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Position-Level Dynamic Coupling Analysis of Dual-Arm Underwater Vehicle Manipulator system 20

Position-Level Dynamic Coupling Analysis of Dual-Arm Underwa...

引用

20th IEEE International conference on Mechatronics and Automation, ICMA 2023

作者： Huang, Le Wei, Yanhui Wang, Taiming Lu, Tianhao Harbin Engineering University College of Intelligent Systems and Engineering No.145 Nantong Street Heilongjiang Province Harbin China Nanhai Institute Harbin Engineering University Hainan Province Sanya China

ISBN: (纸本)9798350320831

Dual-arm underwater vehicle manipulator system(UVMS) has great potential in underwater operation. However, due to the dynamic interaction, there are multiple dynamic coupling effects between two arms and between each arm and the base, which brings great challenges to the trajectory planning and coordinated control of UVMS. Firstly, we analyze the coupling effect of manipulator motion on base motion in position-level. A modeling method based on base centroid equivalent manipulator (BCEM) is proposed to analyze the coupling relationship between the movement of end effector and the position change of base centroid. then, the dynamic coupling index is defined to evaluate the dynamic coupling degree, which can be used as the performance evaluation index of the interference of the robot motion planning on the base motion and the design criterion of the structure and mass distribution of the manipulator, as well as to assist in selecting the best installation position of the manipulator. Finally, some simulations were carried out to analyze the influencing factors of coupling effect of dual-arm UVMS. this work provides a theoretical basis for the design, performance evaluation, trajectory planning and control of dual-arm UVMS. © 2023 IEEE.

关键词： Manipulators

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Combining DCOP and MILP for Complex Local optimization Problems 20th

Combining DCOP and MILP for Complex Local Optimization Probl...

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20th International conference of the Italian-Association-for-Artificial-Intelligence (AIxIA)

作者： Fernanda N T Furukita Fernando J M Marcellino Jaime Sichman Univ Sao Paulo Lab Tecn Inteligentes LTI Escola Politecn EP Av Prof Luciano Gualberto 158 Trav 3 BR-05508970 Sao Paulo SP Brazil

ISBN: (纸本)9783031084218;9783031084201

Supply chain management, which is composed of interdependent entities that have defined roles and responsibilities, shows several characteristics in common with Multi-Agent systems (MAS). this type of problem may be divided into several local subproblems, which can be optimized separately. However, in general, the full problem cannot be solved in a centralized way due to its complexity or the need for information privacy. this work presents a distributed heuristic method which provides an acceptable optimization of this type of complex problem when compared to the centralized approach available for the considered instances, and better than a similar approach in the literature. It is based on modeling the considered problem first as a Distributed Constraint optimization Problem (DCOP), and then by integrating it with Mixed-Integer Linear Programming (MILP) optimization models of its subproblems. We have obtained a value which is about 5% better than a similar distributed method in the literature and only about 7% worse than the actual optimum one. We consider a promising approach for increasingly real settings.

关键词： Agent Supply chain Constraint programming optimization

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Do-it-Yourself FMU Generation

Do-it-Yourself FMU Generation

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Workshops on AI4EA, F-IDE, CoSim-CPS, CIFMA 2022, Collocated with the 20th International conference on Software Engineering and Formal Methods, SEFM 2022

作者： Bernardeschi, Cinzia Dini, Pierpaolo Domenici, Andrea Palmieri, Maurizio Saponara, Sergio Department of Information Engineering University of Pisa Pisa Italy

ISBN: (纸本)9783031262357

While many modeling and simulation environments provide tools for the generation of FMI-compliant FMUs, developers often have to design an FMU from scratch in order to co-simulate their own code or code from a third-party framework. this paper reports on the authors’ experience in FMU development and presents some simple guidelines based on that experience. In particular, FMU generation is discussed in the context of a model predictive control framework using a robot arm as running example. © 2023, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Cyber Physical system

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DataXe: A system for Application Self-optimization in Serverless Edge Computing Environments

DataXe: A System for Application Self-optimization in Server...

