检索结果-内蒙古大学图书馆

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yang, Daolong Jiang, Li Xu, Kun Robotics Institute of School of Mechanical Engineering and Automation Beijing100191 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150008 China

ISBN: (纸本)9798350325706

Physiological tremors of surgeons' hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients' lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Drogue detection for autonomous aerial refueling via hybrid pigeon-inspired optimized color opponent and saliency aggregation

引用

Chinese Journal of Aeronautics 2024年第5期37卷 27-38页

作者： Tongyan WU Haibin DUAN Yanming FAN State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China AVIC Shenyang Aircraft Design and Research Institute Shenyang 110035China

Drogue detection is one of the challenging tasks in autonomous aerial refueling due to the requirement for accuracy and *** detection based on image intrinsic cues can achieve fast detection,but with poor *** studies reveal that optimization-based methods provide accurate and quick solutions for saliency *** paper presents a hybrid pigeon-inspired optimization method,the optimized color opponent,that aims to adjust the weight of color opponent channels to detect the drogue *** can optimize the weights in the selected aerial refueling scene offline,and the results are applied for drogue detection in the scene.A novel algorithm aggregated by the optimized color opponent and robust background detection is presented to provide better precision and *** results on benchmark datasets and aerial refueling images show that the proposed method successfully extracts the saliency region or drogue and exhibits superior performance against the other saliency detection methods with intrinsic *** algorithm designed in this paper is competent for the drogue detection task of autonomous aerial refueling.

关键词： Autonomous aerial refueling Drones Hybrid pigeon-inspired optimization Color opponent Saliency detection Saliency aggregation

来源：评论

学校读者我要写书评

暂无评论

Improving Nighttime Flare Removal with Subspace Basic Projection 2

Improving Nighttime Flare Removal with Subspace Basic Projec...

引用

2nd IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2024

作者： Lian, Jiazheng Liu, Zherong Jing, Minge Zhou, Jun Fan, Yibo State Key Laboratory of Integrated Chips and Systems Fudan University Academy for Engineering and Technology Shanghai China University of Electronic Science and Technology of China School of Information and Communication Engineering Chengdu China Fudan University State Key Laboratory of Integrated Chips and Systems Shanghai China

ISBN: (纸本)9798331515669

Flare is an imaging issue caused by optical refraction in the lens. The imaging hazards caused by flares are more pronounced at night due to the large difference in intensity between the light source and the background. Since it is difficult to infer a flare-free scene from a flare-corrupted image, recovering textures under nighttime flare remains a challenging problem. In this paper, we propose a novel nighttime flare removal framework based on subspace projection and a jet map mask-based crossattention mechanism to remove nighttime flare and recover the scene under the flare, termed FBNet. On one hand, we propose subspace projection as a function of the flare basis network to better separate the flare from the scene. On the other hand, we found that the binarized threshold segmentation result obtained by using the jet map as a threshold segmentation condition is remarkably effective in extracting the flare as an input feature to the cross-attention mechanism. Therefore, we came out with a jet map-based transformer cross-attention block that uses a binary mask as a priori to achieve optimal recovery in the flare region Extensive evaluations on synthetic benchmarks and the real-world datasets Flare7K and Flare7pp highlight the superiority of our approach compared to the previous state-of-the-art methods for flare removal. All proposed methods improve the nighttime flare removal performance. © 2024 IEEE.

关键词： Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator

Open-Source Reinforcement Learning Environments Implemented ...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Zichun Xu Yuntao Li Xiaohang Yang Zhiyuan Zhao Lei Zhuang Jingdong Zhao State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three representative tasks, push, slide, and pick-and-place, are implemented through the Gymnasium robotics API, which inherits from the core of Gymnasium. Both the sparse binary and dense rewards are supported, and the observation space contains the keys of desired and achieved goals to follow the Multi-Goal Reinforcement Learning framework. Three different off-policy algorithms are used to validate the simulation attributes to ensure the fidelity of all tasks, and benchmark results are also given. Each environment and task are defined in a clean way, and the main parameters for modifying the environment are preserved to reflect the main difference. The repository, including all environments, is available at https://***/zichunxx/panda_mujoco_gym.

