Lei Sun
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View article: Federated Split Learning for Resource-Constrained Robots in Industrial IoT: Framework Comparison, Optimization Strategies, and Future Directions
Federated Split Learning for Resource-Constrained Robots in Industrial IoT: Framework Comparison, Optimization Strategies, and Future Directions Open
Federated split learning (FedSL) has emerged as a promising paradigm for enabling collaborative intelligence in industrial Internet of Things (IoT) systems, particularly in smart factories where data privacy, communication efficiency, and …
View article: Variable scale operational path planning for land levelling based on the improved ant colony optimization algorithm
Variable scale operational path planning for land levelling based on the improved ant colony optimization algorithm Open
To address the challenges associated with traditional traversal-based land leveling, which often suffered from a lack of coordination and planning, resulting in low operational efficiency and the management of large data volumes in contemp…
View article: RS-MOCO: A deep learning-based topology-preserving image registration method for cardiac T1 mapping
RS-MOCO: A deep learning-based topology-preserving image registration method for cardiac T1 mapping Open
Cardiac T1 mapping can evaluate various clinical symptoms of myocardial tissue. However, there is currently a lack of effective, robust, and efficient methods for motion correction in cardiac T1 mapping. In this paper, we propose a deep le…
View article: BA-CLM: A Globally Consistent 3D LiDAR Mapping Based on Bundle Adjustment Cost Factors
BA-CLM: A Globally Consistent 3D LiDAR Mapping Based on Bundle Adjustment Cost Factors Open
Constructing a globally consistent high-precision map is essential for the application of mobile robots. Existing optimization-based mapping methods typically constrain robot states in pose space during the graph optimization process, with…
View article: Robust Force Control Based on Fuzzy ESO and Hysteresis Compensation for a Pneumatic Actuator-Driven Compliant Mechanism with Full-State Constraints
Robust Force Control Based on Fuzzy ESO and Hysteresis Compensation for a Pneumatic Actuator-Driven Compliant Mechanism with Full-State Constraints Open
This paper proposes a “planning and control” scheme for a compliant mechanism (CM) based on a pneumatic actuator (PAC) with hysteresis nonlinearity and full-state constraints. In the planning part, a novel direct inverse model is presented…
View article: BA-CLM: A Globally Consistent 3D LiDAR Mapping Based on BA Cost Factors
BA-CLM: A Globally Consistent 3D LiDAR Mapping Based on BA Cost Factors Open
Constructing a globally consistent high-precision map is essential for the application of mobile robots. Existing optimization-based mapping methods typically constrain robot states in pose space during the graph optimization process, with…
View article: Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model
Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model Open
Traditional industrial robots often face challenges in achieving a perfectly polished surface on a workpiece because of their high mechanical rigidity. The active compliance force control device installed at the robotic arm’s end enables h…
View article: LRPL-VIO: A Lightweight and Robust Visual–Inertial Odometry with Point and Line Features
LRPL-VIO: A Lightweight and Robust Visual–Inertial Odometry with Point and Line Features Open
Visual-inertial odometry (VIO) algorithms, fusing various features such as points and lines, are able to improve their performance in challenging scenes while the running time severely increases. In this paper, we propose a novel lightweig…
View article: PCRMLP: A Two-Stage Network for Point Cloud Registration in Urban Scenes
PCRMLP: A Two-Stage Network for Point Cloud Registration in Urban Scenes Open
Point cloud registration plays a crucial role in 3D mapping and localization. Urban scene point clouds pose significant challenges for registration due to their large data volume, similar scenarios, and dynamic objects. Estimating the loca…
View article: PCRMLP : A Two-Stage Network for Point Cloud Registration in Urban Scenes
PCRMLP : A Two-Stage Network for Point Cloud Registration in Urban Scenes Open
Urban scene point cloud pose significant challenges for registration due to its large data volume, similar scenarios and dynamic objects. In this paper, we propose PCRMLP, a model for urban scene point cloud registration that achieves comp…
View article: Design and Analysis of a Compliant End-Effector for Robotic Polishing Using Flexible Beams
Design and Analysis of a Compliant End-Effector for Robotic Polishing Using Flexible Beams Open
The contact force between the polishing tool and the workpiece is crucial in determining the surface quality in robotic polishing. Different from rigid end-effectors, this paper presents a novel compliant end-effector (CEE) for robotic pol…
View article: X-Shaped Structure-Based Modeling and Control for a Stable Platform with a Series Elastic Actuator
X-Shaped Structure-Based Modeling and Control for a Stable Platform with a Series Elastic Actuator Open
Stable platforms are widely used in many fields to keep the environment stable for the load under the influence of the motion of the craft and other carriers. However, its stability has always been an important and serious challenge for re…
View article: A Real-time Method on Robot with Continuous Trajectory for Low-drift Odometry and Mapping
A Real-time Method on Robot with Continuous Trajectory for Low-drift Odometry and Mapping Open
This paper mainly proposes a real-time method on the robot with a continuous trajectory for low-drift odometry and mapping, by using range measurements from a 3D laser scanner, but without any other external reference. The common problem o…
View article: Parametric generation of three-dimensional gait for robot-assisted rehabilitation
Parametric generation of three-dimensional gait for robot-assisted rehabilitation Open
For robot-assisted rehabilitation and assessment of the patients with motor dysfunction, the parametric generation of their normal gait as the input for the robot is essential to match with the features of the patient to a greater extent. …
View article: AVC: Selecting discriminative features on basis of AUC by maximizing variable complementarity
AVC: Selecting discriminative features on basis of AUC by maximizing variable complementarity Open
Compared with other ROC-based feature selection approaches, our new approach can select fewer features and effectively improve the classification performance.