检索结果-内蒙古大学图书馆

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

作者： Liu, Ligang Chen, Wanxin Li, Mengze Zhao, Jiawei Zhang, Bi Zhao, Xingang State Key Lab of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes of Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China College of Information Science and Engineering Northeastern University Shenyang China University of Chinese Academy of Sciences Beijing China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

This paper designs a compliance controller by imitating human walking characteristics, balance recovery strategy, and combining anomaly detection algorithm for lower limb exoskeleton. Our final goal is to run it on the lower limb exoskeleton. We first analyze the characteristics human balance control and introduce an anomaly detection algorithm based on One-Class Support Vector Machine (OCSVM). Then, according to the abnormal index, the controller is designed for each joint with the law of human joint activity. Finally, the results of human-exoskeleton experiment showed that the exoskeleton can balance recovery when the Center of Mass (CoM) of the human-exoskeleton system is over the range of balance. © 2022 IEEE.

关键词： Controllers

来源：评论

学校读者我要写书评

暂无评论

Obstacle Avoidance for Kinematically Redundant Robot

引用

IFAC-PapersOnLine 2015年第28期48卷 490-495页

作者： WANG, Xinyu YANG, Chenguang CHEN, Junshen MA, Hongbin LIU, Feng School of Automation Beijing Institute of Technology Beijing China State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Centre for Robotics and Neural Systems Plymouth University Plymouth United Kingdom College of Automation Science and Engineering South China University of Technology Guangzhou China Beijing Jiaotong University Beijing China

Manipulator's obstacle avoidance is always a challenging topic in robotics. With the concern of the safety problems in human working environment, an improved obstacle avoidance method is proposed based on the general solution of the inverse kinematic problem of a redundant manipulator. A new obstacle detection method using Kinect R sensor is designed to give a robust obstacle information. By designing a parallel system of the manipulator, the proposed control method is not only to achieve the goal of moving away from the obstacle, but also able to guarantee the robot move back to its original pose. The stability of the closed-loop system is established using Lyapunov direct method to ensure the asymptotic stability of the system. The performance of the simulation results verifies the effectiveness of the proposed obstacle detection algorithm and the obstacle avoidance method. © 2015

关键词： Inverse problems Asymptotic stability Closed loop systems Collision avoidance Inverse kinematics Obstacle detectors Redundant manipulators System stability General solutions Inverse kinematic problems Kinematically Redundant Lyapunov direct method Obstacle detection Parallel system Redundant robot Working environment

来源：评论

学校读者我要写书评

暂无评论

Signal Feature Analysis of Contact Force at the Tip of a Flexible Ureteroscope 42

Signal Feature Analysis of Contact Force at the Tip of a Fle...

引用

42nd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2020

作者： Yinan, Deng Tangwen, Yang Shaotao, Dai Song, Guoli Beijing Jiaotong University Inst. of Info. Sci. and the Beijing Key Lab. of Advanced Information Science and Network Technology Beijing China Beijing Jiaotong University School of Electrical Engineering Beijing China Shenang Institute of Automation Cas State Key Laboratory of Robotics Shenyang China

ISBN: (纸本)9781728119908

This paper presents a signal analysis approach to identify the contact objects at the tip of a flexible ureteroscope. First, a miniature triaxial fiber optic sensor based on Fiber Bragg Grating(FBG) is devised to measure the interactive force signals at the ureteroscope tip. Due to the multidimensional properties of these force signals, the principal components analysis(PCA) method is introduced to reduce dimensions. The signal features are then extracted from the representative principal component signals using the wavelet transform(WT) method. Experimental results show that the contact objects at the tip of a ureteroscope are readily discriminated from the measured force signals with the proposed *** Relevance - This work commits to analyze the contact force signals at the tip of a flexible ureteroscope for the purpose of contact objects identification. © 2020 IEEE.

关键词： Fiber Bragg gratings

来源：评论

学校读者我要写书评

暂无评论

JADFER: Exploring Spatial-Contextual Interaction with Joint Attention Dropping for Facial Expression Recognition

引用

IEEE Transactions on Affective Computing 2024年

作者： Gao, Yu Ren, Weihong Jiang, Weibo Dong, Qian Nie, Wei Wu, Wenhao Liu, Honghai Harbin Institute of Technology State Key Lab of Robotics and Systems School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

