检索结果-内蒙古大学图书馆

Artificial Intelligence, robotics, and Communication (ICAIRC), IEEE International Conference on

作者： Lele Chen Jiawei Yin Liang Huang Bin He Yuhan Zhan Lei Xue Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Aviation Manufacturing Technology Research Institute COMAC Shanghai Aircraft Manufacturing Co. Ltd Shanghai China

ISBN: (数字)9798331531225

ISBN: (纸本)9798331531232

In the manufacturing and assembly process of domestic large airplanes, the vibration in the surrounding environment greatly affects the working efficiency and precision of automated equipment. According to the vibration characteristics of the cabin environment, a multi-degree-of-freedom vibration isolation platform mechanism of robotics with weak rigid support applied in the cabin section of the aircraft is proposed, an experimental platform for the vibration isolation capability of a single outrigger is constructed, and a finite element analysis is carried out on the fixed frame of this experimental platform to verify its reliability.

关键词： Vibrations Coils Airplanes Motors Finite element analysis Reliability Aircraft manufacture Artificial intelligence Robots Assembly

来源：评论

学校读者我要写书评

暂无评论

Learning Goal-oriented Bimanual Dough Rolling Using Dynamic Heterogeneous Graph Based on Human Demonstration

arXiv

引用

arXiv 2024年

作者： Liu, Junjia Li, Chenzui Wang, Shixiong Dong, Zhipeng Calinon, Sylvain Li, Miao Chen, Fei The Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong The Idiap Research Institute Martigny Switzerland The School of Microelectronics The Institute of Technological Sciences Wuhan University Wuhan China

Soft object manipulation poses significant challenges for robots, requiring effective techniques for state representation and manipulation policy learning. State representation involves capturing the dynamic changes in the environment, while manipulation policy learning focuses on establishing the relationship between robot actions and state transformations to achieve specific goals. To address these challenges, this research paper introduces a novel approach: a dynamic heterogeneous graph-based model for learning goal-oriented soft object manipulation policies. The proposed model utilizes graphs as a unified representation for both states and policy learning. By leveraging the dynamic graph, we can extract crucial information regarding object dynamics and manipulation policies. Furthermore, the model facilitates the integration of demonstrations, enabling guided policy learning. To evaluate the efficacy of our approach, we designed a dough rolling task and conducted experiments using both a differentiable simulator and a real-world humanoid robot. Additionally, several ablation studies were performed to analyze the effect of our method, demonstrating its superiority in achieving human-like behavior. Copyright © 2024, The Authors. All rights reserved.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements

arXiv

引用

arXiv 2024年

作者： Kruzliak, Andrej Hartvich, Jiri Patni, Shubhan P. Rustler, Lukas Behrens, Jan Kristof Abu-Dakka, Fares J. Mikolajczyk, Krystian Kyrki, Ville Hoffmann, Matej Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic Mechanical Engineering Department Faculty of Engineering New York University Abu Dhabi United Arab Emirates Department of Electrical and Electronic Engineering Imperial College London London United Kingdom Intelligent Robotics Group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Finland

This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a database of object measurements. The framework involves exploratory action selection to maximize learning about objects on a table. A Bayesian network models conditional dependencies between object properties, incorporating prior probability distributions and uncertainty associated with measurement actions. The algorithm selects optimal exploratory actions based on expected information gain and updates object properties through Bayesian inference. Experimental evaluation demonstrates effective action selection compared to a baseline and correct termination of the experiments if there is nothing more to be learned. The algorithm proved to behave intelligently when presented with trick objects with material properties in conflict with their appearance. The robot pipeline integrates with a logging module and an online database of objects, containing over 24,000 measurements of 63 objects with different grippers. All code and data are publicly available, facilitating automatic digitization of objects and their physical properties through exploratory manipulations. © 2024, CC BY.

