检索结果-内蒙古大学图书馆

第43届中国控制会议

作者： Yu Cai Yaowei Liu Qili Zhao Mingzhu Sun Mao Sheng Cui Xin Zhao Yue Du Institute of Robotics and Automatic Information System The Tianjin Key Laboratory of Intelligent RoboticsNankai University The Department of Information Technology Qinghai University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The quality of porcine oocytes determines the developmental potential of early porcine embryos, while the quality of porcine oocytes can be qualitatively described by their mechanical properties. In previous studies, porcine oocytes were often considered as a homogeneous spheroid, which was clearly contrary to its physiological structure consisting of multiple layers of components from the inside out. In this study, we first measured the mechanical properties of different subcellular components of porcine oocytes in situ using atomic force microscopy(AFM). The whole porcine oocyte and cytoplasm were subjected to multiple single-point indentations in situ under ramp mode, and the Young's modulus was obtained by fitting the force curve with the Sneddon model. In ramp mode, when the preset force was reached, the magnitude of the force was kept unchanged and the change of probe position was recorded to obtain the viscoelastic properties of each subcellular component. Then, a finite element model of porcine oocytes was established. Finally, we performed narrow-neck pipette pass-through experiments and suction penetration experiments of porcine oocytes to verify the accuracy of our model. The finite element model of porcine oocytes established by us is of great significance for further study of oocyte micromanipulation under different conditions.

关键词： Oocyte Mechanical Properties In-situ measurements Finite element model

来源：评论

学校读者我要写书评

暂无评论

A Single Image Deraining Network Based on Global Feature Perception 6

A Single Image Deraining Network Based on Global Feature Per...

引用

6th International Conference on Computer Science and Artificial Intelligence, CSAI 2022

作者： Fu, Bo Wang, Hongguang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China and University of Chinese Academy of Sciences China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China and Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China

ISBN: (纸本)9781450397773

Rainy weather can degrade the quality of image captured outdoors, which in turn reduces the effectiveness of the subsequent computer vision algorithm. Therefore, as a way to improve the performance of subsequent visual tasks, single image deraining has become an important research topic. In this paper, a single image deraining method based on global feature perception is proposed, which can effectively locate the rain streak and estimate corresponding background content via Swin Transformer mechanism. Different from convolutional neural network and traditional Transformer, the proposed network can extract the global features of an image while reducing the amount of computation. Combing advantages of Swin Transformer and convolutional network, a three-stage deraining network is proposed. First, the coarse features of an image are extracted through the convolutional layer. Then, using the feature refining module based on Swin Transformer, global features are extracted and fused. Finally, through the image reconstruction module, the clean image is generated by using residual learning. The experimental results show the superiority of the proposed network. © 2022 Owner/Author.

关键词： Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

MVSOP: A new framework for integrating MVS into SLAM based on ORB and PF 38

MVSOP: A new framework for integrating MVS into SLAM based o...

引用

38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

作者： Zhang, Zhihui Tang, Fengzhen Li, Yiping Feng, Xisheng University of Science and Technology of China China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China

ISBN: (纸本)9798350303636

Currently, the sparse map generated by simultaneous localization and mapping (SLAM) based on features is insufficient for practical use. To acquire a dense map, the model of dense reconstruction is usually appended to the SLAM system. One of the issues is that the dense reconstruction is fully independent of the SLAM system. In other words, the dense reconstruction hardly utilizes any information from the SLAM. To sufficiently integrate the dense reconstruction with traditional visual SLAM frameworks, in this paper, a new framework for integrating dense reconstruction into SLAM based on ORB and PF is proposed. It combines the ORB features that have been utilized in the visual odometry of SLAM with multi-view stereo (MVS) for dense map reconstruction. To incorporate ORB features, a new particle filter model is designed. The model includes an observation model based on ORB features to rectify the estimation errors by the MVS method. In addition, A new asynchronous fusion algorithm is proposed to update the proposed model. Finally, the proposed framework is evaluated on a public dataset that includes several subsets, which demonstrates its rationality and effiency. © 2023 IEEE.