关键词： Mechatronics Reinforcement learning Benchmark testing Manipulators Task analysis Physics Engines

来源：评论

学校读者我要写书评

暂无评论

DetailRecon: Focusing on Detailed Regions for Online Monocular 3D Reconstruction

引用

IEEE Transactions on Multimedia 2025年 27卷 3266-3278页

作者： Chu, Fupeng Cong, Yang Wang, Yanmei Chen, Ronghan Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China South China University of Technology School of Automation Science and Engineering Guangzhou510640 China

Learning-based online monocular 3D reconstruction has emerged with great potential recently. Most state-of-the-art methods focus on two key questions, namely 1) how to exploit accurate voxel features and 2) how to preserve detailed voxels in the sparsification process. However, 1) most methods adopt the same receptive field to extract features for both informative and uninformative regions, which struggle to capture geometric details. Furthermore, 2) they mainly utilize a fixed threshold or a straightforward ray-based algorithm to discard voxels in the sparsification process. However, some detailed regions (especially thin regions) may be discarded incorrectly. To tackle these challenges, we present a novel method named DetailRecon to focus on detailed regions that contain more geometric information. Specifically, we first propose an Adaptive Hybrid Fusion (AHF) module and a Connectivity-Aware Sparsification (CAS) module for voxel feature learning and voxel sparsification, respectively. 1) The AHF receives multiple feature maps with different receptive fields as input, and adaptively adopts a smaller receptive field for regions with fine structures to exploit accurate geometric details. 2) The CAS updates the occupancy value of voxels based on the connected voxels within its neighbor space, which could expand the radiation range of reliable voxels in detailed regions and eventually reduce their probability of being discarded. Moreover, 3) we introduce a lightweight yet effective pipeline named Focus On Fine (FOF) to accelerate our DetailRecon. In addition, 4) we propose a Hierarchical Consistency Loss (HCL) to align multi-level volume features, which assists in exploring accurate volume features for recovering more details. Extensive experiments conducted on the ScanNet (V2) and 7-Scenes datasets demonstrate the superiority of our DetailRecon. © 1999-2012 IEEE.

关键词： Three-dimensional displays Image reconstruction Accuracy Geometry Representation learning Transformers Surface reconstruction Legged locomotion Learning systems Feature extraction

来源：评论

学校读者我要写书评

暂无评论

Quantitative analysis of the main components in ceramic raw materials based on the desktop LIBS analyzer

引用

Plasma Science and technology 2022年第8期24卷 46-54页

作者： Peng ZHANG Lanxiang SUN Haibin YU Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016People's Republic of China

The concentrations of SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiO,and loss on ignition(L.O.I.) are the main inorganic components of geological *** of the eight oxides and *** also the main indicators of concern in the production of building *** analysis of the eight oxides and *** performed using fiber-laserbased laser-induced breakdown spectroscopy(LIBS).A combination of continuous background deduction,full width at half maximum(FWHM) intensity integral and spectral sum normalization was proposed for data *** the data processing combined the continuous background deduction,FWHM intensity integral and spectral sum normalization,the mean absolute errors(MAEs) of the calibration of L.O.I.,SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiOwas reduced from 2.03%,12.06%,4.84%,1.10%,0.69%,0.31%,0.11%,0.20%and 0.10% to 1.80%,9.48%,2.12%,0.36%,0.58%,0.11%,0.08%,0.19% and 0.05%,*** multivariate method was further introduced and discussed to improve the analysis *** MAEs of L.O.I.,SiO,Al2O,KO and NaO were further reduced to1.12%,2.07%,1.38%,0.35% and 0.43%,*** results show that the overall prediction error can meet the requirements for the production of building *** LIBS desktop analyzer has great potential in detection applications on geological samples.

