检索结果-内蒙古大学图书馆

14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2024

作者： Li, Han Fan, Xinggang Zheng, Dejun Chen, Heping Li, Yaonan Yu, Diqing Jin, Yuao College of Computer Science and Technology Zhejiang University of Technology Hangzhou310023 China Zhijiang College of Zhejiang University of Technology Shaoxing310023 China Shenzhen Academy of Robotics Shenzhen518000 China

ISBN: (纸本)9798331506056

Accurate grasp detection in unstructured environments remains a challenging problem in robot manipulation tasks due to irregular layouts, occlusion, complex backgrounds, and different object shapes. In order to better understand the feature relationship between different positions in the image, a new grasp detection network is proposed in this paper. The attention part of this network combines the advantages of Softmax and linear attention and is named SoLiNet. SoLiNet introduces an additional set of agent labels in the traditional attention module and computes them for each window in each agent. By adjusting the attention weight and position bias of input features, the model can better capture global context information and thus obtain better performance when grasping unknown objects. SoLiNet's accuracy was 98.9% on the Cornell dataset and 96.2% on the Jacquard dataset. It has been successfully used in the actual robot arm grasping system. © 2024 IEEE.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Landing Area Prediction in Complex Terrains for Walking-assisted Lower-limb Exoskeleton Robot

Landing Area Prediction in Complex Terrains for Walking-assi...

引用

2023 International Conference on Biomimetic Intelligence and robotics

作者： Liu, Yuexun Liu, Du-Xin Ma, Yue Guo, Sheng Wu, Xinyu Robotics Research Center School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

With the expansion of application scenarios, the walking-assisted lower-limb exoskeleton robot urgently needs to improve its walking ability in complex terrains. However, due to the lack of environmental understanding ability and decision-making ability, the exoskeleton can not meet the need of people with lower-limb disability in complex terrains. To improve the walking abillity, this paper proposes a method of predicting the landing area in complex terrains for walking-assisted lower-limb exoskeleton robot. Multiple sensors were used to obtain the terrain information, step length, and stride length of human walking, and a multi-type input convolutional network was built to establish the mapping relationship to learn the decision-making mechanism of human standing in a complex environment. The result shows that the established network effectively predicts the landing area. Under the condition of full training, the predicted position deviation of the landing area is controlled within 6%, and the prediction rationality of the landing area can reach 90%. © 2023 The Authors. Published by Elsevier B.V.

关键词： Decision making

来源：评论

学校读者我要写书评

暂无评论

Folding for Stiffening: A Novel Corrugated Electro-Adhesive Clutch

Folding for Stiffening: A Novel Corrugated Electro-Adhesive ...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wang, Youzhan Wu, Chuang Li, Xiaozheng Li, Yingtian Gao, Xing Digumarti, Krishna Manaswi Cao, Chongjing Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen518055 China University of Chinese Academy of Sciences Beijing101408 China Queensland University of Technology Qut Centre for Robotics School of Electrical Engineering and Robotics 2 George Street Brisbane4000 Australia

ISBN: (纸本)9798350325706

The compliance nature of soft robots permits them to effectively adapt to various challenging environments, but at the cost of poor payload carrying capabilities and lack of precision in motions. Electro-adhesive (EA) layer jamming clutches are an emerging type of active variable stiffness (VS) technique that features the advantages of structural simplicity, light-weight, rapid response speed, and low power consumption. However, current EA clutches mainly adopt a planar configuration, despite the large stiffness variations in tensional direction, they fail to exhibit effective stiffness variations in compression and bending directions due to the planar structures. To address this drawback, a novel corrugated EA clutch is proposed in this work to realize multi-directional VS. Its VS performances in tension, compression, and bending directions are benchmarked against a widely studied planar EA clutch and the effects of actuation voltage amplitude are investigated experimentally. The proposed corrugated EA clutch can effectively increase the brake forces when activated by 25, 23 and 8 folds in tension, compression and bending directions, respectively. To demonstrate its applications in soft robotics, a novel origami gripper with excellent adaptability is proposed by utilizing the corrugated EA clutch, and successful grasping on objects with various weights and morphologies is demonstrated. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Research on Robot's Understanding of Different Concepts and Autonomous Planning

Research on Robot's Understanding of Different Concepts and ...

