator is used to identify the authenticity and improve the performance of the generator. Cycle structure and timing consistency loss are introduced to integrate timing information and solve the stability problem of coloring. Experimental results show that this method can effectively reduce flicker in the generated movie sequence while ensuring the coloring of a single frame image. This paper studies and analyzes the visual expression of light and color in movies based on wavelet neural network. © 2023 IEEE.

关键词： Color vision film Neural network

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Color-Difference Correntropy Guided Convolution Network for Point Cloud Semantic Segmentation

Color-Difference Correntropy Guided Convolution Network for ...

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International Joint Conference on Neural Networks (IJCNN)

作者： Zhou Jiang Jing Yang Chunyu Xuan Dong Zhang Shaoyi Du School of Software Engineering Xi'an Jiaotong University Xi'an China School of Automation Science and Engineering Xi'an Jiaotong University Xi'an China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China

With the development of data acquisition technology, RGB color information is widely collected to strengthen the 3D point cloud. To some extent, RGB color information contains the prior relation about the spatial position of objects. However, the existing point cloud segmentation networks based on deep learning do not pay much attention to it. To remedy the lack in this area, we propose a color-difference correntropy guided convolution network, which introduces correntropy to optimize the measurement of color-difference. Meanwhile, we select points in the local neighborhood via the color-difference guided module, and construct an ordered sequence of points with correlation information, which not only facilitates the feature extraction by directly applying the convolution but also fully studies the correlation between the color information and spatial position of the point cloud. Moreover, we fuse the sequence features extracted by convolution with the geometric features acquired by MLP to get new features with more abundant semantic information, thus improving the segmentation performance. On both indoor and outdoor datasets, the experimental results demonstrate the effectiveness and superiority of the proposed method by the comparison experiments and ablation experiments.

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Design and Validation of a Robotic-Assisted Transperineal Prostate Biopsy System

Design and Validation of a Robotic-Assisted Transperineal Pr...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yaqing Wang Shaoming Li Fangxun Zhong Yunhui Liu Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Hong Kong Centre for Logistics Robotics (HKCLR) Hong Kong China Department of Mechanical and Automation Engineering (MAE) The Chinese University of Hong Kong (CUHK) HKSAR China School of Science and Engineering CUHK-Shenzhen Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Prostate cancer is a common condition among elderly men, significantly impacting quality of life. It accounts for a large percentage of cancer cases, necessitating effective diagnostic methods. Needle biopsy is a vital procedure for accurate detection and grading of prostate cancer, allowing for targeted treatment. The most common approach is transper-ineal prostate biopsy, guided by real-time ultrasound and MRI fusion. The traditional free-hand biopsy technique is highly dependent on the surgeon's expertise and has limitations in both effectiveness and precision. Robotic-assisted biopsy aims to address these issues by enhancing the accuracy and efficiency of the procedure, reducing the need for extensive surgeon experience. This paper introduces an active six-degree-of-freedom (DOF) and one Z-direction passive DOF transperineal prostate biopsy robot incorporating a 2-DOF ultrasonic probe unit and a biopsy unit with 4-DOF movement to replace the manual operation. This system ensures precise orientation and positioning of the biopsy needle, minimizes patient risk, and supports both 2D and 3D ultrasound imaging, thus facilitating a safe and effective biopsy with improved workflow for surgeons.

关键词： Ultrasonic imaging Accuracy Three-dimensional displays Biopsy Surgery Needles Real-time systems Prostate cancer Probes Robots

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Video Self-Supervised Cross-Pathway Training Based on Slow and Fast Pathways

Video Self-Supervised Cross-Pathway Training Based on Slow a...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Jie Li Jing Yang Zhou Jiang Yuehai Chen Shaoyi Du School of Automation Science and Engineering Xi'an Jiaotong University Xi'an China School of Software Engineering Xi'an Jiaotong University Xi'an China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China

In the field of video self-supervised learning, contrastive instance learning methods suffer from a lack of semantic information, resulting in inadequate generalization in downstream tasks. Although optical flow can provide some semantic information, it requires significant computational cost prior to training. To address this, we propose a Video self-supervised Cross-pathway training model based on Slow and Fast pathways (VCSF). This model separately extracts temporal and spatial features from pure RGB video frames, and uses the complementary representations of the two pathways to conduct cross-pathway training. Additionally, we propose a motion perception module in the low-frame-rate space to enhance the network's ability to perceive rapidly changing human motion. We conducted extensive experiments in downstream missions of UCF101 and HMDB51, and obtained state-of-the-art results in models using the UCF101 data set for self-supervised pre-training, including motion recognition and nearest neighbor retrieval.

