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The purpose of this paper is the research of a novel gesture-based dual-robot collaborative interaction interface, which achieves the gesture recognition when both hands overlap. This paper designs a hybrid-sensor gesture recognition platform to detect the both-hand data for dual-robot control.

This paper uses a combination of Leap Motion and PrimeSense in the vertical direction, which detects both-hand data in real time. When there is occlusion between hands, each hand is detected by one of the sensors, and a quaternion-based algorithm is used to realize the conversion of two sensors corresponding to different coordinate systems. When there is no occlusion, the data are fused by a self-adaptive weight fusion algorithm. Then the collision detection algorithm is used to detect the collision between robots to ensure safety. Finally, the data are transmitted to the dual robots.

This interface is implemented on a dual-robot system consisting of two 6-DOF robots. The dual-robot cooperative experiment indicates that the proposed interface is feasible and effective, and it takes less time to operate and has higher interaction efficiency.

A novel gesture-based dual-robot collaborative interface is proposed. It overcomes the problem of gesture occlusion in two-hand interaction with low computational complexity and low equipment cost. The proposed interface can perform a long-term stable tracking of the two-hand gestures even if there is occlusion between the hands. Meanwhile, it reduces the number of hand reset to reduce the operation time. The proposed interface achieves a natural and safe interaction between the human and the dual robot.

Multi-sensor fusion in robotic dexterous hands is a hot research field. However, there is little research on multi-sensor fusion rules. This study aims to introduce a multi-sensor fusion algorithm using a motor force sensor, film pressure sensor, temperature sensor and angle sensor, which can form a consistent interpretation of grasp stability by sensor fusion without multi-dimensional force/torque sensors.

This algorithm is based on the three-finger force balance theorem, which provides a judgment method for the unknown force direction. Moreover, the Monte Carlo method calculates the grasping ability and judges the grasping stability under a certain confidence interval using probability and statistics. Based on three fingers, the situation of four- and five-fingered dexterous hand has been expanded. Moreover, an experimental platform was built using dexterous hands, and a grasping experiment was conducted to confirm the proposed algorithm. The grasping experiment uses three fingers and five fingers to grasp different objects, use the introduced method to judge the grasping stability and calculate the accuracy of the judgment according to the actual grasping situation.

The multi-sensor fusion algorithms are universal and can perform multi-sensor fusion for multi-finger rigid, flexible and rigid-soft coupled dexterous hands. The three-finger balance theorem and Monte Carlo method can better replace the discrimination method using multi-dimensional force/torque sensors.

A new multi-sensor fusion algorithm is proposed and verified. According to the experiments, the accuracy of grasping judgment is more than 85%, which proves that the method is feasible.

The effective prediction of crude oil futures prices can provide a reference for relevant enterprises to make production plans and investment decisions. To the nonlinearity, high volatility and uncertainty of the crude oil futures price, a matrixed nonlinear exponential grey Bernoulli model combined with an exponential accumulation generating operator (MNEGBM(1,1)) is proposed in this paper.

First, the original sequence is processed by the exponential accumulation generating operator to weaken its volatility. The nonlinear grey Bernoulli and exponential function models are combined to fit the preprocessed sequence. Then, the parameters in MNEGBM(1,1) are matrixed, so the ternary interval number sequence can be modeled directly. Marine Predators Algorithm (MPA) is chosen to optimize the nonlinear parameters. Finally, the Cramer rule is used to derive the time recursive formula.

The predictive effectiveness of the proposed model is verified by comparing it with five comparison models. Crude oil futures prices in Cushing, OK are predicted and analyzed from 2023/07 to 2023/12. The prediction results show it will gradually decrease over the next six months.

Crude oil futures prices are highly volatile in the short term. The use of grey model for short-term prediction is valuable for research. For the data characteristics of crude oil futures price, this study first proposes an improved model for interval number prediction of crude oil futures prices.

This paper aims to design an automatic inspection system for the characters on tire molds, which involves a vision-based inspection method for the characters on tire molds.

An automatic inspection equipment is designed according to the features of the tire mold. To implement the inspection task, the corresponding image processing methods are designed, including image preprocessing, image mosaic, image locating and character inspection. Image preprocessing mainly contains fitting the contours of the acquired tire mold images and those of the computer aided design (CAD) as the arcs of two circles and polar transformation of the acquired images and the CAD. Then, the authors propose a novel framework to locate the acquired images into the corresponding mosaicked tire mold image. Finally, a character inspection scheme is proposed by combining an support-vector-machine-based character recognition method and a string matching approach. At the stages of image locating and character inspection, image mosaic is simultaneously used to label the defects in the mosaicked tire mold image, which is based on histograms-of-gradients features.