引用

2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Shi, Bao Ou, Yongsheng Zhao, Hongshen Cao, Kaimin Wang, Degang Dalian University of Technology School of Control Science and Engineering Dalian116024 China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China China Nanhu Academy of Electronics and Information Technology Robotics Laboratory China

ISBN: (纸本)9798350372601

Robots have many significant advantages in understanding abstract concepts and collaborating autonomously with humans. These advantages can not only improve the generalization ability of robots, but also can be applied in industrial automation, health care, customer service and other fields. It will further have a profound impact in promoting the development of science and technology, improving production efficiency, and improving the quality of human life. Therefore, this paper explores robots' understanding of abstract concepts and autonomous services for new tasks based on large language model (LLM). First, we use the ability of LLM to recognize world concepts to explore the implicit correlation between abstract task instructions and execution sequences, and build an autonomous planning framework (AutoPlanFrame-LLM). Then, apply the above-mentioned autonomous planning framework to new tasks to realize the robot's understanding and generalization of new tasks. Finally, the method proposed in this article is tested based on a UR5 robot. Experiments show that the framework proposed in this article can help robots understand the requirements of abstract tasks and achieve autonomous services based on human needs in new tasks. Here, it should be noted that each task requirement given in this article is expressed in an abstract form to avoid generating too many hints of surface information in the text. In this way, it can not only increase the robot's in-depth understanding of task instructions, but also help the robot understand and plan new task concepts. © 2024 IEEE.

关键词： Robot programming

来源：评论

学校读者我要写书评

暂无评论

Review of Inner Pipe Grinding Robots 13

Review of Inner Pipe Grinding Robots

引用

13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2023

作者： Fang, Siwen Peng, Xi Chen, Heping Shenzhen Academy of Robotics Guangdong China Guangxi Transportation Science and Technology Group Co. Ltd. Guangxi China

ISBN: (纸本)9798350315196

Pipes are typically joined together by welding. Convex beads are generated inside the pipes. Removing weld beads inside the pipes protects them from damage and prolongs their lifespan. Manual grinding will create high concentration of dust which is harmful to human operators. What's more, some pipes are too small for human operators to access. Therefore, grinding inside a pipe is unfriendly to manual ways. Thus, different inner pipe grinding robots are invented to solve this problem. This paper reviews these inner pipe grinding robots. Based on different crawling techniques of inner pipe grinding robots, we categorize them into vehicle-type, worm-type, screw-type and wheel-type robots. Each type of robot has its advantages and disadvantages. We summarize them and give future trends of the inner pipe grinding robots. © 2023 IEEE.

关键词： Grinding (machining)

来源：评论

学校读者我要写书评

暂无评论

Depth Recognition of Hard Inclusions in Tissue Phantoms for Robotic Palpation

Depth Recognition of Hard Inclusions in Tissue Phantoms for ...

引用

2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Zhou, Zhenning Fang, Senlin Ye, Chaoxiang Mi, Tingting Huang, Binhua Li, Xiaoyu Yi, Zhengkun Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT Branch Shenzhen518055 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Medical palpation is an effective diagnosis method in which physicians use tactile sensation to diagnose a patient's pathology. Robotic palpation is a novel technique that leverages robots to assist medical diagnosis. The problem of tactile information loss in Robot-assisted Minimally Invasive Surgery (RMIS) has limited the development of the robot-assisted surgical system. Meanwhile, surgeons are difficult to acquire some key information about lesions only via visual feedback, such as tumor depth. To address the issue, we propose a tactile perception algorithm on the basis of the CNN-LSTM network, which achieves the depth recognition of hard inclusions in tissue phantoms. The method realizes the classification of twelve depths of hard inclusions. In addition, due to using hypergeometric distribution encoding, the proposed method can exploit the ordinal information of the labels to significantly improve the recognition accuracy rate. The experimental results on 720 real tactile data show that the average recognition rate is 96.45%. Compared with other state-of-the-art methods, the recognition accuracy rate of the proposed algorithm is the highest. © 2022 IEEE.

关键词： Tumors

来源：评论

学校读者我要写书评

暂无评论

Diverse Gaussian Sampling for Human Motion Prediction 16th

Diverse Gaussian Sampling for Human Motion Prediction

引用

16th International Conference on Social robotics, ICSR + InnoBiz 2024

作者： Luo, Jiefu Wang, Jiansheng Liu, Zhenfei Cheng, Jun Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China The Chinese University of Hong Kong Hong Kong Department of Pediatric Orthopedics Shenzhen Children’s Hospital Guangdong Shenzhen518000 China

ISBN: (纸本)9789819611508

In many industrial applications, it is necessary to obtain accurate human motion prediction. The prediction of human movement based on a 3D skeleton, which forecasts future postures using the human skeletal structure, significantly aids in enabling machines to understand human behavior and react more intelligently. Additionally, by predicting human actions, potential dangers can be perceived, especially in safety-related issues, necessitating a broader range of predictions. In this paper, considering the greater diversity generated by Variational Autoencoders (VAEs), we employ VAEs for prediction. In contrast to other studies, our primary focus is on obtaining more diverse samples. Extensive experiments demonstrate that our proposed model performs well on the Human 3.6M [35] and HumanEva-I [36] datasets. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Prediction models

