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A Multimedia Framework for Continuum Robots: systematic, Computational, and control Perspectives

A Multimedia Framework for Continuum Robots: Systematic, Com...

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2024 international symposium on Intelligent Signal Processing and Communication systems, ISPACS 2024

作者： Hsieh, Po-Yu Hou, June-Hao Graduate Institute of Architecture National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)9798350389210

Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their adaptive, responsive, and flexible characteristics. Despite their promises, the lack of an integrated framework poses a significant limitation for both users and developers, resulting in inefficiency and complexity during preliminary developments. Thus, this paper introduces a unified framework for continuum robotic systems that addresses these challenges by integrating system architecture, dynamics computation, and control strategy within a computer-aided design (CAD) platform. The proposed method allows for efficient modeling and quick preview of the robot performance, and thus facilitating iterative design and implementation, with a view to enhancing the quality of robot developments. © 2024 ieee.

关键词： Machine design

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Thickness Distribution Prediction of Superplastic Forming Parts Based on Machine Learning and computer aided Engineering 4

Thickness Distribution Prediction of Superplastic Forming Pa...

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4th international symposium on Artificial Intelligence and Intelligent Manufacturing, AIIM 2024

作者： Sun, Muqi Xiong, Chengyue Zhou, Yuwei Li, Yongbing Zhang, Xicheng China Academy of Machinery Science and Technology Beijing China State Key Laboratory of Advanced Forming Technology and Equipment China Academy of Machinery Science & Technology Beijing China Beijing National Innovation Institute of Lightweight Ltd China Academy of Machinery Science & Technology Beijing China

ISBN: (纸本)9798331541729

In recent years, the high-speed and high-performance needs of aircraft put forward higher requirements for superplastic forming process, in which uneven thickness distribution is one of the important factors affecting the performance of formed parts, and it increases the cost of design and manufacturing. Therefore, this study proposes using neural networks to predict the thickness distribution of superplastic formed parts. We established BP neural network and PSO-BP neural network to predict the thickness distribution of cross-section edges of box-shaped parts. The prediction performance of the two models is compared and the results show that the PSO-BP neural network has a higher prediction accuracy, especially in the area of the round corners. It is demonstrated that the method is feasible and significantly improves the computational efficiency. © 2024 ieee.

关键词： Superplasticity

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MNGLO-NET: A CASCADE NETWORK FOR DETECTING GLOMERULUS AND CLASSIFYING PATHOLOGICAL TYPES OF MEMBRANOUS NEPHROPATHY 20

MNGLO-NET: A CASCADE NETWORK FOR DETECTING GLOMERULUS AND CL...

引用

20th ieee international symposium on Biomedical Imaging (ISBI)

作者： Fang, Ruiyan Wu, Yalan Zhang, Xiaofeng Zhang, Xin South China Univ Technol Sch Elect & Informat Engn Guangzhou Peoples R China Xian Peoples Hosp Xian Peoples R China Pazhou Lab Guangzhou Peoples R China

ISBN: (纸本)9781665473583

Membranous Nephropathy (MN) is a common adult nephrotic syndrome, whose key diagnostic process is Glomerular detection and classification. However, the development of MN diagnosis is impeded by the lack of pathologists and the complexity of glomerular pathological judgment. In this paper, we propose a two-stage cascade framework, MNGLO-Net, to identify three pathological types of glomeruli in our MNTG dataset. In first stage, NA-Net produces a detection of the glomerulus and classify the normal and abnormal types simultaneously. The resulting bounding box for each abnormal glomerulus is then used to crop a region of interest around the target in original image and the final feature maps of NA-Net to provide prior context to a refinement classification network, HL-Net, in second stage. Additionally, we propose the Color K-means guided Staining Transfer (CKST) module to solve the issue of single stain and differences among stains, and adopt the Prior knowledge guided Generating (PGAG) algorithm to deal with the challenge of significant shape difference. Experimental results show that MNGLO-Net reach the best results, i.e., 93.3% mean average precision (mAP) and 93.16% F1 score. Furthermore, we design the MN-GLOALY system to automatically produce pathological reports to promote the exploration of MN.

关键词： Glomerular detection and classification Membranous Nephropathy (MN) Cascade network Pathological slide image computer aided Diagnosis (CAD)

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A Multimedia Framework for Continuum Robots: systematic, Computational, and control Perspectives

A Multimedia Framework for Continuum Robots: Systematic, Com...

