3,821 research outputs found
Comparative Study of Different Methods in Vibration-Based Terrain Classification for Wheeled Robots with Shock Absorbers
open access articleAutonomous robots that operate in the field can enhance their security and efficiency by
accurate terrain classification, which can be realized by means of robot-terrain interaction-generated
vibration signals. In this paper, we explore the vibration-based terrain classification (VTC),
in particular for a wheeled robot with shock absorbers. Because the vibration sensors are
usually mounted on the main body of the robot, the vibration signals are dampened significantly,
which results in the vibration signals collected on different terrains being more difficult to
discriminate. Hence, the existing VTC methods applied to a robot with shock absorbers may degrade.
The contributions are two-fold: (1) Several experiments are conducted to exhibit the performance of
the existing feature-engineering and feature-learning classification methods; and (2) According to
the long short-term memory (LSTM) network, we propose a one-dimensional convolutional LSTM
(1DCL)-based VTC method to learn both spatial and temporal characteristics of the dampened
vibration signals. The experiment results demonstrate that: (1) The feature-engineering methods,
which are efficient in VTC of the robot without shock absorbers, are not so accurate in our project;
meanwhile, the feature-learning methods are better choices; and (2) The 1DCL-based VTC method
outperforms the conventional methods with an accuracy of 80.18%, which exceeds the second method
(LSTM) by 8.23%
A Deep Cascade of Convolutional Neural Networks for MR Image Reconstruction
The acquisition of Magnetic Resonance Imaging (MRI) is inherently slow.
Inspired by recent advances in deep learning, we propose a framework for
reconstructing MR images from undersampled data using a deep cascade of
convolutional neural networks to accelerate the data acquisition process. We
show that for Cartesian undersampling of 2D cardiac MR images, the proposed
method outperforms the state-of-the-art compressed sensing approaches, such as
dictionary learning-based MRI (DLMRI) reconstruction, in terms of
reconstruction error, perceptual quality and reconstruction speed for both
3-fold and 6-fold undersampling. Compared to DLMRI, the error produced by the
method proposed is approximately twice as small, allowing to preserve
anatomical structures more faithfully. Using our method, each image can be
reconstructed in 23 ms, which is fast enough to enable real-time applications
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