关键词： Dense reconstruction multi-view stereo Particle filter SLAM

来源：评论

学校读者我要写书评

暂无评论

Optimal Design of Robust Wireless Power Transfer Links for Human-machine Interface

Optimal Design of Robust Wireless Power Transfer Links for H...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wu, Yujun Fang, Yun Guo, Weichao Sheng, Xinjun Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University Meta Robotics Institute Shanghai200240 China

ISBN: (纸本)9798350325706

Human-machine interfaces (HMIs) require minimal size and less interference to the users. Wireless and battery-free design of HMI devices can be promoted by wireless power transfer (WPT) technology. However, researchers often ignore the curvature of WPT coils. In addition, power transfer efficiency (PTE) and robustness to coil shifts are not both considered when designing WPT links. In this paper, a coaxial cylindrical coils model was presented to simulate curved coils, and several design parameters affecting robustness were investigated through electromagnetic and circuit simulation. We also proposed a novel method for designing WPT links that ensures both sufficient robustness and optimal PTE. Three sets of coils designed with the proposed method achieved an efficiency over 85% in the simulation and fulfilled the given robustness requirements at the same time. The coaxial cylindrical coils model and the proposed method were validated by experiments. A demonstration of the wireless powering of an HMI device was performed as well. In conclusion, this paper provided a guideline to model and design efficient and robust WPT coils in HMI applicaitions. © 2023 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Robot learning from demonstration for path planning: A review

引用

Science China(Technological Sciences) 2020年第8期63卷 1325-1334页

作者： XIE ZongWu ZHANG Qi JIANG ZaiNan LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Learning from demonstration(LfD)is an appealing method of helping robots learn new *** papers have presented methods of LfD with good performance in ***,complicated robot tasks that need to carefully regulate path planning strategies remain *** or non-contact constraints in specific robot tasks make the path planning problem more difficult,as the interaction between the robot and the environment is *** this paper,we focus on the path planning of complex robot tasks in the domain of LfD and give a novel perspective for classifying imitation learning and inverse reinforcement *** classification is based on constraints and obstacle ***,we summarize these methods and present promising directions for robot application and LfD theory.

关键词： learning from demonstration path planning imitation learning inverse reinforcement learning obstacle avoidance

来源：评论

学校读者我要写书评

暂无评论

Generalization of Humanoid Arm Manipulation Based on keypoints Synergetic Guidance

引用

IEEE robotics and Automation Letters 2025年第7期10卷 7334-7341页

作者： Shi, Xu Geng, Zihang Guo, Weichao Xu, Wei Yang, Zhiyuan Sheng, Xinjun Shanghai Jiao Tong University State Key Laboratory of Mechanical Systems and Vibrations Shanghai 200240 China Shanghai Jiao Tong University Shanghai Key Laboratory of Intelligent Robotics Meta Robotics Institute Shanghai 200240 China

In humanoid robot manipulation imitation learning, arm and tool synergies are required to accomplish tasks. However, the existence of arm and tool shape variations within the demonstrators and between the demonstrator-robot impacts the generalization performance. This paper models the arm and tool as an extended kinematic chain, taking the elbow, wrist, tool end, and tool orientation as keypoints. We propose a humanoid arm manipulation generalization method based on keypoints synergetic guidance, including Postural and Movement Synergy. Using principal component dimensionality reduction and feature space optimization, Postural Synergy obtains the task's start and end positions corresponding to the new target under the new kinematic chain shape. Movement Synergy generates keypoints' trajectories adapted to the new kinematic chain through a dynamical system with coupling terms, and then obtains robot joint trajectories by optimization-based inverse kinematics. Experiments are conducted under shape variations of both the arms and tools. The results indicate that our method significantly reduces keypoints' errors in Postural Synergy compared to Tool-Centric, Motion Retargeting and Cartesian space optimization methods. In Movement Synergy, our method generates dynamically similar motions using coupling terms. Real robot generalization results show that our method is able to improve the task success rate remarkably while mimicking human motion at the same time. © 2016 IEEE.

