检索结果-内蒙古大学图书馆

Recent advances on human-robot interface of wheelchair-mounted robotic arm

Recent Patents on Mechanical Engineering 2019年第1期12卷 45-54页

作者： Chi, Mingshan Yao, Yufeng Liu, Yaxin Zhong, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Rongcheng Campus Harbin University of Science and Technology Rongcheng264300 China Industrial Research Institute of Robotics and Intelligent Equipment Weihai264209 China

Background: Wheelchair mounted robotic arm is a typical assistive robot, which is widely used to help the elders and the disabled to complete the activities of daily life. But limited by the restrictions of the users’ athletic ability and cognitive ability, how to flexibly manipulate such robot is still a problem in front of them. The human-computer interaction technology is the core technology of the robot. Its performance directly affects the user's acceptability, satisfaction and promotion of intelligent wheelchairs. Objective: The study aims to give a general summary of recent human-robot interface of wheelchair mounted robotic arm and introduce their respective characteristics. Methods: Based on various patents and research developments about the human-robot interface of the assistive robot at home and abroad, this paper puts forward the basic principle of designing the human-robot interaction mode, divides the man-robot interface into two categories based on the perspective of user control robot arm, and describes in detail, the typical human-robot interface and its related characteristics contained in each classification. Results: The development trends of the human-robot interface in future are predicted, so as to provide some research reference for the related scientific researchers. Conclusion: Wheelchair mounted robotic arm has important practical significance. Further improvements are needed in the design of the human-robot interface. It can effectively improve the operation performance of the WMRA, and take full advantage of the user’s existing movement ability to meet the requirement of dominating the control process. Furthermore, these improvements in the human-robot interface will allow more and more users to accept the WMRA, manipulate the WMRA, and enjoy improvements in the quality of their life for these assistive robots. © 2019 Bentham Science Publishers.

关键词： Human robot interaction

来源：评论

学校读者我要写书评

暂无评论

Tactile-Based Object Pose Estimation Employing Extended Kalman Filter

Tactile-Based Object Pose Estimation Employing Extended Kalm...

引用

International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Qiguang Lin Chaojie Yan Qiang Li Yonggen Ling Yu Zheng Wangwei Lee Zhaoliang Wan Bidan Huang Xiaofeng Liu Jiangsu Key laboratory of Special Robotic Technology College of IoT Engineering Hohai University Changzhou Jiangsu P.R. China State Key Laboratory of Industrial Control and Technology Zhejiang University Institute of Cyber-System and Control Hangzhou P.R. China Neuroinformatics Group Center for Cognitive Interaction Technology (CITEC) Bielefeld University Bielefeld Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou P.R.China

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Compliance control of the hydraulic-driven single legged robot

Compliance control of the hydraulic-driven single legged rob...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Fan, Yixiao Li, Xu Feng, Haibo Zhang, Songyuan Zhang, Chengbo Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

This paper presents the force control strategies and a kind of compliance control strategies of the hydraulic- driven unit (HDU) in the legged robots. The model of HDU is established and the transfer function of the HDU force control system is given. The analysis of the force control strategies is introduced according to the characteristic of the HDU system. Based on the force control strategy called velocity feedback control strategy which performs the best, the virtual model control strategy which is a kind of compliance control strategy is presented to enhance the adaptability of the legged robot. Finally, the experiments are taken on the HDU experiment platform to test the performance of the force control strategies and the compliance control strategy. The landing buffer experiments are taken on the single leg robot to verify the effectiveness of the compliance control strategy. In the landing buffer experiments, the impact force of the single leg robot's knee HDU is about 0.33 time of what it is without the compliance control strategy while landing. © 2019 IEEE.

关键词： Compliance control

来源：评论

学校读者我要写书评

暂无评论

Using permanent magnetic array device to detumble and despin defunct spacecraft 5

Using permanent magnetic array device to detumble and despin...

