The manufacturing industry, particularly in the food sector, demands soft robotic grippers to facilitate the delicate handling of vulnerable or fragile products. The intricate geometry and fragility of these items pre...
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ISBN:
(数字)9798350372694
ISBN:
(纸本)9798350372700
The manufacturing industry, particularly in the food sector, demands soft robotic grippers to facilitate the delicate handling of vulnerable or fragile products. The intricate geometry and fragility of these items present challenges for traditional grippers. This study adopts the V-model to outline the design, fabrication, testing, and analysis of a pneumatic end-effector geared towards enhancing performance and quality in real-world applications. The incorporation of a pneumatic air contraction clamp ensures precise object gripping. Employing 3D printing with TPU and PLA materials, the end-effector successfully lifted a maximum weight of 400 grams and achieved a maximum flexion of 70 degrees, illustrating its capability to handle standard-sized containers without causing structural damage. The comprehensive evaluation of the end-effector's performance showcases its potential for addressing the nuanced demands of the manufacturing industry, particularly in scenarios involving delicate and susceptible products.
A new field programmable gate array (FPGA)-based emulation platform is proposed to accelerate fault tolerance analysis of inference accelerators of convolutional neural networks (CNN). For a given CNN model, hardware ...
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ISBN:
(数字)9783982674100
ISBN:
(纸本)9798331534646
A new field programmable gate array (FPGA)-based emulation platform is proposed to accelerate fault tolerance analysis of inference accelerators of convolutional neural networks (CNN). For a given CNN model, hardware accelerator architecture, and FT analysis target, an FPGA-based CNN implementation is generated (with the help of the Tengine framework), and fault injection logic is added. In our first case study, we report how the classification accuracy drop depends on the faults injected into multipliers used in Multiply-and-Accumulate Units of NVDLA inference accelerator executing ResNet-18 CNN. The FT analysis emulated on Zynq UltraScale+ SoC is an order of magnitude faster than software emulation.
Very fast decision tree is one of the most successful and prominent algorithms specifically designed for stream data classification. In this paper, we develop a new decision tree induction model CFDT (Clustering featu...
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Very fast decision tree is one of the most successful and prominent algorithms specifically designed for stream data classification. In this paper, we develop a new decision tree induction model CFDT (Clustering feature decision tree model), which is an extension to VFDT (Very fast decision tree). CFDT applies a micro-clustering algorithm that scans the data only once to provide the statistical summaries of the data for incremental decision tree induction. Moreover, micro-clusters also serve as classifiers in tree leaves to improve classification accuracy and reinforce any-time property. Our experiments on synthetic and real-world datasets show that CFDT is highly scalable for data streams while also generating high classification accuracy with high speed.
The breakdown phenomena of an insulator can cause serious damage to the system where the insulator is placed; this can lead to the failure of the system and can potentially be dangerous. In recent years, 3D printing h...
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ISBN:
(数字)9798350360431
ISBN:
(纸本)9798350360448
The breakdown phenomena of an insulator can cause serious damage to the system where the insulator is placed; this can lead to the failure of the system and can potentially be dangerous. In recent years, 3D printing has been introduced into electrical components, and most importantly, 3D-printed solid insulators have become more popular. However, there has not been extensive research on how these insulators perform under various environmental conditions. In this paper, the effects of temperature and humidity on the breakdown point of solid insulators made of Polylactic Acid (PLA) are discussed. To determine the effect environmental conditions have on the performance of PLA solid insulators, breakdown tests under four different environmental conditions were conducted on PLA solid insulators of different thicknesses. Additionally, the effects of partial discharge on the surface of the sample were analyzed by looking at various samples under a Scanning Electron Microscope.
This work aims to showcase the significance of Vedic and Booth mathematics in the realm of Computer Applications. Good precision, speed, area reduction, and low power consumption are primary features of a multiplier. ...
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ISBN:
(数字)9798350372120
ISBN:
(纸本)9798350372137
This work aims to showcase the significance of Vedic and Booth mathematics in the realm of Computer Applications. Good precision, speed, area reduction, and low power consumption are primary features of a multiplier. Multiplication operations require speed and speed can be enhanced by decreasing the number of steps needed to complete the computation. The requirement for high-speed operations in digital devices has become a primary need nowadays. This research delves into two distinct multiplier algorithms–- namely, the Vedic Multiplication Algorithm and the Booth Multiplication Algorithm–-conducting an extensive exploration to determine through comparison which multiplier demonstrates superior performance across various metrics such as delay, power, and other commonly utilized performance indicators. While the Booth Algorithm involves a reduction in partial products, the Vedic Multiplication Algorithm is built on Urdhva Triyakbhyam sutra of Vedic Mathematics. The complete design, simulation, and synthesis procedures were executed through Xilinx Vivado, utilizing Verilog as the Hardware Description Language (HDL). The hardware implementation was conducted on an FPGA (Field programmable Gate Array).
In this study, we present a novel wireless ergodic sequential logic central pattern generator (CPG) for functional electronic stimulation (FES), where the CPG is consisting of a network of oscillators. We have analyze...
