In the construction of Metaverses,sensors that are referred to as the“bridge of information transmission”,play a key role.The functionality and efficiency of today’s sensors,which operate in a manner similar to phy...In the construction of Metaverses,sensors that are referred to as the“bridge of information transmission”,play a key role.The functionality and efficiency of today’s sensors,which operate in a manner similar to physical sensing,are frequently constrained by their hardware and software.In this research,we proposed the Parallel Sensing framework,which includes background,concept,basic methods and typical application of parallel sensing.In our formulation,sensors are redefined as the integration of real physical sensors and virtual software-defined sensors based on parallel intelligence,in order to boost the performance of the sensors.Each sensor will have a parallel counterpart in the virtual world within the framework of parallel sensing.Digital sensors serve as the brain of sensors and maintain the same properties as physical sensors.Parallel sensing allows physical sensors to operate in discrete time periods to conserve energy,while cloud-based descriptive,predictive,and prescriptive sensors operate continuously to offer compensation data and serve as guardians.To better illustrate parallel sensing concept,we show some example applications of parallel sensing such as parallel vision,parallel point cloud and parallel light fields,both of which are designed by construct virtual sensors to extend small real data to virtual big data and then boost the performance of perception models.Experimental results demonstrate the effective of parallel sensing framework.The interaction between the real and virtual worlds enables sensors to operate actively,allowing them to intelligently adapt to various scenarios and ultimately attain the goal of“Cognitive,Parallel,Crypto,Federated,Social and Ecologic”6S sensing.展开更多
This paper focuses on the problems of matching a virtual and a real environments by means of hardware and software tools. The real space is represented by a patient’s bone where a set of cuts by means of robot system...This paper focuses on the problems of matching a virtual and a real environments by means of hardware and software tools. The real space is represented by a patient’s bone where a set of cuts by means of robot system is to be made. The virtual space is a 3D model of the bone reconstructed from a set of CT slices. Robot system is then not only to machine bones but also to perform the fundamental step of registration between the two spaces. An external force sensor is used to adjust robot stiffness in order to perform the tactile searching necessary for the registration. A simple but reliable software algorithm is used to control the robot for matching between medical image and robot space in robot-assisted surgery. The results show the system proposed is precise enough for application, and tests been made also clarify the way to improve it.展开更多
针对遥操作服务机器人受网络时延影响造成控制信号传输中断的问题,提出了一种虚拟仿真预测平台对遥操作系统中主从两端机器人进行运动预判,提高遥操作服务机器人的控制准确度。对服务机器人建立孪生模型,实现了虚实机器人的深度融合,能...针对遥操作服务机器人受网络时延影响造成控制信号传输中断的问题,提出了一种虚拟仿真预测平台对遥操作系统中主从两端机器人进行运动预判,提高遥操作服务机器人的控制准确度。对服务机器人建立孪生模型,实现了虚实机器人的深度融合,能够有效反映真实机器人的多维信息。为服务机器人系统建立了人机交互界面,实现了对机器人的实时控制与状态显示。利用机器人的正逆运动学模型,实现了虚实机器人同步控制和轨迹实时映射。采用快速扩展随机树算法(Rapidly Exploring Random Tree,RRT)实现了复杂约束下的无碰撞路径规划。通过实验验证了设计的人机交互界面能够准确控制机器人的运动,RRT算法能够规划出使机器人避开障碍物并到达目标点的路径,真实机器人能跟随孪生模型的运行轨迹实现避障。展开更多
基金supported by the National Key R&D Program of China(2018AAA0101502)the Science and Technology Project of SGCC(State Grid Corporation of China):Fundamental Theory of Human-in-the-Loop Hybrid-Augmented Intelligence for Power Grid Dispatch and Control。
文摘In the construction of Metaverses,sensors that are referred to as the“bridge of information transmission”,play a key role.The functionality and efficiency of today’s sensors,which operate in a manner similar to physical sensing,are frequently constrained by their hardware and software.In this research,we proposed the Parallel Sensing framework,which includes background,concept,basic methods and typical application of parallel sensing.In our formulation,sensors are redefined as the integration of real physical sensors and virtual software-defined sensors based on parallel intelligence,in order to boost the performance of the sensors.Each sensor will have a parallel counterpart in the virtual world within the framework of parallel sensing.Digital sensors serve as the brain of sensors and maintain the same properties as physical sensors.Parallel sensing allows physical sensors to operate in discrete time periods to conserve energy,while cloud-based descriptive,predictive,and prescriptive sensors operate continuously to offer compensation data and serve as guardians.To better illustrate parallel sensing concept,we show some example applications of parallel sensing such as parallel vision,parallel point cloud and parallel light fields,both of which are designed by construct virtual sensors to extend small real data to virtual big data and then boost the performance of perception models.Experimental results demonstrate the effective of parallel sensing framework.The interaction between the real and virtual worlds enables sensors to operate actively,allowing them to intelligently adapt to various scenarios and ultimately attain the goal of“Cognitive,Parallel,Crypto,Federated,Social and Ecologic”6S sensing.
文摘This paper focuses on the problems of matching a virtual and a real environments by means of hardware and software tools. The real space is represented by a patient’s bone where a set of cuts by means of robot system is to be made. The virtual space is a 3D model of the bone reconstructed from a set of CT slices. Robot system is then not only to machine bones but also to perform the fundamental step of registration between the two spaces. An external force sensor is used to adjust robot stiffness in order to perform the tactile searching necessary for the registration. A simple but reliable software algorithm is used to control the robot for matching between medical image and robot space in robot-assisted surgery. The results show the system proposed is precise enough for application, and tests been made also clarify the way to improve it.
文摘针对遥操作服务机器人受网络时延影响造成控制信号传输中断的问题,提出了一种虚拟仿真预测平台对遥操作系统中主从两端机器人进行运动预判,提高遥操作服务机器人的控制准确度。对服务机器人建立孪生模型,实现了虚实机器人的深度融合,能够有效反映真实机器人的多维信息。为服务机器人系统建立了人机交互界面,实现了对机器人的实时控制与状态显示。利用机器人的正逆运动学模型,实现了虚实机器人同步控制和轨迹实时映射。采用快速扩展随机树算法(Rapidly Exploring Random Tree,RRT)实现了复杂约束下的无碰撞路径规划。通过实验验证了设计的人机交互界面能够准确控制机器人的运动,RRT算法能够规划出使机器人避开障碍物并到达目标点的路径,真实机器人能跟随孪生模型的运行轨迹实现避障。