关键词： laser-induced breakdown spectroscopy fiber laser quantitative analysis matrix effects geological samples

来源：评论

学校读者我要写书评

暂无评论

Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

引用

Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

来源：评论

学校读者我要写书评

暂无评论

Solar manipulations of perpendicular magnetic anisotropy for flexible spintronics

引用

Frontiers of physics 2024年第4期19卷 73-79页

作者： Zhexi He Yifan Zhao Yujing Du Meng Zhao Yuxuan Jiang Ming Liu Ziyao Zhou State Key Laboratory for Manufacturing Systems Engineering Electronic Materials Research LaboratoryKey Laboratory of the Ministry of Education&International Center for Dielectric ResearchSchool of Electronic Science and EngineeringThe International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologyXi’an Jiaotong UniversityXi’an 710049China School of Materials Science&Engineering Changzhou UniversityChangzhou 213164China

Flexible electronics/spintronics attracts researchers’attention for their application potential abroad in wearable devices,healthcare,and other *** devices’performance(speed,energy consumption)is highly dependent on manipulating information bits(spin-orientation in flexible spintronics).In this work,we established an organic photovoltaic(OPV)/ZnO/Pt/Co/Pt heterostructure on flexible PET substrates with perpendicular magnetic anisotropy(PMA).Under sunlight illumination,the photoelectrons generated from the OPV layer transfer into the PMA heterostructure,then they reduce the PMA strength by enhancing the interfacial Rashba field *** coercive field(Hc)reduces from 800 Oe to 500 Oe at its maximum,and the magnetization can be switched up and down *** stability of sunlight control of magnetization reversal under various bending conditions is also tested for flexible spintronic ***,the voltage output of sunlight-driven PMA is achieved in our prototype device,exhibiting an excellent angular dependence and opening a door towards solar-driven flexible spintronics with much lower energy consumption.

关键词： interfacial magnetoelectric coupling perpendicular magnetic anisotropy deterministic magnetization reversal photovoltaic control of magnetism

来源：评论

学校读者我要写书评

暂无评论

Optimal Traffic-Power Flow of Transportation-Microgrid Coupled System Based on Spatiotemporal Coupling

Optimal Traffic-Power Flow of Transportation-Microgrid Coupl...

引用

2024 China Automation Congress, CAC 2024

作者： Li, Bin Li, Jia Li, Qincheng Liu, Zhitao Su, Hongye The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China

ISBN: (纸本)9798350368604

The growing adoption of electric vehicles and dynamic wireless charging has strengthened the spatiotemporal interconnection between the transportation network (TN) and the microgrid (MG). This paper presents an optimal traffic-power flow (OTPF) model for the transportation-microgrid coupled system (TMCS) to enhance the coordination of its operations. The OTPF model is transformed into bi-level programming, with the optimal power flow model of MGs at the upper level and the dynamic traffic assignment model of the TN at the lower level. The upper level is a mixed-integer second-order cone programming, while the lower level is formulated as a dynamic user equilibrium. A fixed-point algorithm is developed to tackle this bi-level programming. Case studies show that the OTPF model of the TMCS can be efficiently solved to capture the spatiotemporal variations of traffic flow and power flow. © 2024 IEEE.

关键词： Second-order cone programming

来源：评论

学校读者我要写书评

暂无评论

Research on Optimal Preload Method of Controllable Rolling Bearing Based on Multisensor Fusion

引用

Computer Modeling in Engineering & Sciences 2024年第6期139卷 3329-3352页

作者： Kuosheng Jiang Chengrui Han Yasheng Chang School of Mechanical and Electrical Engineering Anhui University of Science and TechnologyHuainan232001China School of Optical and Electronic Information Suzhou City University&Suzhou Key Laboratory of BiophotonicsSuzhou215104China State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an710054China

Angular contact ball bearings have been widely used in machine tool spindles,and the bearing preload plays an important role in the performance of the *** order to solve the problems of the traditional optimal preload prediction method limited by actual conditions and uncertainties,a roller bearing preload test method based on the improved D-S evidence theorymulti-sensor fusion method was ***,a novel controllable preload system is proposed and ***,multiple sensors are employed to collect data on the bearing parameters during preload ***,a multisensor fusion algorithm is used to make predictions,and a neural network is used to optimize the fitting of the preload *** limitations of conventional preload testing methods are identified,and the integration of complementary information frommultiple sensors is used to achieve accurate predictions,offering valuable insights into the optimal preload *** results demonstrate that the multi-sensor fusion approach outperforms traditional methods in accurately measuring the optimal preload for rolling bearings.

关键词： Multi-sensor information fusion neural network preload force

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：