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IEEE International Conference on Soft Robotics (RoboSoft)

作者： Jiyeon Cho Taejun Park Simon Kim Yong-Lae Park Department of Mechanical Engineering Institute of Advanced Machines and Design Institute of Engineering Research Seoul National University Seoul Korea Soft Robotics and Bionics Lab. Seoul National University Seoul Korea

Cable-driven force transmission is one of the most widely used actuation mechanisms in robotics, finding applications in robotic arms, grippers, and wearable robots. However, measuring cable tension directly is challenging due to limited space and difficulties in attaching sensors to flexible cables. In this paper, we propose a single-axis load cell designed for direct integration into a high-strength woven cable, enabling tension measurement. A small portion of the cable becomes slightly stretchable by infusing an uncured polymer into its weaving pattern, and a liquid-metal thin-film soft sensor is affixed externally. As the cable experiences axial strain, the thin-film soft sensor stretches and changes its electrical resistance, providing real-time tension information. To mitigate the hysteresis and the nonlinearity caused by the viscoelastic effect of the cable and tendon materials, a metal spring casing surrounds the sensor, making the behavior of the sensor governed by that of the spring. The proposed sensor is experimentally characterized, and the result shows a linearity in the range of 5 N to 100 N with negligible hysteresis. It is tested with a twisted-string actuator to control the axial force generated by the actuator through a closed-loop control as an application.

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Stability and Performance Analysis of Interfered Digital Systems with Generalized Overflow Nonlinearities

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IFAC-PapersOnLine 2024年 57卷 339-344页

作者： Srinivasulu Jogi Mounika Pulikonda Priyanka Kokil Department of Electronics and Communication Engineering National Institute of Technology Tiruchirappalli Tiruchirappalli Tamil Nadu 620015 India Advanced Signal and Image Processing (ASIP) Lab Department of Electronics and Communication Engineering Indian Institute of Information Technology Design and Manufacturing Kancheepuram Chennai 600127 India

This paper investigates the problem of local stability for fixed-point interfered digital filters with generalized overflow nonlinearities. First, a familiar form of overflow nonlinearity function, covering the nonlinearities like zeroing, saturation, two's complement, and triangular is established. Second, the asymptotic stability condition for the digital filters is formulated in local context without external interference. Third, with external interference the work is extended to investigate the local stability and to attain H ∞ performance of the digital filter using generalized nonlinearity function. Further, the conventional global stability results can be established as special cases of presented local approach. Finally, sufficient numerical examples are presented to highlight the merit of proposed approach.

关键词： Asymptotic stability External interference Generalized overflow nonlinearity Limit cycle oscillations Local stability

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Distributed Cascade Force Control of Soft-Tactile-Based Multi-robot System for Object Transportation

Distributed Cascade Force Control of Soft-Tactile-Based Mult...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Nguyen, Duy Anh Dinh Le, Nhat Minh Nguyen, Nhan Huu Hung, Pham Duy Ho, Van Anh Ngo, Trung Dung University of Prince Edward Island More-Than-One Robotics Laboratory Faculty of Sustainable Design Engineering Charlottetown Canada University of Engineering and Technology Viet Nam School of Materials Science Japan Advanced Institute of Science and Technology Soft Haptics Lab. Asahidai 1-1 Ishikawa Nomi923-1292 Japan Presto Japan Science and Technology Agency Saitama Kawaguchi332-0012 Japan

ISBN: (纸本)9798350312072

In this paper, we present a distributed cascade force control system (DCFC) for multiple robots with the aim of pushing a rigid object towards a desired moving target without their inter-robot communication. These mobile robots are equipped with 360-degree vision-based soft tactile sensors utilized to determine contact location and resultant impact force. By investigating the dynamics of moving rigid objects on the flat, we proposed a distributed cascade control. The inner loop control incorporates contact force and positioning, ensuring the robots' pushing contact and applying the desired force to the object. The outer loop control coordinates the robots to push the object in a desired direction without inter-robot communication, regardless of unknown object mass and friction uncertainty. The stability and convergence of the control system are verified using the Lyapunov stability theory. We also conducted simulation and real-world experiments to validate the performance of the proposed control method, and the experimental results showcase the successful coordination of multiple robots in pushing an object towards a moving desired direction. © 2024 IEEE.