Facial Expression Recognition (FER) aims to categorize emotional expressions depicted on a human face, and is a challenging task under unconstrained conditions, such as face occlusions and pose variations. Recent methods usually adopt self attention or cross attention to explore global or local relationships among different level features. However, these methods are inclined to focus on the redundant facial regions, causing model overfitting. To address this problem, we propose a new FER model named JADFER, which drops the joint attention in the weight matrix to adaptively enhance facial expression representations. Specifically, our JADFER model consists of three components: Spatial Branch (SB), Contextual Branch (CB), and Spatial-Contextual Interaction (SCI). Firstly, SB runs N paths in parallel, where a Variety loss is designed to guide the paths of SB to focus on different discriminative regions. Meanwhile, CB abstracts the contextual facial representations using self attention with Joint Attention Dropping (JAD). Then, the SCI adopts the spatial features from SB to query the contextual representations from CB through cross attention with JAD, which regulates the attention weights by dropping the similar activations to further enhance the facial embeddings. Experimental results demonstrate that the proposed model outperforms the state-of-the-art methods on several FER benchmarks. © 2010-2012 IEEE.

关键词： Face recognition

来源：评论

学校读者我要写书评

暂无评论

Confident-anchor-induced multi-source-free domain adaptation 21

Confident-anchor-induced multi-source-free domain adaptation

引用

Proceedings of the 35th International Conference on Neural Information Processing Systems

作者： Jiahua Dong Zhen Fang Anjin Liu Gan Sun Tongliang Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences and University of Chinese Academy of Sciences DeSI Lab AAII University of Technology Sydney State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences TML Lab University of Sydney

ISBN: (纸本)9781713845393

Unsupervised domain adaptation has attracted appealing academic attentions by transferring knowledge from labeled source domain to unlabeled target domain. However, most existing methods assume the source data are drawn from a single domain, which cannot be successfully applied to explore complementarily transferable knowledge from multiple source domains with large distribution discrepancies. Moreover, they require access to source data during training, which are inefficient and unpractical due to privacy preservation and memory storage. To address these challenges, we develop a novel Confident-Anchor-induced multisource-free Domain Adaptation (CAiDA) model, which is a pioneer exploration of knowledge adaptation from multiple source domains to the unlabeled target domain without any source data, but with only pre-trained source models. Specifically, a source-specific transferable perception module is proposed to automatically quantify the contributions of the complementary knowledge transferred from multi-source domains to the target domain. To generate pseudo labels for the target domain without access to the source data, we develop a confident-anchor-induced pseudo label generator by constructing a confident anchor group and assigning each unconfident target sample with a semantic-nearest confident anchor. Furthermore, a class-relationship-aware consistency loss is proposed to preserve consistent inter-class relationships by aligning soft confusion matrices across domains. Theoretical analysis answers why multi-source domains are better than a single source domain, and establishes a novel learning bound to show the effectiveness of exploiting multi-source domains. Experiments on several representative datasets illustrate the superiority of our proposed CAiDA model.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Novel 5-DOF Welding Robot Based on SCARA

A Novel 5-DOF Welding Robot Based on SCARA

引用

Conference on Industrial Electronics and Applications

作者： Feng Cao Jihao Liu Chen Zhou Yanzheng Zhao Zhuang Fu Weixin Yan State Key Lab of Mechanical System and Vibration Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9781479984671

This paper raises and analyses a novel 5-DOF welding robot which is based on SCARA. The robot is not only compatible but multifunctional because of the introduction of functional end that consists of two degrees of freedom, which are mutually perpendicular. After building the model, the kinematics analysis is carried out, through which the general formula of the forward as well as inverse kinematics is reached with D-H method. And only in that way, the human can get the method which is used for the position and velocity of the 5-DOF robot. In order to ensure the reliability of the robot in practical application, the modality of it is analyzed with ANSYS.

关键词： SCARA 5-DOF 2-DOF end kinematics finite element analysis

来源：评论

学校读者我要写书评

暂无评论

A Novel Design Method of Anthropomorphic Prosthetic Hands for Reproducing Human Hand Grasping

A Novel Design Method of Anthropomorphic Prosthetic Hands fo...

引用

Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Baiyang Sun Caihua Xiong Wenrui Chen Qiaofei Zhang Liu Mao Qin Zhang Institute of Rehabilitation and Medical Robotics State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology

ISBN: (纸本)9781424479276

Because hand is often used for grasping, developing a design of prosthetic hands, particularly light and compact underactuated anthropomorphic transradial prostheses for reproducing human hand complex grasping is crucial for upper-limb amputees. Obviously, the less the number of actuators is, the worse the anthropomorphic motion capability of the prosthetic hands will be. This paper aims to design a transmission mechanism with few motors actuating fingers which could serve the relatively accurate grasp movement of a human hand and has the potential to be embedded in a palm including the motors. We start with establishing an index for evaluating the anthropomorphic motion capability of a prosthetic hand. Based on the optimization of this index, we determine the number of actuators in fingers and the transmission relationship between the actuators and the metacarpophalangeal (MCP) joints. Then, a new design method to mechanically implement the transmission relationship based on a novel decomposition of transmission matrix is proposed in this paper. Utilizing this method, we obtained the final mechanical structure of a new prosthetic hand.