The experimental results indicate that the designed automatic inspection system can inspect the characters on the tire mold with a high accuracy at a reasonable time consumption.

The designed automatic inspection system can detect the carving faults for the characters on the tire molds, which are the cases that the characters are wrongly added, deleted or modified on the tire mold.

To the best of the authors’ knowledge, this is the first automatic vision-based inspection system for the characters on tire molds. An inspection equipment is designed and many novel image processing methods are proposed to implement the inspection task. The designed system can be widely applied in the industry.

The purpose of this paper is to design and implement a landmine detection robot (Venus) equipped with three electromagnetic sensors and controlled by ordered weighted averaging (OWA) sensor fusion approach. Higher numbers of detected mines in a fixed time interval and lower total power consumption are the achieved goals of this research.

OWA sensor fusion is exploited for data combination in this paper. Unlike most other landmine detection robots, Venus has three electromagnetic sensors, the positions of which can be adjusted according to the environmental conditions. Also, a novel approach for OWA weight dedication using Gaussian distribution function is applied and the whole idea is evaluated practically in several randomly mined fields. Finally, for better evaluation, performance of Venus is compared with the other two landmine detection robots.

The simulation and experimental results proved that in a predetermined interval of time, not only total energy consumption is reduced, but also by expanding the surface and the depth of influence of electromagnetic waves, the number of detected mines is considerably raised.

In contrast to the regular demining process, which is relatively expensive and complicated, the landmine detection method proposed in this research is surprisingly simple, cost effective, and efficient. Therefore, it may be attractive for every company or organization in this field of research.

The paper describes research which implements and evaluates a novel control approach based on OWA sensor fusion method, a new way of using Gaussian distribution function for determining OWA weights, and also an adaptive physical configuration for sensors based on environmental conditions.

Traditional multivariable grey prediction models define the background-value coefficients of the dependent and independent variables uniformly, ignoring the differences between their physical properties, which in turn affects the stability and reliability of the model performance.

A novel multivariable grey prediction model is constructed with different background-value coefficients of the dependent and independent variables, and a one-to-one correspondence between the variables and the background-value coefficients to improve the smoothing effect of the background-value coefficients on the sequences. Furthermore, the fractional order accumulating operator is introduced to the new model weaken the randomness of the raw sequence. The particle swarm optimization (PSO) algorithm is used to optimize the background-value coefficients and the order of the model to improve model performance.

The new model structure has good variability and compatibility, which can achieve compatibility with current mainstream grey prediction models. The performance of the new model is compared and analyzed with three typical cases, and the results show that the new model outperforms the other two similar grey prediction models.

This study has positive implications for enriching the method system of multivariable grey prediction model.

The conventional pedestrian detection algorithms lack in scale sensitivity. The purpose of this paper is to propose a novel algorithm of self-adaptive scale pedestrian detection, based on deep residual network (DRN), to address such lacks.

First, the “Edge boxes” algorithm is introduced to extract region of interests from pedestrian images. Then, the extracted bounding boxes are incorporated to different DRNs, one is a large-scale DRN and the other one is the small-scale DRN. The height of the bounding boxes is used to classify the results of pedestrians and to regress the bounding boxes to the entity of the pedestrian. At last, a weighted self-adaptive scale function, which combines the large-scale results and small-scale results, is designed for the final pedestrian detection.

To validate the effectiveness and feasibility of the proposed algorithm, some comparison experiments have been done on the common pedestrian detection data sets: Caltech, INRIA, ETH and KITTI. Experimental results show that the proposed algorithm is adapted for the various scales of the pedestrians. For the hard detected small-scale pedestrians, the proposed algorithm has improved the accuracy and robustness of detections.

By applying different models to deal with different scales of pedestrians, the proposed algorithm with the weighted calculation function has improved the accuracy and robustness for different scales of pedestrians.

Histopathology biopsy imaging is currently the gold standard for the diagnosis of breast cancer in clinical practice. Pathologists examine the images at various magnifications to identify the type of tumor because if only one magnification is taken into account, the decision may not be accurate. This study explores the performance of transfer learning and late fusion to construct multi-scale ensembles that fuse different magnification-specific deep learning models for the binary classification of breast tumor slides.

