- 标题
- 摘要
- 关键词
- 实验方案
- 产品
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[IEEE 2019 16th China International Forum on Solid State Lighting & 2019 International Forum on Wide Bandgap Semiconductors China (SSLChina: IFWS) - Shenzhen, China (2019.11.25-2019.11.27)] 2019 16th China International Forum on Solid State Lighting & 2019 International Forum on Wide Bandgap Semiconductors China (SSLChina: IFWS) - Influence of the Charge Transfer on the Lifetime of Quantum-Dot Light-Emitting Diodes
摘要： A more natural means of communicating complex movements to a robot manipulator is where the manipulator copies the movements of human hands. This paper presents a markerless human–robot interface that incorporates Kalman ?lters (KFs) and particle ?lters (PFs) to track the posture of human hands. This method allows one operator to control dual robot manipulators by using his/her double hands without any contact devices or markers. The algorithm employs Leap Motion to determine the orientation and the position of the human hands. Although the position and the orientation of the hands can be obtained from the sensor, the measurement errors increase over time due to the noise of the devices and the tracking error. The PFs and KFs are used to estimate the position and the orientation of the human hand. Due to the limitations of the perception and the motor, a human operator cannot accomplish high-precision manipulation without any assistance. An adaptive multispace transformation is employed to assist the operator to improve the accuracy and reliability in determining the posture of the manipulator. The greatest advantage of this method is that the posture of the human hands can be estimated accurately and steadily without any assistant markers. The human-manipulator interface system was experimentally veri?ed in a laboratory, and the results indicate that such an interface can successfully control dual robot manipulators even if the operator is not an expert.
关键词： particle ?lter (PF),Kalman ?lter (KF),Human–robot interface,markerless
更新于2025-09-19 17:13:59
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[IEEE 2019 Photonics North (PN) - Quebec City, QC, Canada (2019.5.21-2019.5.23)] 2019 Photonics North (PN) - Continuous-wave Nd:YVO <sub/>4</sub> laser with conical refraction output
摘要： A particle ?lter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switching-mode hidden Markov model. By extensively running a PF on the model, the FD and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods, the proposed method can diagnose all faults within a single structure, diagnose simultaneous faults, and it is easily implemented.
关键词： fault tolerance,Fault diagnosis (FD),remotely operated underwater vehicle (ROV),switch-mode hidden Markov model (HMM),particle ?lter (PF),underwater navigation
更新于2025-09-19 17:13:59
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[IEEE 2019 International Conference on Recent Advances in Energy-efficient Computing and Communication (ICRAECC) - Nagercoil, India (2019.3.7-2019.3.8)] 2019 International Conference on Recent Advances in Energy-efficient Computing and Communication (ICRAECC) - Free Space Optical Communication and Laser Beam Propagation through Turbulent Atmosphere: A Brief Survey
摘要： A particle ?lter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switching-mode hidden Markov model. By extensively running a PF on the model, the FD and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods, the proposed method can diagnose all faults within a single structure, diagnose simultaneous faults, and it is easily implemented.
关键词： fault tolerance,Fault diagnosis (FD),switch-mode hidden Markov model (HMM),remotely operated underwater vehicle (ROV),particle ?lter (PF),underwater navigation
更新于2025-09-19 17:13:59