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ieee international symposium on Intelligent Signal Processing and Communication systems (ISPACS)

作者： Po-Yu Hsieh June-Hao Hou Graduate Institute of Architecture National Yang Ming Chiao Tung University Hsinchu Taiwan

ISBN: (数字)9798350389210

ISBN: (纸本)9798350389227

Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of humancomputer interaction (HCI) in varied applications due to their adaptive, responsive, and flexible characteristics. Despite their promises, the lack of an integrated framework poses a significant limitation for both users and developers, resulting in inefficiency and complexity during preliminary developments. Thus, this paper introduces a unified framework for continuum robotic systems that addresses these challenges by integrating system architecture, dynamics computation, and control strategy within a computer-aided design (CAD) platform. The proposed method allows for efficient modeling and quick preview of the robot performance, and thus facilitating iterative design and implementation, with a view to enhancing the quality of robot developments.

关键词： Solid modeling Visualization systematics design automation Computational modeling Heuristic algorithms Predictive models Computational efficiency Continuum robots Iterative methods

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Proceedings of the ieee international symposium on computer-aided control system design

Proceedings of the IEEE International Symposium on Computer-...

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2016 ieee Conference on computer aided control system design, cacsd 2016

ISBN: (纸本)9781509007592

The proceedings contain 24 papers. The topics discussed include: SAT-based distributed reactive control protocol synthesis for Boolean networks;fast control using homotopy properties for obstacle-avoidance of systems with input constraints;control of discrete-time piecewise affine probabilistic systems using reachability analysis;Lyapunov function synthesis - algorithm and software;computing maximal invariant sets for switched nonlinear systems;on the computation of Lyapunov functions for interconnected systems;controlled contractive sets for low-complexity constrained control;a software to design decentralized controllers for time-delay systems;real-time control platform based on free software and USB communication;on the H-two norm of switched systems via homogeneous rational Lyapunov functions;safety verification of refrigeration containers using barrier certificates;follower distribution algorithms for leader-follower networks;LPV filter design for discrete-time systems with time-domain IQCs;and robust H2filtering for discrete-time uncertain systems with auxiliary past output measurements.

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design of photoacoustic modular helmet for neonatatal neurocritical care

Design of photoacoustic modular helmet for neonatatal neuroc...

引用

ieee international symposium on Applications of Ferroelectrics (ISAF)

作者： Ananya Tandri Keshuai Xu May W. Chen Emad Boctor Jeeun Kang Dept. Biomedical Engineering Johns Hopkins University Baltimore MD USA Dept. Computer Science Johns Hopkins University Baltimore MD USA Dept. Pediatrics Johns Hopkins University Baltimore MD USA Lab. for Computational Sensing & Robotics Johns Hopkins University Baltimore MD USA Dept. Anesthesiology and Critical Care Medicine Johns Hopkins University Baltimore MD USA

ISBN: (数字)9798350371901

ISBN: (纸本)9798350371918

Perinatal arterial ischemic stroke (PAIS) is a form of focal vascular neurological injury that occurs during or shortly after birth. We recently proposed a modular PA helmet (PAH) system, in which multiple modules constitutes a flexible helmet to accommodate any neonatal head shape and size to provide volumetric monitoring of neonatal brain oxygen saturation. Here, optical tracking of the PAH configuration enables spatial image reconstruction. Given the large freedom in PAH configuration, it is critical to understand the implications of various design parameters in imaging quality. In this paper, we present our simulation-aided design approach using acoustic and optical simulation tools. Our design criteria are to optimize 1) signal contrast and 2) spatial resolution with different number of modules and their mean distances, and is further challenged with modular position error inevitable in modular position recognition. Results of the simulation established an acceptable error threshold for optical tracking and informed module prototype configuration and shape. The prototype based on the optimal design specifications is also demonstrated.

关键词： Pediatrics Head Shape Prototypes Optical saturation Optical variables control Optical imaging Adaptive optics Acoustics Safety

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Impact Analysis of Negative Gate Voltage on SiCMOS Reliability Under OFF-State Avalanche Stress

Impact Analysis of Negative Gate Voltage on SiCMOS Reliabili...

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international symposium on Physical & Failure Analysis of Integrated Circuits

作者： Hang Xu Jianbin Guo Tianyang Feng Yafen Yang Qing-Qing Sun David Wei Zhang State Key Laboratory of ASIC and System School of Microelectronics Fudan University Shanghai China

ISBN: (数字)9798350360608

ISBN: (纸本)9798350360615

This paper fully researches and analyzes the effect of negative OFF-state gate-source bias voltage (V GS , off) on the device degradation under OFF-state avalanche stress. It is found that the degradation associated with negative V GS ,off is much greater than that of 0V V GS ,off and negative bias temperature instability (NBTI). While the shift in threshold voltage (V T ) and on-resistance (R on ) are relatively small, and the biggest change is reverse leakage current (I Dss ) corresponds to the generation of interface state. This phenomenon is analyzed in conjunction with Technology computer aided design (TCAD) analysis, which demonstrate that under the avalanche stress condition, the electric field at the bottom of the gate oxide attains substantial magnitudes. Moreover, the introduction of negative V GS ,off significantly amplifies the electric field in this region, which has a significant impact on the long-term reliability of the device.

