检索结果-内蒙古大学图书馆

Image segmentation network for laparoscopic surgery

Biomimetic Intelligence and robotics 2025年

作者： Kang Peng Yaoyuan Chang Guodong Lang Jian Xu Yongsheng Gao Jiajun Yin Jie Zhao The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150000 China Zhongshan Hospital Affiliated to Dalian University Dalian 116000 China

Surgical image segmentation serves as the foundation for laparoscopic surgical navigation technology. The indistinct local features of biological tissues in laparoscopic image pose challenges for image segmentation. To address this issue, we develop an image segmentation network tailored for laparoscopic surgery. Firstly, we introduce the Mixed Attention Enhancement (MAE) module that sequentially conducts the Channel Attention Enhancement (CAE) module and the Global Feature Enhancement (GFE) module linked in series. The CAE module enhances the network’s perception of prominent channels, allowing feature maps to exhibit clear local features. The GFE module is capable of extracting global features from both the height and width dimensions of images and integrating them into three-dimensional features. This enhancement improves the network’s ability to capture global features, thereby facilitating the inference of regions with indistinct local features. Secondly, we propose the Multi-scale Feature Fusion (MFF) module. This module expands the feature map into various scales, further enlarging the network’s receptive field and enhancing perception of features at multiple scales. In addition, we tested the proposed network on the EndoVis 2018 and a human minimally invasive liver resection image segmentation dataset, comparing it against six other advanced image segmentation networks. The comparative test results demonstrate that the proposed network achieves the most advanced performance on both datasets, proving its potential in improving surgical image segmentation outcome. The codes of MAMNet are available at: https://***/Pang1234567/MAMNet .

关键词： Laparoscopic surgery image Medical image segmentation Convolutional neural networks Attention mechanism Feature fusion

来源：评论

学校读者我要写书评

暂无评论

Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

引用

Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

来源：评论

学校读者我要写书评

暂无评论

A Braille Reading system Based on Electrotactile Display With Flexible Electrode Array

引用

IEEE/CAA Journal of Automatica Sinica 2022年第4期9卷 735-737页

作者： Ziliang Zhou Yicheng Yang Honghai Liu IEEE the State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University the State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen

Dear editor,Due to visual impairment and lack of social attention,the reading problem of the blind has not been well *** existing Braille reading devices still have many problems and are not accepted by the *** paper developed a portable Braille reading system based on electrotactile display *** proposed system is composed of a six-channel electrotactile stimulator,a flexible electrode array for Braille display and a graphical user interface(GUI)for monitoring and *** on the flexibility of the system,two Braille reading strategies have been designed:spatial mode and sequential *** system was preliminary tested by six sighted *** results showed that subjects were able to recognize Braille characters with more than 80%accuracy within less than 10 seconds for the initial *** to existing Braille reading systems,this system is portable,wearable and flexible in control.

关键词： portable editor Bra

来源：评论

学校读者我要写书评

暂无评论

Design and Modeling of Belt Grinding Tool for Industrial Robot Application

Design and Modeling of Belt Grinding Tool for Industrial Rob...

引用

2017 IEEE International Conference on Unmanned systems (ICUS)

作者： Mingyang Li Yongzhuo Gao Wei Dong Zhijiang Du the State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)

ISBN: (纸本)9781538631089;9781538631072

Manufacturing in aerospace industry has a strong demand for robotic ***,poor trajectory accuracy and rigidity hinder the application for accurate *** this paper,we present a novel approach for modeling and control of an automated grinding process that utilizes a belt grinding *** tool has an active compensating electric cylinder controlled with the information integrating contact force and tool *** design of critical components are presented in details and the coupling method is described based on the static structure of *** within robotic cell has been set up to demonstrate the effectiveness of the presented methods.

关键词： Design and Modeling of Belt Grinding Tool for Industrial Robot Application

来源：评论

学校读者我要写书评

暂无评论

Design of a spherical robot based on novel double ballast masses principle

引用

高技术通讯（英文版） 2011年第2期17卷 180-185页

作者： Zhao Bo Wang Pengfei Hu Haiyan Sun Lining State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

A spherical robot based on a novel double ballast masses principle is developed for military re-connaissance and unknown environment *** robot is driven by two DC motors,each of which drives one ballast mass,and the two ballast masses are placed symmnetrically on the major *** with the traditional ballast mass principle,the robot has featured high speed,the abil-ity of slope climbing and obstacle overcoming in linear *** robot has two inputs and three DOF,which is a nonholonomic and underactuated *** dynamic model of the robot is con-structed,and the linear motion performance of robot in theory is proved by Adams *** control system is briefly introduced,and the performance of the prototype is tested by experiments at last.

