检索结果-内蒙古大学图书馆

2nd International Symposium on Sensor Technology and Control, ISSTC 2023

作者： You, Jingwei Wei, Shouqi Wu, Xiong Sun, Jianquan Guilin University of Electronic Technology Department of Electrical Engineering Guilin541004 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518000 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen518000 China

ISBN: (纸本)9798350314465

Nuclear energy is presently the clean energy source most likely to massively displace fossil energy, and the secondary side of the steam generator is an important part of a nuclear power plant. Due to the small space of the secondary side of the steam generator and the confinement of the vessel, the precise positioning of the robot inside the steam generator cannot be achieved by a single sensor alone. This paper introduces a multi-sensor fusion steam generator secondary side inspection robot. Primary emphasis is on data fusion of multiple sensors, such as laser sensors, cameras, IMU, and wheel encoder. First of all, this paper integrates data from wheel encoder data and IMU data by using extended Kalman filtering (EKF), which decreases the drift error during the motion and enhances the robot positioning precision. Afterwards, we incorporate laser ranging sensors and camera picture data to enhance the overall spatial sensitivity of the robot through particle filtering algorithms. Experiments show that the robot works reliably and has high positioning accuracy. © 2023 IEEE.

关键词： Steam generators

来源：评论

学校读者我要写书评

暂无评论

Design and Implementation of MultiFunction Logistics Robots for Intelligent Warehousing 2

Design and Implementation of MultiFunction Logistics Robots ...

引用

2nd International Conference on Intelligent Equipment and Special Robots, ICIESR 2023

作者： Wang, Wei Hao, Lina Chen, Jiangcheng School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China Jiaxing MYSURE Intelligent Technology Co. Ltd. Jiaxing314000 China Shenzhen Academy of Robotics Shenzhen518057 China

ISBN: (纸本)9781643685144

The collaborative task of logistics robots is a very big challenge for the intelligent warehousing industry. In order to improve the effectiveness of task deployment for intelligent warehousing, this paper proposes a novel strategy of collaborative tasks for logistics robots, which includes three different functional robots, named transport robot which is used for transportation tasks, mobile manipulator used for sorting goods, and pick-and-place robot. All of these robots have an omnidirectional mobile base, which allows them to move in any direction, rotate in place, and navigate with the artificial potential Field (APF). Finally, the experimental verification proves clearly that the logistics robot cooperates well to complete the tasks of outbound and inbound goods and shows great flexibility under an unstructured environment. © 2024 The Authors.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

A ResNet-based approach for accurate radiographic diagnosis of knee osteoarthritis

引用

CAAI Transactions on Intelligence Technology 2022年第3期7卷 512-521页

作者： Yu Wang Shibo Li Baoliang Zhao Jianwei Zhang Yuanyuan Yang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina TAMS Department of InformaticsUniversity of HamburgHamburgGermany

Currently X-ray images are clinically graded by experienced clinicians using the Kellgren and Lawrence(KL)scoring ***,individual scoring is subjective and error *** study proposes an approach for automated knee osteoarthritis classification based on deep neural *** knee X-ray images are first preprocessed with frequency-domain filtering and histogram normalisation,making the trabecular bone texture more obvious and benefiting the subsequent classification ***,a two-step classification strategy is proposed by extracting the joint centre based on the VGG network and classifying osteoarthritis grades based on the ResNet-50 *** addition,a rebalance operation is proposed to deal with the dataset unbalance problem,and a quick search technique is proposed to improve the iterative search efficiency for the joint *** all of these techniques,a classification accuracy of 81.41%is obtained,which is higher compared to the state-of-the-art approaches.

关键词： AMSGrad knee osteoarthritis recognition ResNet VGG

来源：评论

学校读者我要写书评

暂无评论

Person Following with Dynamic Obstacle Avoidance

Person Following with Dynamic Obstacle Avoidance

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Kong, Lingxin Jiang, Guolai Tang, Yifeng Ou, Yongsheng Xu, Sheng China Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798350327182

Person following is essential for many human-robot interaction applications. However, many existing person-following methods do not consider obstacles that have a serious impact on the person-following. In this paper, we focus on the obstacle avoidance problem in the person-following process and propose a dynamic obstacle avoidance path planning method. Our method integrated trajectory prediction into global and local planning to follow a person and avoid obstacles. The proposed method is applied to a practical robot person-following task as an experiment. The experimental results show that the proposed method can achieve the target person following robustly in the case of obstacles. © 2023 IEEE.

