Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations heavily leaned on specialized point-cloud cameras or abundant RGB visual data gather 3D insights for object-grasping missions, this paper introduces pioneering approach called RGBGrasp. This method depends limited set views perceive surroundings containing transparent specular achieve accurate grasping....

Extreme natural disasters have caused severe power system blackouts in recent years. Aiming at the large-scale fault of microgrid by disasters, a resilience optimal control strategy based on electric spring is proposed to ensure ability restore supply and reduce operation cost. First, model with water heating can be established combined basic principle spring. Second, coordinate resources regarded as non-critical load. Based predictive strategy, coordinated realized optimized. Final,...

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with objects.Point-level affordance, which predicts per-point actionable score thus proposes best point interact with, has demonstrated excellent performance generalization capabilities in object manipulation. However, a significant challenge remains: while previous works use perfect cloud generated simulation, models cannot directly apply noisy real-world....

Reinforcement learning (RL) has gained significant interest for its potential to improve decision and control in autonomous driving. However, current approaches have yet demonstrate sufficient scenario generality observation generality, hindering their wider utilization. To address these limitations, we propose a unified benchmark simulator RL algorithms (called IDSim) facilitate high-level driving, with emphasis on diverse scenarios interface. IDSim is composed of library simulation engine,...

Parking occupancy estimation holds significant potential in facilitating parking resource management and alleviating traffic congestion. While recent strides have been made to integrate robotic systems for detection, these efforts predominantly focused on improving the accuracy of spotting individual space through enhanced perception pipelines. Regrettably, significance robot path planning often gets overlooked methodologies, resulting operational inflexibility imprecise estimations entire...

The multi-lane roundabout poses significant challenges for autonomous driving due to its complex road structure and traffic conditions. To address these challenges, this paper proposes a novel Neural Model Predictive Control (NMPC)-based decision-making framework that integrates prediction, planning, control vehicles navigate roundabouts. proposed NMPC learns dynamical model, incorporating interaction data, accurately predict the behavior of surrounding participants. Multiple candidate...

Full duplex is a promising technique for enhancing spectral efficiency in wireless relay networks. In this paper, we study three-node network consisting of full base station, half and mobile station. Four kinds decode-and-forward strategies are analyzed terms achievable rate region sum-capacity, hybrid scheme, which adaptively selects the best among four strategies, proposed to achieve maximized capacity according channel conditions. Simulation results compare capacities show that scheme...

In order to take advantage of global navigation map for robot self-localization and solve kidnap problem, a vision localization system is presented based on graphic content matching. It can make good use the different objects their layout in rooms or corridors fix position, which cannot be disturbed by similar objects. This composed frames overlap region extraction re-building through sub-blocks matching, interference caused points wall mismatching deleted. The image distortion adjusted same...

The mechanical arm is a very complex system. It difficult to determine its initial position and motion trail due uncertainty perturbation of parameters external disturbance. In this paper, novel method determining the change in space proposed by using just movement such as coordinate value changes Cartesian system Spherical system, which different from other given previous literature. determined constructing an optimization objective function then calculating coordinates intelligent...

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations heavily leaned on specialized point-cloud cameras or abundant RGB visual data gather 3D insights for object-grasping missions, this paper introduces pioneering approach called RGBGrasp. This method depends limited set views perceive surroundings containing transparent specular achieve accurate grasping....

Power cables can be regarded as the main artery of urban power supply system, which has an important supporting role for operation system. As indicator reflecting insulation status cables, partial discharge faults in cause damage to may major outages serious cases. Since traditional PRPD mapping analysis been difficult meet demand large-scale diagnosis discharges complex cable network underground cities, this paper proposes a fault method based on CEEMDAN-IZOA-DBN. Firstly, Complete Ensemble...

This paper offers a robot calibration approach based on the virtual closed kinematic chain so that absolute location accuracy of can be improved. The suggests laser beam mounted robot’s end as to form in interest enlarging pose errors proper extent, this way straight line equations space acquired when positions are changed continuously, robots’ parameters figured out by genetic algorithm while measurement totally avoided calibration. Calibrating practices, simulating analysis and experiments...

Up so far, many assistive robots such as electric powered wheelchairs and walking support machines have been developed to elderly the disabled persons. In this study, we are developing a new omnidirectional mobile wheelchair robot. The robot has functions of performing support, rehabilitation power assist user. With maneuverability can locomote faithfully obedient user’s intention. robot’s is realized by admittance control. We conduct experiments verify effect assist. experimented results...