Three pretrained deep learning techniques (DenseNet 201, MobileNet v2 and Inception v3) were used to classify breast tumor images over the four magnification factors of the Breast Cancer Histopathological Image Classification dataset (40×, 100×, 200× and 400×). To fuse the predictions of the models trained on different magnification factors, different aggregators were used, including weighted voting and seven meta-classifiers trained on slide predictions using class labels and the probabilities assigned to each class. The best cluster of the outperforming models was chosen using the Scott–Knott statistical test, and the top models were ranked using the Borda count voting system.

This study recommends the use of transfer learning and late fusion for histopathological breast cancer image classification by constructing multi-magnification ensembles because they perform better than models trained on each magnification separately.

The best multi-scale ensembles outperformed state-of-the-art integrated models and achieved an accuracy mean value of 98.82 per cent, precision of 98.46 per cent, recall of 100 per cent and F1-score of 99.20 per cent.

The purpose of this paper is to relate to the real-time navigation and tracking of pedestrians in a closed environment. To restrain accumulated error of low-cost microelectromechanical system inertial navigation system and adapt to the real-time navigation of pedestrians at different speeds, the authors proposed an improved inertial navigation system (INS)/pedestrian dead reckoning (PDR)/ultra wideband (UWB) integrated positioning method for indoor foot-mounted pedestrians.

This paper proposes a self-adaptive integrated positioning algorithm that can recognize multi-gait and realize a high accurate pedestrian multi-gait indoor positioning. First, the corresponding gait method is used to detect different gaits of pedestrians at different velocities; second, the INS/PDR/UWB integrated system is used to get the positioning information. Thus, the INS/UWB integrated system is used when the pedestrian moves at normal speed; the PDR/UWB integrated system is used when the pedestrian moves at rapid speed. Finally, the adaptive Kalman filter correction method is adopted to modify system errors and improve the positioning performance of integrated system.

The algorithm presented in this paper improves performance of indoor pedestrian integrated positioning system from three aspects: in the view of different pedestrian gaits at different speeds, the zero velocity detection and stride frequency detection are adopted on the integrated positioning system. Further, the accuracy of inertial positioning systems can be improved; the attitude fusion filter is used to obtain the optimal quaternion and improve the accuracy of INS positioning system and PDR positioning system; because of the errors of adaptive integrated positioning system, the adaptive filter is proposed to correct errors and improve integrated positioning accuracy and stability. The adaptive filtering algorithm can effectively restrain the divergence problem caused by outliers. Compared to the KF algorithm, AKF algorithm can better improve the fault tolerance and precision of integrated positioning system.

The INS/PDR/UWB integrated system is built to track pedestrian position and attitude. Finally, an adaptive Kalman filter is used to improve the accuracy and stability of integrated positioning system.

The geomagnetic field vector is a function of the satellite’s position. The position and speed of the satellite can be determined by comparing the geomagnetic field vector measured by on board three-axis magnetometer with the standard value of the international geomagnetic field. The geomagnetic model has the disadvantages of uncertainty, low precision and long-term variability. Therefore, accuracy of autonomous navigation using the magnetometer is low. The purpose of this paper is to use the geomagnetic and sunlight information fusion algorithm to improve the orbit accuracy.

In this paper, an autonomous navigation method for low earth orbit satellite is studied by fusing geomagnetic and solar energy information. The algorithm selects the cosine value of the angle between the solar light vector and the geomagnetic vector, and the geomagnetic field intensity as observation. The Adaptive Unscented Kalman Filter (AUKF) filter is used to estimate the speed and position of the satellite, and the simulation research is carried out. This paper also made the same study using the UKF filter for comparison with the AUKF filter.

The algorithm of adding the sun direction vector information improves the positioning accuracy compared with the simple geomagnetic navigation, and the convergence and stability of the filter are better. The navigation error does not accumulate with time and has engineering application value. It also can be seen that AUKF filtering accuracy is better than UKF filtering accuracy.

Geomagnetic navigation is greatly affected by the accuracy of magnetometer. This paper does not consider the spacecraft’s environmental interference with magnetic sensors.

Magnetometers and solar sensors are common sensors for micro-satellites. Near-Earth satellite orbit has abundant geomagnetic field resources. Therefore, the algorithm will have higher engineering significance in the practical application of low orbit micro-satellites orbit determination.

This paper introduces a satellite autonomous navigation algorithm. The AUKF geomagnetic filter algorithm using sunlight information can obviously improve the navigation accuracy and meet the basic requirements of low orbit small satellite orbit determination.