关键词： Degradation Negative bias temperature instability Manufacturing processes Thermal variables control Logic gates Reliability engineering Threshold voltage

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Verilog Loop Unrolling, Module Generation, Part-Select and Arithmetic Right Shift Support in Odin II 30

Verilog Loop Unrolling, Module Generation, Part-Select and A...

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30th international symposium on Rapid system Prototyping - Shortening the Path from Specification to Prototype (RSP)

作者： Young, Scott Demmings, Alexandrea Ivari, Nasrin Eshraghi Legault, Jean-Philippe Kent, Kenneth B. Univ New Brunswick Fredericton NB Canada

ISBN: (纸本)9781450368476

Verilog is a hardware description language (HDL) that supports the specification of hardware circuitry and control logic for production, simulation and testing. The subset of the specification used for production is called synthesizable. Verilog-to-Routing (VTR) is a computer-aided design (CAD) flow. It transforms synthesizable Verilog into a placed and routed configuration for a Field Programmable Gate Array (FPGA) architecture specified in XML. The front end of the VTR CAD flow is Odin II. Odin II parses Verilog files and uses them to create a netlist consisting of inputs, outputs, nodes, and connections. Odin II is an open-source research project, and full Verilog language coverage is a work in progress. This work extends Odin II's Verilog support to files containing the arithmetic right shift operator (>>>) and both the + : and - : part-select operators. It also adds support for simple for loops, while loops and loop-based module generation. Dynamic looping constructs are not synthesizable, so all looping constructs are processed before the netlist is generated. This paper will present the missing language features that were implemented, the scope of their implementation, the architecture of the solution, testing and finally the efficiency of the contributions.

关键词： Verilog FPGA Verilog-to-Routing computer-aided-design Compiler Tool

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Segmented coordinated control based on active steering and differential braking for lane departure prevention 4

Segmented coordinated control based on active steering and d...

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4th CAA international Conference on Vehicular control and Intelligence, CVCI 2020

作者： Wang, Huiran Zhao, Linfeng Chen, Wuwei Liang, Xiutian Hefei University of Technology Hefei China

ISBN: (纸本)9781728184968

To improve the control performance of the lane departure prevention system, a segmented coordinated control method of active steering and differential braking is proposed. Taking the longitudinal velocity and road curvature as input and considering the driving habits of the driver in different lanes, the fuzzy controller used to determine the virtual lane boundary is designed. The control decision of LDPS is determined by combining the steering behavior index, which characterizes the steering intervention of the driver with the virtual lane boundary width. Next, the segmented control strategy is designed. In the first stage of the assistance control, the intervening time of coordinated control mode based on active steering and differential braking and the additional yaw moment when working in coordinated control mode is determined. A single control mode based on active steering is adopted in the second phase of assistance control. Finally, the effectiveness of the proposed coordinated control method is evaluated with numerical simulation and experiments on a human-in-the-loop platform. The obtained results show that the designed method not only can avoid lane departures effectively, but also provides a smooth ride quality to the passenger. © 2020 ieee.

关键词： Automobile steering equipment

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Lig-Doctor: Real-World Clinical Prognosis using a Bi-Directional Neural Network

Lig-Doctor: Real-World Clinical Prognosis using a Bi-Directi...

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Annual ieee symposium on computer-Based Medical systems

作者： Jose F Rodrigues Gabriel Spadon Bruno Brandoli Sihem Amer-Yahia University of Sao Paulo Sao Carlos SP Brazil Dalhousie University Halifax Nova Scotia Canada CNRS Universite Grenoble-Alpes Grenoble France

ISBN: (数字)9781728194295

ISBN: (纸本)9781728194301

Automated medical prognosis has gained interest as artificial intelligence evolves and the potential for computer-aided medicine becomes evident. Nevertheless, it is challenging to design an effective system that, given a patient's medical history, can predict probable future conditions. Previous works have tackled the problem by using artificial neural network architectures that do not benefit from bi-directional temporal processing, or by utilizing non-generalizable inference approaches. Differently, we introduce a Deep Learning architecture whose design results from an intensive experimental process; our final architecture is based on two parallel Minimal Gated Recurrent Unit networks working in bi-directional manner, which was extensively tested with two real-world datasets. Our results demonstrate significant improvements in automated medical prognosis, as measured with metrics Precision@, Recall@, F1-Score, and AUC-ROC. We contribute with an architecture and with insights for the design of Deep Learning architectures.

关键词： computer architecture Logic gates Microprocessors Prognostics and health management Standards Bidirectional control Neural networks

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