关键词： Thumb Grasping Prosthetic hand Actuators Joints Design methodology

来源：评论

学校读者我要写书评

暂无评论

Review:Wearable Sweat Sensors for Diseases Prevention and Monitoring

引用

Journal of Harbin Institute of Technology(New Series) 2023年第3期30卷 1-21页

作者： Yanan Ding Haiying Xiao Ping’an Hu School of Chemistry and Chemical Engineering Harbin Institute of TechnologyHarbin 150080China MOE Key Lab of Micro-System and Micro-Structures Manufacturing Harbin Institute of TechnologyHarbin 150080China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150080China

Advanced in wireless technologies and flexible materials with great biocompatibility,wearable devices have been utilized in the field of healthcare,sports management,and diseases prevention,which have been widely applied in current electronic ***,as a common metabolite on the skin surface,contains a wealth of biomarkers for disease detection and ***,developing wearable sweat sensors can provide a non⁃invasive method for health data collecting,sports monitoring,and clinical diagnosis in a convenient *** research in sweat metabolomics has offered a lot of information for sweat analysis and the wearable sweat sensors with small size,various sensing,and transmission units,and good skin contact has exhibited dynamic multi⁃signal *** article introduces the biomarkers in sweat related to different diseases and the current development of sweat sensors for user􀆳s activation monitoring and diseases *** barriers and difficulties in the future are also discussed and perspectives in the next generation sweat sensors are proposed.

关键词： sweat sensor sweat metabolites disease monitoring wearable device

来源：评论

学校读者我要写书评

暂无评论

A Novel Miniature Spatial Hybrid Compliant-paralleled Mechanism for Film Micropump

A Novel Miniature Spatial Hybrid Compliant-paralleled Mechan...

引用

Conference on Industrial Electronics and Applications

作者： Jihao Liu Feng Cao Chen Zhou Weixin Yan Yanzheng Zhao Zhuang Fu State Key Lab of Mechanical System and Vibration Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

ISBN: (纸本)9781479984671

Miniature actuators and methodologies play an important role in the performance of the film micro-pumps that could deliver high precision amount of the fluid. A common type of thin film micro-pump equips with film membrane in the asymmetry structure generating a polarization axial, which raises an inconvenient topic that has attracted increasing interest. This paper formulates and analyzes a novel spatial hybrid compliant mechanism with three chains in parallel with multiple-axis flexure hinges. In this design of miniature compliant-paralleled mechanism, a novel displacement magnification, has unique abilities of transmitting radial in-plane input displacements in parallel into centrally axial output deflection in out-plane and performs excellent in amplify ratio. In order to determine output generating deflection and stress intensity issue, Pseudo Rigid Body Model (PRBM) methodology and elastic mechanics are employed. In addition, in the parallel kinematic mechanism couples inputting parts which effectively decreases error ratio resulting from asynchrony of input amplitudes in parallel. To verify the performance of the miniature actuator, ANSYS is employed to simulate by the means of finite element analysis.

关键词： micropump actuator piezoelectric compliant-paralleled mechanism hybrid

来源：评论

学校读者我要写书评

暂无评论

Study of nano-manipulation approach based on the least action principle using AFM based robotic system 36

Study of nano-manipulation approach based on the least actio...

引用

第36届中国控制会议

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang State Key Lab.Robot. SIA.Chinese Academy of Sciences Shenyang Jianzhu University Graduate University of the Chinese Academy of Sciences Dept.of Advanced Robotics Chiba Institute of Technology Dept.of Industrial and Manufacturing Systems Engineering Emerging Technologies InstituteUniversity of Hong Kong

ISBN: (纸本)9781538629185

Atomic force microscopy(AFM) is originally used to observe the sample surface,and then extended to the area of *** can be quite valuable in the further study of maneuvering *** of the influence of the tip morphology on the tip pushing direction,it is difficult to establish an effective operating model for stably manipulating nanoparticles with controllable manipulation *** resolve this problem,the acting force of manipulating the nano-particle is analyzed firstly based on the least action *** the influence of the contact point between the nano-particle and the tip is taken into account on the pushing direction,and manipulation of the nano-particle is modeled to predict its position after ***,the model parameter is calibrated through several ***,the proposed model is verified by assembling the *** experimental results illustrate that the model can effectively predict the nano-particle position after maneuvering,and can improve the manipulation efficiency.

关键词： Least action principle AFM Nano-manipulation

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：