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20th IEEE International conference on Pervasive Computing and Communications (IEEE PerCom)

作者： Coviello, Giuseppe Rao, Kunal Debnath, Biplob Po, Oliver Chakradhar, Srimat NEC Labs Amer Inc Princeton NJ 08540 USA

ISBN: (纸本)9781665416474

A key barrier to building performant, remotely managed and self-optimizing multi-sensor, distributed stream processing edge applications is high programming complexity. We recently proposed DataX [1], a novel platform that improves programmer productivity by enabling easy exchange, transformations, and fusion of data streams on virtualized edge computing infrastructure. this paper extends DataX to include (a) serverless computing that automatically scales stateful and stateless analytics units (AUs) on virtualized edge environments, (b) novel communication mechanisms that efficiently communicate data among analytics units, and (c) new techniques to promote automatic reuse and sharing of analytics processing across multiple applications in a lights out, serverless computing environment. Synthesizing these capabilities into a single platform has been substantially more transformative than any available stream processing system for the edge. We refer to this enhanced and efficient version of DataX as DataXe. To the best of our knowledge, this is the first serverless system for stream processing. For a real-world video analytics application, we observed that the performance of the DataXe implementation of the analytics application is about 3X faster than a standalone implementation of the analytics application with custom, hand-crafted communication, multiprocessing and allocation of edge resources.

关键词： Serverless computing edge computing application scaling efficiency self-optimization DataX Kubernetes

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Algorithm-based Wide-Band Impedance Matching Network Synthesis and optimization

Algorithm-based Wide-Band Impedance Matching Network Synthes...

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International conference on Synthesis, modeling, Analysis and Simulation Methods and Applications to Circuit Design (SMACD)

作者： A. Michailidis T. Noulis Department of Physics Electronics Laboratory Aristotle University of Thessaloniki Greece

ISBN: (数字)9798350351927

ISBN: (纸本)9798350351934

In this work, an algorithm-based methodology for wide-band impedance matching is presented. the proposed methodology is independent of the selected circuit under-test and the application frequency. the presented methodology is oriented towards novel algorithmic design approaches, minimizing the design iterations between component tuning and simulation. the developed algorithms exploit network theory to create cost functions, capable of optimizing the synthesized matching network component and bandwidth wise. Each algorithm can be applied as a standalone, without interfering with the circuit under-test while its generic nature provides high scalability, enabling accurate and fast multi-stage circuit impedance matching.

关键词： Accuracy Impedance matching Scalability Bandwidth Cost function Network synthesis Impedance Integrated circuit modeling Tuning Standards

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Handling DER Market Participation: Market Redesign vs Network Augmentation

Handling DER Market Participation: Market Redesign vs Networ...

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International conference on European Electricity Market, EEM

作者： Nuno Soares Fonseca Filipe Soares José Iria Centre for Power and Energy Systems INESC TEC Porto Portugal College of Engineering Computing & Cybernetics The Australian National University Canberra Australia

ISBN: (数字)9798350381740

ISBN: (纸本)9798350381757

this paper proposes a planning optimization model to help distribution system operators (DSOs) decide on the most cost-effective investments to handle the wholesale market participation of distributed energy resources (DERs). Two investment options are contemplated: market redesign; and network augmentation. the market redesign is employed through a DSO framework used to coordinate the network-secure participation of DERs in wholesale markets. Network augmentation is achieved by investing in new HV/MV OLTC and MV/LV transformers. To evaluate the performance of our planning model, we used the IEEE 69-bus network with three DER aggregators operating under different DER scenarios. Our tests show that the planning problem suggests investment decisions that can help DSOs guarantee network security. Market redesign has shown to be the most cost-effective option. However, this option is not always viable, namely in scenarios where not enough DERs are available to provide network support services. In such scenarios, hybrid investment solutions are required.

关键词： optimization models Computational modeling Europe Network security Electricity supply industry Transformers Planning

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modeling a Magnetic Levitation Bearing with CFD Hemocompatibility optimization 20

Modeling a Magnetic Levitation Bearing with CFD Hemocompatib...

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20th Biennial IEEE conference on Electromagnetic Field Computation (CEFC)

作者： Kiang, Simon Nissim, Lee Tedesco, Victor Ogiwara, Eiji Fraser, Katherine Kurita, Nobuyuki Frazier, O. H. Wang, Yaxin Rice Univ Dept Elect & Comp Engn Houston TX 77005 USA Univ Bath Dept Mech Engn Bath Avon England Texas Heart Inst Innovat Device & Engn Applicat Houston TX 77025 USA Gunma Univ Dept Elect Engn Gunma Japan Texas Heart Inst Innovat Design & Engn Applicat Houston TX 77025 USA

ISBN: (数字)9781665468336

ISBN: (纸本)9781665468336

Our previous work proposed a Hemocompatibility assessment platform (HAP) to quantify blood trauma from individual left ventricular assist devices (LVAD) components. We used magnetic levitation bearings to minimize mechanical wear and hemolysis caused by the platform. the magnetic levitation bearings consisted of passive radial bearings and active axial bearings. We used a computational fluid dynamic analysis of the axial bearing design and observed fluid stagnation. We modified our design to increase fluid flow around the axial bearing and created a computational electromagnetic field model of the new design to characterize the forces produced by the bearing. We manufactured the axial bearing and experimental measurements of the axial forces were in good agreement with the simulation.