关键词： Grippers

来源：评论

学校读者我要写书评

暂无评论

Dimension Reduction for Dynamic Analysis of Gene Expression Data Using Variational Autoencoder

Dimension Reduction for Dynamic Analysis of Gene Expression ...

引用

IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Shuai Yuan Shipeng Chen 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

Single-cell RNA sequencing technology captures gene expression at the whole-genome scale and single-cell level in many cells. Thus, the cellular states during a physiological process would be captured in detail. These data provide new opportunities and challenges for systems biology. Previously, the models in systems biology dealt with the dynamics of specific signaling pathways. However, it is almost impossible to directly model the dynamics of the whole genome due to the ultrahigh dimensionality of the data. Here, to model its gene regulatory dynamics, the dimensionality of the whole genome was reduced significantly using the latent space of a variational autoencoder, a generative deep learning model. In the low-dimensional latent space, an ordinary differentiation equation (ODE) system has been established to analyze the dynamic characteristics of the whole genome system. To demonstrate the effectiveness of this method, we generated a low-dimensional representation of a systems biology model we previously developed. The variational autoencoder reduced the dimension from 13 to 2 in latent space. An ODE model was developed to analyze the dynamics of this two-dimensional system. The results indicated that the 2-dimensional model captured the essence of the original systems biology model.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design and simulation of disaster mitigation robot using machine vision 2

Design and simulation of disaster mitigation robot using mac...

引用

2nd International Conference on robotics, Intelligent automation and Control Technologies, RIACT 2021

作者： Avinaash, M. Andrew, D. Visnu, S. Abrar, M. Seenu, N. Mechatronics Engineering School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai603103 India Centre for Automation and Robotics School of Mechanical Sciences Hindustan Institute of Technology and Science Chennai603103 India

The goal is to provide a robust mobile robot to assist recures in their operation by providing real time surveillance, remote operation as well autonomous operation. The mobile robot is capable of mapping using a LIDAR, this provides a map of the disaster zone which is then used to assess and provide a path planning for the most efficient rescue for the Mobile robot as well as the Rescuers. The built-in gas sensor reads the concentration of gases in the area, providing data on the environment in the disaster zone. The use of high definition cameras combined with Artificial Intelligence based image classification provides an edge in autonomous traversing and search and rescue. Disaster mitigation is an extremely dangerous task for the rescuers, a mobile robot such as LV-01 can be the difference between life and death. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Synthesis of Decoherence-Free Modes in Linear Quantum Passive Systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

引用

IEEE International Conference on Systems, Man and Cybernetics

作者： Zibo Miao Yu Pan Qing Gao Guangdong Key Laboratory of Intelligent Morphing Mechanisms School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Shenzhen China State Key Laboratory of Industrial Control Technology The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique.

关键词： Perturbation methods Design methodology Quantum optics Robustness Feedback control Closed loop systems Tuning Cybernetics

来源：评论

学校读者我要写书评

暂无评论

Low-noise analysis and design for the sensing system of the nanomanipulation robot by AFM

Low-noise analysis and design for the sensing system of the ...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yuan, Shuai Wu, Boyu Wang, Kaixuan Yu, Peng School of Information & Control Engineering Shenyang Jianzhu University Liaoning Province Shenyang110168 China Shenyang Jianzhu University Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665481090

In this paper, through the noise analysis of the signal processing circuit of the photoelectric sensor, two noise reduction methods are proposed by reducing the feedback resistance of the transimpedance amplifier and integrating the overall signal processing circuit. These two noise reduction methods can reduce noise and improve the signal-to-noise ratio while ensuring that the topography signal of the item is unchanged. To verify the method in this paper, the scanning head design was optimized, the feasibility of the proposed scheme was verified by the thermal noise method and the 0-range scanning method, and finally, the roughness specification was analyzed. © 2022 IEEE.