关键词： spherical robot double ballast masses dynamic model

来源：评论

学校读者我要写书评

暂无评论

BAN: A Universal Paradigm for Cross-Scene Classification Under Noisy Annotations From RGB and Hyperspectral Remote Sensing Images

引用

IEEE Transactions on Geoscience and Remote Sensing 2025年 63卷

作者： Chen, Wentang Wen, Yibin Zheng, Juepeng Huang, Jianxi Fu, Haohuan Sun Yat-sen University School of Artificial Intelligence Zhuhai519082 China Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province School of Mechanical Engineering Robotics Institute Hangzhou310027 China Southwest Jiaotong University Faculty of Geosciences and Engineering Chengdu610032 China China Agricultural University College of Land Science and Technology Beijing100107 China Ministry of Agriculture and Rural Affairs Key Laboratory of Remote Sensing for Agri-Hazards Beijing100125 China Tsinghua University Tsinghua Shenzhen International Graduate School Shenzhen518071 China Tsinghua University Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System Science Beijing100190 China National Supercomputer Center in Shenzhen Shenzhen518071 China

While domain adaptation (DA) methods have made significant strides in remote sensing community, most current works assume that the source domain labels are accurate. However, limited emphasis has been placed on the scenario where source data are mislabeled with noisy annotations, which is more common in real applications and referred to as noisy DA (NDA). This article formulates remote sensing cross-scene classification on NDA scenarios and proposes a novel network called bilateral adaptation network (BAN), which consists of two parts: 1) forward learning (FL), which utilizes a model learning from the noisy source domain and transfers knowledge to target domain;and 2) backward learning (BL), which utilizes a dual model to acquire knowledge from the target domain and transfer it to source domain. We conduct two parts alternately and adopt a symmetrical Kullback-Leibler (KL) loss to align predictions of the model and its dual model in the same domain. This interactive strategy is able to explore bilateral relationships between domains, implicitly reducing label noise in the source domain. In addition, BAN could serve as a universal paradigm to not only improve the existing NDA methods but also enhance recent DA approaches. Comprehensive evaluations on three publicly available RGB-band remote sensing datasets and two hyperspectral datasets validate the superior effectiveness of our proposed BAN. BAN improves the average accuracy by 6.70%-15.70% on RGB datasets and overall accuracy (OA) by 1.36%-3.14% on hyperspectral datasets with flip-20% noise compared to other state-of-the-art DA and NDA approaches. Promising results indicate the potential of our approach in tackling more general and practical problems with noisy source domain. © 2025 IEEE.

关键词： Contrastive Learning

来源：评论

学校读者我要写书评

暂无评论

Cable-driven legged landing gear for unmanned helicopter:Prototype design,optimization and performance assessment

引用

Science China(Technological Sciences) 2024年第4期67卷 1196-1214页

作者： TIAN BaoLin GAO HaiBo YU HaiTao SHAN HaoMin HOU JunChen YU HongYing DENG ZongQuan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China China Academy of Aerospace Science and Innovation Beijing 100048China

Unmanned helicopters equipped with adaptive landing gear will dramatically extend their application especially in dealing with challenging *** study presents a novel cable-driven legged landing gear(CLG)with differential transmission for unmanned helicopters in complex landing *** obtain the preferred configuration of the legged mechanism,a multi-objective optimization framework for the CLG is constructed by concurrently considering terrain adaptability,landing stability and reasonable linkage of internal *** non-dominated sorting genetic algorithmⅡis employed to numerically acquire the optimal scale parameters that guide the mechanical design of the *** unmanned helicopter prototype equipped with the devised CLG is developed with key performance *** results show that the devised CLG can provide energy-efficient support over uneven terrains(totally driven torque demand less than 0.1 N m)in quasi-static landing tests,and favorable terrain adaptability(posture fluctuation of the fuselage less than±1°)in unknown slope landing *** exhibited merits give the proposed CLG the potential to enhance the landing performance of future aircraft in extreme environments.