关键词： Dexterous Manipulation Human and Humanoid Motion Analysis and Synthesis Imitation Learning

来源：评论

学校读者我要写书评

暂无评论

Towards Disturbance Rejection in Feature Pyramid Network

IEEE Transactions on Artificial Intelligence

引用

IEEE Transactions on Artificial Intelligence 2023年第4期4卷 946-958页

作者： Hu, Xiaobo Xu, Wei Gan, Yi Su, Jianbo Zhang, Jun Shanghai Jiao Tong University Joint Institute of UM-SJTU Shanghai200240 China Shanghai Jiao Tong University Research Center of Intelligent Robotics Key Laboratory of System Control and Information Processing Ministry of Education Department of Automation Shanghai200240 China

The multiscale problem is one of the challenging topics in the object detection field. Among the current studies toward this problem, feature pyramid network (FPN) has been shown a superior performance. The core principle of FPN is a mapping for the detectable objects into hierarchy features. These features are designed with different size of receptive fields, which brings good scale invariance in the classification and localization subtasks. However, a disturbance of information dilution is generated by the assignment for the detectable objects into different features. This dilution disturbance is associated with the convolution or pooling operation during the hierarchy feature extraction process. Both of the imprecise localization information in the top features and the fuzzy classification information in the bottom ones limit the performance of FPN. Aiming at the disturbance rejection problem of information dilution, this article presents a feature compensation method. A cross compensation between the semantic information and the localization information in hierarchy features is used to enhance the vanilla FPN. Then, the evaluation metrics in an object detection task are examined. Not only the overall performance, but also the respective metrics for multiscale objects validate a considerable improvement of the FPN with a disturbance compensation mechanism. The experimental results demonstrate an effectiveness of the proposed method in this article. © 2020 IEEE.

关键词： Object detection

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

Design and Experiment of Multi-Modal Intelligent Elderly Assisted Wheelchair Robot 8

Design and Experiment of Multi-Modal Intelligent Elderly Ass...

引用

8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Zhang, Yulin Mao, Han Yu, Shuting Zhu, Aibin Wang, Xin Wang, Na Zhang, Zheng Xu, Haibo Institute of Robotics & Intelligent Systems Xi'An Jiaotong University Shaanxi Key Laboratory of Intelligent Robots Xi'an710049 China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an710049 China

ISBN: (纸本)9798350300178

In response to the prevalent social issue of elderly individuals living alone who lack independent mobility and face difficulties in standing up and getting up, a multi-modal intelligent elderly assistance wheelchair robot has been developed to provide assistance in such scenarios. This paper presents the analysis of the assistance needs of the elderly, along with the proposed main functions of the robot. The mechanical structure of the robot was designed and verified through finite element analysis, followed by experimental verification of assisted standing, transformation of bed and chair form, assisted getting up, and knee-free bending assisted getting up functions. The results of the experiments demonstrate that the multi-modal intelligent wheelchair robot developed in this study can effectively assist the elderly living alone in completing the actions of getting up and standing, thereby reducing their physical burden in home activities and improving their quality of life. This development has potential for broader applicability in the field of elderly care. © 2023 IEEE.

关键词： Machine design

来源：评论

学校读者我要写书评

暂无评论

Smart Plant Application of Autonomous Decentralized systems with the Introduction of Edge Nodes 15

Smart Plant Application of Autonomous Decentralized Systems ...

引用

15th International Conference on Advanced Computer Theory and Engineering, ICACTE 2022

作者： Wang, Jingyang Zou, Tao Yang, Zhijia Wang, Hongrui Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China Guangzhou University College Of Mechanical And Electrical Engineering Guangzhou China State Key Laboratory Of Robotics Key Laboratory Of Networked Control System Institutes For Robotics And Intelligent Manufacturing Shenyang Institute Of Automation Chinese Academy Of Sciences Shenyang China University Of Chinese Academy Of Sciences Beijing China

ISBN: (数字)9781665481809

ISBN: (纸本)9781665481809

This paper illustrates the application of an autonomous decentralized system introducing edge nodes in a smart factory. The nodes include atomic nodes, the most fundamental autonomic units constituting an autonomous decentralized system that are capable of independently extracting information from the data field and processing that information internally and simultaneously transmitting the processing results and other internal information to the data field proactively in a broadcast mode, where the transmitted information circulates in the data field. The group-based data field enables the sharing of information by atomic nodes. Grouped management nodes are the managers of the whole group, and edge nodes are the terminal intelligent control units of an intelligent autonomous decentralized system. Improvements in system decentralization, fault tolerance characteristics and flexibility of the system can lead to homogenization, autonomous control and autonomous coordination in complex manufacturing environments, as well as excellent online fault tolerance, online expansion and online maintenance of the system. In addition, it enhances the ever-changing and evolving control requirements by deconstructing the complexity in the system. © 2022 IEEE.

关键词： Fault tolerance

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：