关键词： magnetic levitation hemocompatibility blood pump

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optimization of Overdraft Application Process with Fluxicon Disco 20

Optimization of Overdraft Application Process with Fluxicon ...

引用

20th International conference on ICT and Knowledge Engineering (ICT and KE)

作者： Porouhan, Parham Siam Univ Grad Sch Informat Technol Bangkok Thailand

ISBN: (数字)9781665486606

ISBN: (纸本)9781665486606

Having reliable information is very important while using a process mining technique as data mining is all about finding out how processes are actually performed to discover problems and areas for improvement. In this paper, we analyzed the real-life event log from a financial institution using the data mining tool called Fluxicon disco. the dataset is related to the application process for a personal loan or overdraft. the event log has a total of 262200 events and 13087 cases. the data was collected from October 1, 2011, to March 14, 2012. the whole loan procedure started with the customer submitting an application and the successful endpoint is the application being activated. For this study, we collected the data in CSV format and imported it into the Fluxicon Disco software. the Disco makes it easier to deal with large event logs and complex models. After importing the data, we defined the column as Case ID, Activity, Resource, Timestamp, and Attributes. We do not have any large specific problem;the dataset simply shows the loan process activities and path. But we assume that there might be some departments and activities which might be taking longer than necessary, and it might be increasing the entire loan selection process. We assume that some work is not being done in an efficient way, resources of the organization are not optimized, and as a result, clients have to wait for more for the loan process. So based on these problems, our objective is to find those activities and paths where duration is comparatively very high, and cases are being piled up there. But the data analytics tool does not exactly state what the real problem is, it just gives us direction and we have to find it out on our own. In this data analyzing process, we came up with two major areas which we think need to be taken care of. the first one is the activity which is modifying approved contracts where the frequency is very low, but the mean duration is very high. And it is placed in a

关键词： Process Mining Fluxicon Disco personal loan activity and overdraft-related attributes process discovery process modeling bottleneck mining workflow simulation process mapping Fuzzy Miner graphs/models

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modeling and Simulation of Link 16 Message Distribution in Operational Applications

Modeling and Simulation of Link 16 Message Distribution in O...

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IEEE International conference on Electronic Information and Communication Technology (ICEICT)

作者： Wanyong Tian Fuqiang Li Chilian Chen Key Laboratory of Technology on Data link China Electronics Technology Group Corporation (CETC) 20th Institute Xi'an China

Data link is an information system conforming to specified message formats and communication protocols that links combat units such as sensors, weapons, and command and control (C2) platforms. It could automatically share formatted tactical data, for instance, battlefield situation, command and guidance, tactical coordination and weapon control instructions among combat participants in real time. As a typical data link, Link 16 has been the major means of information dissemination in joint tactical operations of the US military, and has played an important role in all previous wars over the past decades. Link 16 is capable of achieving interoperability and realizing various tactical functions for all combat participants based on unified information distribution and processing mechanisms. this paper investigates message exchanging procedure and applies discrete event system specification (DEVS) method in modeling and simulation (M&S) of information distribution in air interception operations. the experimental results show that the method can be widely applied to modeling information distribution with good scalability. It is able to provide technical reference for subsequent information processing optimization.

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optimization of Witness Selection for Ensuring the Integrity of Data in a Blockchain-Assisted Health-IoT system

Optimization of Witness Selection for Ensuring the Integrity...

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Eurocon

作者： Rambod Pakrooh Abdollah Jabbari Carol Fung Concordia University Montreal Canada

Nowadays, a lot of wearable healthcare devices are capable of measuring vital signs and transmitting the measurements wirelessly to user devices or remote servers for analysis. Health IoT (HIoT) systems are established based on these devices. One of the important challenges in these systems is ensuring the correctness and integrity of data received at remote servers. Witnessing transmitted packets in a local network using some witness devices is a promising approach to guarantee the integrity of data. In this paper, we define an optimization problem to select the best witnesses in an area in order to achieve some predefined targets. In order to make our scheme more practical, the packet error rate and the variability of devices capabilities in the local network have been taken into consideration. this problem is solved based on three different scenarios to show the relationship of system parameters.

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