关键词： Operational amplifiers

来源：评论

学校读者我要写书评

暂无评论

Stiffness Analysis of a Module-Based Shape Morphing Snake-Like Robot 16th

Stiffness Analysis of a Module-Based Shape Morphing Snake-Li...

引用

16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Cammarata, Alessandro Maddio, Pietro Davide Sinatra, Rosario Tian, Yingzhong Zhao, Yinjun Xi, Fengfeng Dipartimento di Ingegneria Civile e Architettura Universitá degli Studi di Catania Via S.Sofia 64 Catania95123 Italy School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai200444 China Department of Aerospace Engineering Ryerson University TorontoONM5B 2K3 Canada

ISBN: (纸本)9783031457692

In this paper, a method is presented for stiffness analysis of a module-based shape morphing snake-like robot. Snake-like robots have the characteristic of adapting to unstructured environments by exploiting their ability to reconfigure their body’s shape. However, the excellent mobility contrasts with the ability to transmit high loads, precluding its application in manufacturing operations. This article presents a hybrid structure based on reconfigurable modules equipped with lockable joints. The use of multiple modules in series allows for a large workspace. Furthermore, the parallel structure of the single modules provides for transferring or sustaining high loads. The elastostatic analysis confirms the feasibility of the design for manufacturing applications. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Stiffness

来源：评论

学校读者我要写书评

暂无评论

An Origami-Based Miniature Jumping Robot with Adjustable Jumping Trajectory and Enhanced Intermittent Jumps

An Origami-Based Miniature Jumping Robot with Adjustable Jum...

引用

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

作者： Zhipeng Xiong Lingqi Tang Longlong Hu Songlin Yang Xiaojun Yang Yao Li Bing Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A small-scale jumping robot can reach obstacles much larger than its size. It is important for a jumping robot to perform intermittent jumps to cross through rough terrains. However, the limitations of conventional structures hinder the further integration of functions to a miniature (sub-50 g) jumping robot. No sub-50 g jumpers could perform intermittent jumps with adjustable jumping trajectories. In this work, we proposed an origami-based miniature jumper, which performed intermittent jumps with adjustable omni-directional trajectories. The intermittent jumps were achieved by the jumping and self-righting mechanisms, which were actuated by a single motor. The clockwise and counterclockwise rotation of the motor actuated the loading, self-righting and triggering process, respectively. The jumping height was adjustable by adjusting the rotation angle of the motor. Meanwhile, the take-off pitch & yaw angle adjustment methods were integrated into the robot. Therefore, we demonstrated a 9 cm, 13.5 g prototype with functions of re-loading, self-righting, jumping height adjustment and take-off pitch & yaw angle adjustment. The robot could adjust jumping height from 16 to 34 cm and self-right for the next jump. The results revealed that our robot could jump across different obstacles with different scales and directions. The mobility was greatly increased compared with other miniature jumping robots.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Preliminary Design of Robotic System for Closing Incision by Rotating Bandage Method*

Preliminary Design of Robotic System for Closing Incision by...

引用

WRC Symposium on Advanced robotics and automation (WRC SARA)

作者： Anqi Chen Xudong Ma Yixin Sun Wenyong Liu Junchen Wang Changsheng Li Yida David Hu Bai-Quan Su Medical Robotics Laboratory School of Automation Beijing University of Posts and Telecommunications Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Harvard Medical School Brigham and Women’s Hospital Boston MA USA

Wound treatment is routine work in hospital and bandaging of wound happens numerous even in a hospital scale. However, manual bandaging is accompanied with potential infection and it is tedious and manpower-wasting besides. This paper proposed a customized bandaging mechatronic system for avoiding bacteria from hand contact. The design of the propose bandaging system is developed and the working procedure of the by the system is given step by step. To the best knowledge of the authors, the customized mechatronic system is the first bandaging robotic system for bandaging purpose. After loading a customize bandage package, the proposed system lays a solid foundation for automatous bandaging method without human intervention during bandaging.

关键词：

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：