来源：评论

学校读者我要写书评

暂无评论

ViT-based Terrain Recognition System for wearable soft exosuit

引用

Biomimetic Intelligence & robotics 2023年第1期3卷 57-64页

作者： Fangliang Yang Chunjie Chen Zhuo Wang Hui Chen Yao Liu Gang Li Xinyu Wua Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhen 518055China Shenzhen College of Advanced Technology University of Chinese Academy of SciencesShenzhen 518055China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Guangdong-Hong Kong-Macao Joint Laboratory of Human–Machine Intelligence-Synergy Systems Shenzhen 518055China SIASUN Robot and Automation CO. LtdShenyang 110169China

Terrain classification and force assistance strategies in complex environments have always piqued the interest of many *** wearable soft exosuits,inaccurate terrain recognition can easily introduce undesired assist forces that can easily injure the *** of these problems,we introduced a depth camera into the exosuit system,perform classification of terrain based on a Vision Transformer(ViT),and optimized the control algorithm,which is known as a ViT-Based Terrain Recognition System(TTRS).First,we used the Transformer algorithm to achieve a considerable classification effect in terrain *** also introduced terrain recognition as prior knowledge into the force assistance strategy of the exosuit,providing different force assistance to the exosuit in different ***,we performed human experiments with seven able-bodied people(six males and one female).The promising results demonstrate that our classification accuracy can reach 99.2%under six different terrains and that it can smoothly switch the force–assist curve in different terrains to better adapt to the complex terrain and improve the walking *** aforementioned terrain recognition algorithms and force–assist strategies may positively influence the study of soft exosuit,powered prostheses,and orthotics.

关键词： Vision Transformer(ViT) Depth camera Wearable soft exosuit Force assistance strategy Terrain recognition

来源：评论

学校读者我要写书评

暂无评论

RA Loss: Relation-Aware Loss for Robust Person Re-identification 1

引用

16th Asian Conference on Computer Vision, ACCV 2022

作者： Wang, Kan Hu, Shuping Cheng, Jun Cheng, Jun Pang, Jianxin Tan, Huan Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Laboratory of Robot Localization and Navigation Technology UBTech Robotics Corp Ltd. Shenzhen China Institute for Infocomm Research A*STAR Singapore Singapore

ISBN: (数字)9783031262845

ISBN: (纸本)9783031262838

Previous relation-based losses in person re-identification (ReID) typically comprise two sequential steps: they firstly sample both positive pair and negative pair and then deploy constraints to simultaneously improve intra-identity compactness and inter-identity separability. However, existing relation-based losses usually place emphasis on exploring the relation between images and therefore consider only several pairs during each optimization. This inevitably leads to different convergence status for pairs of the same kind and brings about the intra-pair variance problem. Accordingly, we propose a novel Relation-Aware (RA) loss to address the intra-pair variance via exploring the informative relation across pairs. In brief, we introduce a macro-constraint and a micro-constraint. The macro-constraint encourages the separation of positive pair and negative pair via pushing far apart the two "centers" of the positive pair and the negative pair. The "center" of each kind of pair are obtained via averaging all the pairs of the same kind. The micro-constraint further enhances the compactness by minimizing the discrepancies among pairs of the same kind. The two constraints work cooperatively to relieve the intra-pair variance and improve the quality of pedestriansąŕ representation. Results of extensive experiments on three widely used ReID benchmarks, i.e., Market-1501, DukeMTMC-ReID and CUHK03, demonstrate that the RA loss brings improvements over existing relation-based losses. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Deep learning

来源：评论

学校读者我要写书评

暂无评论

Minimizing Long-Term Energy Consumption in RIS-Assisted UAV-Enabled MEC Network

引用

IEEE Internet of Things Journal 2025年第12期12卷 20942-20958页

作者： Yao, Zheng Zhu, Qiwu Zhang, Yanhui Huang, Haibo Luo, Min Hubei University of Automotive Technology School of Robotics and Automation Shiyan442002 China Hong Kong Polytechnic University National Rail Transit Electrification and Automation Engineering Technology Research Center Hong Kong Branch Hongkong999077 Hong Kong Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen517085 China

In recent years, Unmanned Aerial Vehicles (UAVs) are increasingly becoming flight-based communicative and computing platforms, but the scarcity of communication resources can significantly hinder their performance and scalability. Therefore, this paper proposes a Reconfigurable Intelligent Surface (RIS)-assisted UAV-enabled Mobile Edge Computing (MEC) network, aiming to reduce long-term energy consumption while maintaining system stability by jointly optimizing computing resources, time slot allocation, transmit power, RIS phase angles, and UAV trajectory. By applying the Lyapunov method, we transform the long-term stochastic optimization problem into manageable deterministic online subproblems, and obtain approximate optimal solutions using successive convex approximation, penalty functions, and convex optimization techniques. Simulation results show that compared to the baseline scheme, the proposed scheme approximately reduces energy consumption by 10%, improves system stability by approximately 16%, and maintains computational efficiency. © 2014 IEEE.

关键词： Aircraft communication

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：