关键词： unmanned helicopter adaptive landing gear experimental verification

来源：评论

学校读者我要写书评

暂无评论

Configuration information acquisition and matching in self-reconfiguring process of modular self-reconfigurable robots

引用

高技术通讯（英文版） 2008年第4期14卷 411-417页

作者： Ren Zongwei Zang Xizhe Zhu Yanhe Zhang Yuhua Zhao Jie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Configuration information acquisition and matching are two important steps in the self-reconfiguring process of self-reconfigurable robots. The process of configuration information acquisition was introduced, and a self-reconfiguring configuration matching strategy based on graded optimization mechanism was proposed. The first-grade optimization was to search common connection between matching scheme and goal configuration. The second-grade optimization, whose object function was constructed in terms of configuration connectivity, was to search common topology according to the results of the first-grade optimization. The entire process of configuration information acquisition and matching was verified by an experiment and genetic algorithm (GA). The result shows the accuracy of the configuration information acquisition and the effectiveness of the configuration matching method.

关键词： self-reconfigurable robot genetic algorithm (GA) information acquisition configuration matching graded optimization

来源：评论

学校读者我要写书评

暂无评论

Using spanwise flexibility of caudal fin to improve swimming performance for small fishlike robots

引用

Journal of Hydrodynamics 2018年第5期30卷 859-871页

作者： Dan Xia Wei-shan Chen Jun-kao Liu Xiang Luo School of Mechanical Engineering Southeast UniversityNanjing 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper examines the beneficial effects of the spanwise flexibility of the caudal fin for the improvement of the swimming performance for small fishlike robots. A virtual swimmer is adopted for controlled numerical experiments by varying the spanwise flexible trajectories and the spanwise flexible size of the caudal fin while keeping the body kinematics fixed. 3-D Navier-Stokes equations are used to compute the viscous flow over the robot. Elliptical, parabolic and hyperbola trajectories are chosen to describe the spanwise flexible profile of the caudal fin. According to the sign（positive or negative） of the phase difference of the swinging motion, the spanwise flexibility can be divided into the fin surface of ＂bow＂ and the fin surface of ＂scoop＂. It is observed that for both the fin surface of ＂bow＂ and the fin surface of ＂scoop＂, the spanwise elliptical trajectory has the optimal swimming velocity, thrust, lateral force, and efficiency. With comparisons, using the flexible caudal fin with the fin surface of ＂bow＂, the lateral force and the power consumption can be reduced effectively and the swimming stability can be increased while reducing little the swimming velocity and thrust. Meanwhile, using the flexible caudal fin with the fin surface of ＂scoop＂ can greatly improve the swimming velocity, thrust, and efficiency while increasing part of the lateral force and the power consumption. Three-dimensional flow structures clearly indicate the evolution process around the swimming robot. It is suggested that the fish, the dolphin, and other aquatic animals may benefit their hydrodynamic performance by the spanwise flexibility of the caudal fin.

关键词： Spanwise flexibility caudal fin fishlike robot swimming performance flow structures

来源：评论

学校读者我要写书评

暂无评论

Motion Attitude and Aerodynamic Characteristics Research of Flapping Wings Driven by Micro Servoactuator

引用

Journal of Bionic Engineering 2024年第6期21卷 2830-2846页

作者： Tianyou Mao Bosong Duan Bihui Yin Chuangqiang Guo State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering Zhejiang UniversityHangzhou310027China

Compared to the traditional flapping-wing structure with single motion mode,a micro servoactuator driven Flapping-Wing Air Vehicle(FWAV)breaks free from the limitations imposed by the motion parameters of the crank-connecting rod *** allows for simultaneous control of wings’position and velocity attitude through pulse width modulation,showcasing unrivaled controllability and promising extensive ***,this method of motion control also brings new challenges to the design of the wings’motion *** study seeks to investigate the relationship between the motion parameters of micro servoactuator driven FWAV and its aerodynamic characteristics,then explore a servo control method that can optimize its thrust-producing *** achieve this,this paper involves the establishment of Amplitude Loss Model(ALM),Flapping Wing Dynamic Model(FWDM),and Power Load Model(PLM),followed by motion capture experiments,dynamic monitoring experiments,and power monitoring *** results show that the proposed modeling method,which fully considers the amplitude loss effect and advanced twisting effect in flapping-wing motion,can accurately calculate thrust,power,and power load,with prediction errors of less than 10%,5%and 13%,*** high-precision model can effectively optimize motion parameters,allowing for better performance of flapping-wing motion.

关键词： Flapping wing Micro servoactuator Motion attitude Aerodynamic model

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：