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EMG-based Assessment of Shank Muscle Fatigue During Dynamic Exercise 12

EMG-based Assessment of Shank Muscle Fatigue During Dynamic ...

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12th International Conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2022

作者： Niu, Huiqi Zhu, Lizhong Cheng, Tao Zhong, Xu Li, Jiwei Zhang, Bi Zhao, Xingang College of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China State Key Lab of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes of Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China College of Infonnation Science and Engineering Northeastern University Shenyang110819 China School of Intelhgent Medicine China Medical University Shenyang110122 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Muscle fatigue is a common occurrence in daily life. For stroke rehabilitation patients, secondary injuries caused by falls due to muscle fatigue during rehabilitation training are very common. Therefore, it is of great significance to monitor muscle state in real time to prevent muscle fatigue during rehabilitation training. Currently, there are few methods for assessing muscle fatigue. And some methods have high limitations, some can only target the state of muscles in a static state. This paper proposes a method that can monitor and evaluate muscle fatigue in real time during dynamic exercise. First, a Hammerstein model is established through EMG and joint motion angle data. According to the identified model parameters, combined with the characteristics of the parameters, an augmented matrix is constructed. Then we use hierarchical clustering to cluster fatigue levels. The classification of fatigue grades obtained by this method is proved by side experiments to conform to objective laws. The method is convenient, efficient, and cost-effective, and the required parameters can be obtained without redundant sensors. The obtained fatigue level classification is proved to conform to the obj ective law through side experiments, which has guiding significance for the estimation of human muscle state. © 2022 IEEE.

关键词： Muscle

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Protein-Folding Inspired Programmable Control System for Robot Swarms

Protein-Folding Inspired Programmable Control System for Rob...

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IEEE International Conference on robotics and Biomimetics

作者： Feng Zhang Yuping Gu Zebin Wang Shuai Yuan Yongliang Yang School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning China School of Computer Science and Engineering Shenyang Jianzhu University Shenyang Liaoning China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

In swarm robotics, most of the control algorithms are inspired by the behaviors of animal swarms. The capability gap between robots and animals, however, hinders the reliability of these algorithms. Toward developing reliable algorithms of robot swarms, a promising solution is learning from the collective behaviors of low-intelligent natural swarms, such as cell collectives and molecular assemblies. Here, we proposed a programmable control system inspired by protein folding. Using our homemade RoboFold platform, we demonstrated a protein-folding inspired programmable control method for robot swarms. By programming and designing the sequence of a thread of protein-like robots, the developed system can mimic the formation of hierarchical structures in robot swarms as the three-level of protein structures. We quantitatively characterized the specific features of self-organized morphologies. The experimental results together demonstrated the feasibility of this method. To summarize, this work successfully translated the principles of protein-folding into programming methods to control the morphology of robot swarms. Considering that the protein folding problem is essentially a physicochemical problem, this system is not only beneficial for the control of swarm robots but also has the potential to develop into a tool for studying the protein folding problem.

关键词： Proteins Vibrations Programmable control Animals Morphology Swarm robotics Programming Control systems Robustness Robots

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A Variable Artificial Potential Field Method for Gait Generation of Quadruped Robot 18

A Variable Artificial Potential Field Method for Gait Genera...

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18th IEEE International Conference on Mechatronics and automation, ICMA 2021

作者： Zhuo, Feng Jia, Wenchuan Ma, Shugen Yuan, Jianjun Sun, Yi Shanghai University School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Ritsumeikan University Shiga Japan

ISBN: (纸本)9781665441001

This paper proposes a variable artificial potential field method (VAPF) that can be used to generate the gait of a quadruped robot, which combines the virtual potential field theory with the quadruped motion behavior to generate a smooth motion trajectory of the foot. According to the different stages of single-leg movement, which includes the support phase and the swing phase, the VAPF method constructs the point potential field-based model including the attraction domain and the repulsion domain, respectively. The joint torque directly output by the potential field model can realize the desired trajectory of the foot in the robot body coordinate system. An independent attitude controller is designed, and the joint torque respectively calculated by this controller and the VAPF are applied to the robot together to generate the actual gait. Finally, a simulation of trot gait generation was performed and analysis. © 2021 IEEE.