关键词： Human robot interaction

来源：评论

学校读者我要写书评

暂无评论

Denoising-Based Improved Deformation Estimation Method for Self-Balancing Lower Limb Exoskeleton

Denoising-Based Improved Deformation Estimation Method for S...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Luan, Mengbo Chen, Ziqiang Wen, Shuangshuang Yu, Hegao Peng, Ansi Tian, Dingkui Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China University of Chinese Academy of Sciences Beijing100049 China Eighth Affiliated Hospital of Sun Yat-sen University 518033 China

ISBN: (纸本)9781665481090

This paper proposes a denoising-based improved deformation estimation method for a self-balancing lower limb exoskeleton (SBLLE). A denoiser constructed by a residual network is utilized to improve the accuracy of deformation estimation for SBLLE. Specifically, we introduce a residual network-bidirectional long short-term memory network (ResNet-BiLSTM) denoising deformation estimator (RBDDE) to estimate and compensate for the deformation of SBLLE, based on force and torque (F/T) data. F/T data and deformation data are collected separately using F/T sensors embedded in the sole of SBLLE and a motion capture system. Initially, the empirical mode decomposition method is employed on the training set to construct a dataset for training the ResNet denoising network, enabling the denoising network with denoising capabilities. Subsequently, the ResNet-BiLSTM network is trained using both F/T and deformation data, enabling the estimation and compensation of SBLLE deformation at its center of mass. Comparative experiments with a deformation estimation network without denoising show that RBDDE improves the accuracy of deformation estimation. © 2024 IEEE.

关键词： Exoskeleton (robotics)

来源：评论

学校读者我要写书评

暂无评论

Rehabilitation Training of Spinal Cord Injured Individuals by a Self-Balancing Exoskeleton Robot

Rehabilitation Training of Spinal Cord Injured Individuals b...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Wentao Li, Jinke He, Yong Tian, Dingkui Li, Feng Sun, Jianquan Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China China Construction Third Bureau First Engineering Mep Co. Ltd. Shenzhen518109 China

ISBN: (纸本)9798350327182

Physical therapy plays an important role in the rehabilitation for spinal cord injured individuals, and exoskeleton can assist with this process. In this paper, a self-balancing exoskeleton robot is introduced, which can provide assist not only in gait training, but also in balance training. In addition, it allows individuals walk with it without other assistive devices. This exoskeleton is designed to have a high degree of compatibility with humans. The structure and control system of the exoskeleton is introduced and the forward and inverse kinematic are solved, which enables the robot to perform various rehabilitation training actions as required. Experiments with a male subject have shown that this exoskeleton achieves the predicted results in gait training and balance training. © 2023 IEEE.

关键词： Inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

A Robust and Flexible Geometry calibration Method for Phase Measuring Deflectometry 12

A Robust and Flexible Geometry calibration Method for Phase ...

引用

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

作者： Fan, Xinggang Ma, Tianle Wang, Geng Liu, Jiaxian Li, Chao College of Computer Science and Technology Zhejiang University of Technology Hangzhou310023 China Shenzhen Academy of Robotics of Robotics Shenzhen Shenzhen518057 China College of Zhijiang Zhejiang University of Technology Hangzhou310023 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Geometry calibration is a critical step for phase measuring deflectometry (PMD) system. Generally, a circle grid, a chessboard, or a group of fringes is used to determine the camera pose during the calibration. There are two main problems with using a circle grid or a checkerboard for geometry calibration: incomplete pattern capturing and uneven gray value distribution. For fringe patterns, the camera needs to take many images of the reflected patterns. This paper proposes a new geometry calibration method for PMD system, which combines square-based fiducial markers with a marker-less flat mirror. The proposed method can accomplish the calibration in the case the captured calibration patterns are incomplete and have uneven gray value distribution, and only require to take a minimum of three images. Experiment shows the proposed method can get accuracy calibration result simple and flexible. © 2022 IEEE.