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ISBN:
(数字)9798350377088
ISBN:
(纸本)9798350377095
In this study, we present a novel wireless ergodic sequential logic central pattern generator (CPG) for functional electronic stimulation (FES), where the CPG is consisting of a network of oscillators. We have analyzed effects of communication noise to the synchronization of the CPG quantitatively. Furthermore, we have implemented the CPG by wirelessly coupled multiple field programmable gate arrays. It has been shown that the presented CPG has been capable of assisting the human in walking. In addition, we show that the presented CPG is superior to typical conventional CPGs. The results of this study will be useful to the development of an FES system, which is an implantable microdevice and does not have wires that interfere with leg movements.
The introduction of Reflective Intelligent Surfaces (RIS) brings significant advancements in communication systems, such as increased capacity, communication secrecy, and novel physical layer-based authentication sche...
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ISBN:
(数字)9781728190549
ISBN:
(纸本)9781728190556
The introduction of Reflective Intelligent Surfaces (RIS) brings significant advancements in communication systems, such as increased capacity, communication secrecy, and novel physical layer-based authentication schemes. Besides Radio Frequency (RF) communications, RISs also benefit Visible Light Communications (VLC). Indeed, recent results showed that it is possible to increase the communication secrecy of VLC systems by leveraging RISs and their reconfiguration capabilities. However, no solution exists to authenticate a transmitter at the physical layer in VLC systems. Despite the existence of RIS-based Physical Layer Authentication (PLA) schemes in the RF domain, the geometrical behaviour of VLC channels renders these solutions not trivially portable to VLC systems. This paper proposes the first physical layer-based authentication scheme for VLC systems. The legitimate transmitter leverages a time-slotted communication to send a certain number of pre-agreed challenges to the receiver. Although an attacker might be able to replicate some of these challenges, the probability of correctly guessing all of them is very low. As an enabling component of our scheme, we propose the novel Distributed RIS (DRIS) concept, i.e., a RIS whose Reflecting Elements (RE) are spread over a wider area than traditional RISs. Thanks to DRIS, we increase the spatial diversity of the VLC channel model available at the transmitter, breaking hence the limits imposed by the symmetries of the widely accepted geometrical VLC channel. We validate our scheme via numerical simulations and compare our results with those obtained with a similar scheme implemented with a conventional RIS. We show that thanks to Distributed Reflective Intelligent Surface (DRIS), we achieve 10–
3
probability of false alarm and 10–
1
probability of misdetection with and Signal-to-Noise Ratio (SNR) of 10dB, while classical Reflective Intelligent Surface (RIS) achieve 0.7 probability of false alarm and 0.5 probabi
PLA (Polylactic Acid) is commonly used for many standard 3D printers, as it does not require a special heated bed or heated chamber. This study presents several methods based on the transmission/reflection (TR) method...
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ISBN:
(数字)9788396972613
ISBN:
(纸本)9798350371611
PLA (Polylactic Acid) is commonly used for many standard 3D printers, as it does not require a special heated bed or heated chamber. This study presents several methods based on the transmission/reflection (TR) method to measure the permeability and permittivity of a 3D-printed PLA sample. Differently from the traditional TR methods by establishing scattering equations to determine permeability and permittivity of a material, in the new method, the longitudinal phase constant and the TE
10
wave impedance are determined from S-parameters of the overall measurement before, then the electromagnetic material properties permittivity and permeability can be calculated using the formula of the TE
10
wave impedance.
This paper presents a novel integration approach to enable EtherCAT-bus connection for commercial depth cameras. Thereby, a microcontroller-based EtherCAT slave is designed which controls the data transmission from th...
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ISBN:
(数字)9798350355369
ISBN:
(纸本)9798350355376
This paper presents a novel integration approach to enable EtherCAT-bus connection for commercial depth cameras. Thereby, a microcontroller-based EtherCAT slave is designed which controls the data transmission from the depth camera onto the fieldbus. As a demonstration case, a human-robot collaboration application is designed, where the proposed camera module monitors a five-axis robotic arm, thus ensuring safety through timely obstacle detection, and execution of safety stops. Achieving data transmission rates exceeding 25 Mbit/s and detection times under 25 ms, the implemented system outperforms existing technologies in human-robot collaboration, which allows to reduce the minimal safety distance to 75 mm.
Recycled polylactic acid (R-PLA)/BaTiO3 nanocomposite films were successfully prepared using solution blending and hot-pressing methods. The dielectric properties of the R-PLA nanocomposites with different volume frac...
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ISBN:
(数字)9798350308976
ISBN:
(纸本)9798350308983
Recycled polylactic acid (R-PLA)/BaTiO3 nanocomposite films were successfully prepared using solution blending and hot-pressing methods. The dielectric properties of the R-PLA nanocomposites with different volume fractions of BaTiO3 nanoparticles (nBT) were investigated using dielectric spectroscopy and compared to fresh commercial polylactic acid (C-PLA) nanocomposites. R-PLA nanocomposites exhibited promising dielectric properties with high permittivity and low loss tangent, comparable to those of C-PLA nanocomposites. At 1 kHz, both pure C-PLA and R-PLA exhibited a consistent permittivity value of 4. Additionally, they demonstrated promising permittivity values of 10 when filled with nBT at a volume fraction (fnBT) of 0.20. Interestingly, at 1 kHz, the R-PLA nanocomposite exhibited a lower loss tangent (0.009) compared to the C-PLA (0.013), indicating its potential for improved dielectric performance in capacitor applications and highlighting the viability of plastic waste derived from recycled PLA as a promising alternative in the dielectric fields.
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