关键词： Gait analysis

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2D-3D Object Shape Alignment for Camera-Object Pose Compensation in Object-Visual SLAM

2D-3D Object Shape Alignment for Camera-Object Pose Compensa...

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IEEE International Conference on robotics and automation (ICRA)

作者： Hanyeol Lee Jae Hyung Jung Chan Gook Park Department of Aerospace Engineering and Automation and Systems Research Institute Seoul Natioinal University Seoul South Korea Smart Robotics Lab School of Computation Information and Technology Technical University of Munich Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this study, we propose an object shape alignment method through a robust optimization scheme for 6-degrees-of-freedom (DOF) object pose compensation. Although the pose estimation of the 3D object by the camera has been rapidly improved in recent years with the development of deep learning, the estimate still contains errors due to several factors. To compensate for this, we perform a shape alignment between the 2D segmentation of the object and the projection of the 3D object in the image plane. To avoid convergence to a local minimum in nonlinear optimization, we separate the pose into translation and rotation. This approach derives the optimization of a linear form in terms of a translation with reduced computational cost. For the rotation, the parallel optimization is performed with multiple initial values, reflecting to the uncertainty of an initial value. We formulate an invariant extended Kalman filter (EKF)-based object-visual simultaneous localization and mapping (SLAM) with a camera-object relative pose as the measurement model. To verify the performance of the proposed algorithm, we present the improved results of camera-object relative pose accuracy and localization and mapping accuracy in the several sequences of YCB-video dataset.

关键词： Location awareness Image segmentation Three-dimensional displays Simultaneous localization and mapping Uncertainty Accuracy Shape

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India’s Stake in Emerging Technology - A Review

India’s Stake in Emerging Technology - A Review

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International Conference on Computing for Sustainable Global Development (INDIACom)

作者： Sugandha Singh S China Ramu Ruchika Lalit Department of Computer Science and Engineering SGT University Gurugram India Department of Computer Science and Engineering Chaitanya Bharathi Institute of Technology Hyderabad India University School of Automation and Robotics GGSIPU East Campus New Delhi India

Emerging technologies of today are altering the way we think about the built environment. In the meantime, many technologies have undergone revolutionary changes, and India, an expanding nation, offers opportunities for development in several new areas. The goal of the study is to show how organizations need to adapt their perspective and create new strategies for emerging technologies such as artificial intelligence (AI), machine learning (ML), big data, quantum, and space exploration in light of the swift advancements in technology. This paper presents that although India has come across a lot of advancements in this era of emerging technology, certain challenges have been faced in aspects like adapting, feasibility, and approval which brought many changes across the country, which in turn is impacting the pace to transform the country towards Industry 4.0 and Industry 5.0. Therefore a study is presented to understand the impact of emerging technologies for countries coming up as Industry 4.0 and Industry 5.0. This paper emphasizes on for India’s initiatives for emerging technologies to come up as VIKSIT BHARAT @2047.

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Representing Objects in Map Building Using A Semantic SLAM Scheme

Representing Objects in Map Building Using A Semantic SLAM S...

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Chinese automation Congress (CAC)

作者： Yu Yang Di Wang Weiqi Zheng School of Mechatronics Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai

In order to make the robot understand the scene better and the human-robot interaction more friendly, a lightweight semantic SLAM system is proposed in this paper. Our system uses a LIDAR combined with a camera to obtain object location in SLAM and determines object information such as category with a CNN-based object detector. The object identities are represented in the form of joint probability distributions that are updated by Bayes’ theorem. The FPA algorithm is used to obtain parameter valuation with maximum posterior probability so as to determine the modeling feature parameters of objects on the map. The similarity between objects is measured with the Bhattacharyya coefficient to avoid duplicate modeling of identified objects in map updating. The proposed system is simulated in Gazebo and an effective scheme balancing accuracy and computation cost is obtained. Finally, experiments on a small indoor robot demonstrate the effectiveness of our method.

关键词： Simultaneous localization and mapping Navigation Computational modeling Semantics Robot vision systems Human-robot interaction Probability distribution

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