关键词： Calibration

来源：评论

学校读者我要写书评

暂无评论

Multi-kernel-size Convolutional Supervised Autoencoders for Tactile Gesture Recognition 12

Multi-kernel-size Convolutional Supervised Autoencoders for ...

引用

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

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

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

With the development of human-computer interaction, tactile gesture recognition has been widely used in our life. To solve the problem of overfitting on the sample-limited tactile datasets, we apply the Supervised Autoencoders (SAE) to improve the generalization performance. Moreover, based on the SAE, we propose the Multi-kernel-size Convolutional Supervised Autoencoders (MCSAE) to further improve the generalization performance on the limited dataset, which provides models with more structure of receptive fields and enhances the feature extraction ability of SAE. In comparison with other state-of-the-art (SOTA) models, the SAE we apply has higher gesture recognition accuracy and MCSAE can further improve the generalization performance of SAE on the sample-limited publicly available dataset. © 2022 IEEE.

关键词： Gesture recognition

来源：评论

学校读者我要写书评

暂无评论

Research on multi-motor speed synchronous control based on mean coupling control 9

Research on multi-motor speed synchronous control based on m...

引用

9th International Symposium on Sensors, Mechatronics, and Automation System, ISSMAS 2023

作者： Wu, Xiong Wei, Shouqi You, Jinwei Sun, Jianquan School of Mechanical and Engineering Guilin University of Electronic Technology Guilin541004 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781510672802

In order to improve the tracking and synchronization performance of multi-motor synchronous system after disturbance in steady state operation, a multi-motor control system was proposed. Firstly, the multi-motor speed synchronization control structure was designed based on the traditional mean coupling control (MCC) structure. Then the particle swarm optimization and the improved variable speed integral term were introduced into it to optimize the regular compensation factors and the parameters of PI controller. The improved system was called MCC_PSO system. In MATLAB/Simulink, we chose three permanent magnet synchronous motors (PMSM) to build the multi-motor synchronous control system model and from the results we can know the improved synchronous control system is superior to the traditional control system in both tracking performance and synchronization performance. © 2024 SPIE.

关键词： mean coupling multi-motor synchronous control particle swarm optimization variable speed integration

来源：评论

学校读者我要写书评

暂无评论

Automated Adherent Cell Injection Method Based on Double-Micropipettes Operation 42

Automated Adherent Cell Injection Method Based on Double-Mic...

引用

42nd Chinese Control Conference, CCC 2023

作者： Chu, Zhaotong Cai, Linxuan Cui, MaoSheng Wang, Zuqi Zhang, Yidi Li, Minghui Zhao, Qili Sun, Mingzhu Zhao, Xin Liu, Yaowei Institute of Robotics and Automatic Information System Nankai University The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China Tianjin Academy of Agriculture Science Tianjin300112 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Microinjection of adherent cells is a technique of inserting glass pipette into adherent cells and injecting few exogenous substances into adherent cells, which is widely used in the field of cell biology. Researchers in this field usually inject adherent cells manually, however, the microinjection operation is complicated, which requires a lot of energy and takes a lot of time. The existing automated microinjection method only uses one injection micropipette to inject, compared with the manual injection method, the microinjection process is consistent not optimized, and the injection efficiency cannot be greatly improved. In this paper, an automated adherent cell injection method based on double-micropipettes operation is proposed. Firstly, the adherent cell injection process based on double-micropipettes operation is designed. Secondly, this paper solves the key technologies of automated injection of adherent cells based on double-micropipettes operation were introduced, including adherent cell detection, injection path planning and double-micropipettes operation. Finally, the experiment of adherent cell microinjection based on double-micropipettes operation, the operation of two micropipettes was carried out. The experimental results show that the success rate of injection can reach 60% and the injection speed of this method can reach 35 cells/minute, which is 75% higher than that of manual injection with single pipette (20 cells/minute) and 40% higher than that of automated adherent cell injection with single pipette (25 cells/minute). © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Motion planning

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：