引用

2019 5th International Conference on Applied Materials and Manufacturing Technology, ICAMMT 2019

作者： Xie, Zongwu Gong, Pixu Liang, Mengde Zhang, Qi Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin150001 China

For the mission of detumbling and despinning the space debris, like defunct satellites, it is highly reliable and safe to use the permanent magnetic array device (PMAD). Based on the electromagnetic principle, the target's attitude dynamics is analysed, the electromagnetic torque is studied, the formula of electromagnetic force is simplified, and the stability of the nutation Angle is obtained. The rotation speed and attitude of PMAD are controlled by a dual-manipulator space robot to ensure that the component of the torque on the spin axis is zero. So the target will be only affected by the transverse component of the torque, and then the nutation angle decreases gradually to zero. When mission completed, the dual-manipulator space robot can deorbit or maintain on-orbit servicing, which is a significant exploration. © Published under licence by IOP Publishing Ltd.

关键词： Space debris

来源：评论

学校读者我要写书评

暂无评论

Control of the two-wheeled inverted pendulum (TWIP) robot moving on the continuous uneven ground

Control of the two-wheeled inverted pendulum (TWIP) robot mo...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhou, Haitao Li, Xu Feng, Haibo Li, Enbo Ding, Pengchao Zhai, Yanwu Zhang, Songyuan Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

Uneven terrain is common in natural environment. The TWIP robot has demonstrated its rapid movement ability in even ground in previous works. This paper explores control of the TWIP robot in the continuous uneven ground except the step case. The sinusoidal function and the piece-wise linear function type ground surface are taken as an example to explore motion characteristics of robots on complex terrain. As for the robotic system, continuous or step changes of slope are the main types of disturbance to it. To cope with these disturbance, a Sliding Mode Control (SMC) is used to design the nominal controller due to its insensitivity to uncertainty. Then, the Extended Kalman Filter (EKF) is adopted to estimate the slope of unknown terrain without any ground information from sensors but according to motion state of robot and the Equilibrium Point Estimation (EPE) is then achieved based on the obtained slope angle. In simulation, the TWIP robot moves on these two types of uneven ground surface to track the reference position or velocity trajectory. The comparative experimental results have demonstrated that SMC combined with the EPE method can enable TWIP robot to locomote on some limited uneven ground with higher stability and dynamic performance, compared to the single LQR and the single SMC method. Also, the proposed algorithm has been conduted successfully on the WIP-Bot robot to travel upward and downward slope. © 2019 IEEE.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Extrinsic calibration between a stereo system and a 3D LIDAR

Extrinsic calibration between a stereo system and a 3D LIDAR

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhai, Yanwu Feng, Haibo He, Jia Li, Enbo Zhang, Songyuan Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

As the robot gradually develops from indoor to outdoor, multi-sensor fusion is increasingly being applied to the field of robot perception. Among them, LiDAR and binocular sensors are most widely used. Robots use the complementary and redundant data they provide to perform environmental perception and implement certain functions of the robot, such as SLAM, autonomous obstacle avoidance and so on. However, the data obtained by each sensor are relative to its own coordinate system. Data must be converted to a unified coordinate system before data fusion. Therefore, the calibration of the transformation among sensors is the first problem to be solved in data fusion. Moreover, the accuracy of calibration is directly related to the effect of data fusion. Therefore the calibration between sensors is very important and necessary. In this paper, we propose a novel method to find accurate rigid-body transformation for the extrinsic calibration of a 3D LiDAR and a stereo cameras, using two Aruco calibration boards. Also the validity of the algorithm is demonstrated by some experiments. © 2019 IEEE.

关键词： Calibration

来源：评论

学校读者我要写书评

暂无评论

Model learning for two-wheeled robot self-balance control

Model learning for two-wheeled robot self-balance control

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Enbo Feng, Haibo Zhou, Haitao Li, Xu Zhai, Yanwu Zhang, Songyuan Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

Two-wheeled robots have many advantages over other mobile robots, but they are difficult to self-balance compared with other wheeled robots. Reinforcement learning (RL) is a general framework for sequential decision-making problems. So far, there are many applications of reinforcement learning to solve robot control problems, but most of them are used in simulators because of the large amount of data required. In addition, due to the reality gap, the policy learned in a simulation environment cannot be transferred directly to a real robot. Real robot data often expensive due to the potential damage to the robot. Model-based methods require far fewer robot data than model-free methods, but these methods have the problem of model bias. In this paper, we use a model-based reinforcement learning method to achieve self-balance of a two-wheeled robot. We present a model learning method that can reduce the problem of model bias. Our method combines the simulator and a few real robot data to learn a probabilistic dynamics model of the robot through an iterative way, which requires no expertise and can learn from scratch. Then the control policy is optimized based on the learned model. © 2019 IEEE.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Dynamic Objects Detection Based on Stereo Visual Inertial system in Highly Dynamic Environment 16

Dynamic Objects Detection Based on Stereo Visual Inertial Sy...

引用

16th IEEE International Conference on Mechatronics and Automation, ICMA 2019

作者： He, Jia Zhai, Yanwu Feng, Haibo Zhang, Songyuan Fu, Yili State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728116983

Vision-based solution is a popular research for 6-DOF state estimation in recent years. All of these algorithms are based on the assumption that surrounding is static. Actually, in a highly dynamic environment, estimated state is mixed, including robot and dynamic objects. To this end, an approach for detecting dynamic objects based on the velocity of feature points is proposed in this paper. Our approach establishes the model of the velocity of feature points and separates dynamic objects motion from the mixed motion by comparing the velocity of IMU (inertial measurement unit) and feature points. Finally, the detection results of dynamic feature points on the left and right cameras' front and rear frames are fused and verified to eliminate the influence of noise and mismatching. Experimental results prove that our approach can get more accurate state estimation, which shows that this method is effective in high dynamic environments. © 2019 IEEE.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

基于自解耦三明治结构的横向运动栅场效应晶体管MEMS微力传感器

引用

Engineering 2023年第2期21卷 61-74,M0004页

作者：高文迪乔智霞韩香广王小章 Adnan Shakoor 刘存朗卢德江杨萍赵立波王永录王久洪蒋庄德孙东 State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150006China Eleventh Research Institute Sixth Academy of China Aerospace Science and Technology Co.Xi’an 710100China Department of Control and Instrumentation Engineering King Fahd University of Petroleum and MineralsDhahran 31261Saudi Arabia Department of Biomedical Engineering City University of Hong KongHong Kong 999077China

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵... 详细信息

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。

关键词：力传感器场效应晶体管横向运动三明治结构电气模型显微操作非线性度双差分

来源：评论

学校读者我要写书评

暂无评论

Fragment Distance-Guided Dual-Stream Learning for Automatic Pelvic Fracture Segmentation

SSRN

引用

SSRN 2024年

作者： Zeng, Bolun Wang, Huixiang Joskowicz, Leo Chen, Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Department of Orthopedics National Center for Orthopedics Shanghai Sixth People’s Hospital Shanghai Jiao Tong University School of Medicine Shanghai China School of Computer Science and Engineering Edmond and Lily Safra Center for Brain Sciences Hebrew University of Jerusalem Jerusalem Israel Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China

Pelvic fracture is a complex and severe injury. Accurate diagnosis and treatment planning require the segmentation of the pelvic structure and the fractured fragments from preoperative CT scans. However, this segmentation is a challenging task, as the fragments from a pelvic fracture typically exhibit considerable variability and irregularity in the morphologies, locations, and quantities. In this study, a novel dual-stream learning framework is proposed for the automatic segmentation and category labeling of pelvic fractures. First, we develop a dual-branch architecture leveraging distance learning from bone fragments for enhanced spatial information, aiding in fracture segmentation and improving the identification of bone fragments with variable positioning. Second, we implement a multi-size feature fusion module that adaptively aggregates features from diverse receptive fields tailored to targets of different sizes and shapes, thus boosting segmentation performance. Extensive experiments on two pelvic fracture datasets from different medical centers demonstrated the accuracy and generalizability of the proposed method. It achieves a mean Dice coefficient and mean F1-score of 0.935[[EQUATION]]0.068 and 0.930[[EQUATION]]0.057 in the dataset FracCLINIC, and 0.955[[EQUATION]]0.072 and 0.912[[EQUATION]]0.129 in the dataset FracSegData, which are superior than other comparing methods. Our method optimizes the process of pelvic fracture segmentation, potentially serving as an effective tool for preoperative planning in the clinical management of pelvic fractures. © 2024, The Authors. All rights reserved.

关键词： Computerized tomography

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：