关键词： Multipurpose robots

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Automated Anemia Classification and Hemoglobin Level Prediction using Deep CNN and GLCM Features of Palpebral Conjunctiva Images

Automated Anemia Classification and Hemoglobin Level Predict...

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Conference on Information and Communication Technology (CICT)

作者： Chandrasekhar Bhusham Ajay Kumar Reddy Poreddy Thunakala Bala Krishna Priyanka Kokil Department of Electronics and Communication Engineering Advanced Signal and Image Processing (ASIP) Lab Indian Institute of Information Technology Design and Manufacturing Kancheepuram Chennai

Anemia is a common medical condition affecting millions worldwide, particularly in developing countries. Early detection of anemia is crucial for prompt treatment and prevention of its potential complications. In recent years, deep learning (DL) has shown great potential in various medical applications, including medical image classification, anomaly detection, and segmentation. This study proposes a transfer learning-based approach using a pre-trained DL model to detect anemia from palpebral conjunctiva images. The proposed method utilizes a pre-trained DenseNet-201 model and fine-tuned it on a target dataset of palpebral conjunctiva images to detect anemia. Deep features of palpebral conjunctiva images computed from the fine-tuned DenseNet-201 are fed to MLP to identify anemia. The performance of the proposed method is evaluated on a publicly available anemia dataset, and the results show that the proposed method achieves an accuracy of 93.7 % in detecting anemia from palpebral conjunctiva images. In addition to anemia classification, we computed the hemoglobin level of palpebral conjunctiva images based on the gray-level co-occurrence matrix (GLCM) statistical properties. The statistical properties of GLCM are given to support vector and polynomial regressors, and the mean value of the predicted scores of both regressors is used to estimate the hemoglobin level. Experimental results show that the proposed model achieves an average root mean square error of 0.72 for conjunctiva images.

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Noise and performance analysis on fundus images with CNN and transformer models

Noise and performance analysis on fundus images with CNN and...

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Conference on Information and Communication Technology (CICT)

作者： Niranjana Vannadil Priyanka Kokil Department of Electronics and Communication Engineering Advanced Signal and Image Processing (ASIP) Lab Indian Institute of Information Technology Design and Manufacturing Kancheepuram Chennai

Fundus imaging is a valuable diagnostic tool in ophthalmology, providing clinicians with detailed visualizations of the retina and aiding in the detection and monitoring of various eye diseases, including age-related macular degeneration (AMD), glaucoma, diabetic retinopathy (DR), and cataract. However, the quality of fundus images can be significantly affected by noise, mainly additive white Gaussian noise (AWGN), which is inherent in many imaging systems. The presence of noise in real-world data poses significant challenges for computer vision tasks. In the field of medical image classification, a wrong diagnoisis has heavy consequences. Understanding the impact of AWGN on fundus images is crucial for developing practical denoising algorithms and improving diagnostic accuracy. This work presents an analysis of AWGN noise in fundus images aims to characterize its effects on image quality and assess its impact on diagnostic tasks. The work also analyzes the performance of six models (3 each) of two popular deep learning architectures, Convolutional Neural Networks (CNN) and Vision Transformers (ViT) in the presence of AWGN. AWGN is first introduced to the clean image datasets to conduct the analysis. The CNN and ViT models are trained on the noisy datasets to evaluate the performance of the image classification task. The work also involves six denoising algorithms and a popular image enhancement algorithm- Contrast Limited Adaptive Histogram Equalization (CLAHE).

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Urban street clusters: unraveling the associations of street characteristics on urban vibrancy dynamics in age, time, and day

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Urban Informatics 2024年第1期3卷 1-25页

作者： Jang, Kee Moon Suh, Hanew Haddad, Fadi Ghassan Sun, Maoran Duarte, Fábio Kim, Youngchul Senseable City Lab MIT Cambridge USA Urban Design Lab Department of Civil and Environmental Engineering Korea Advanced Institute of Science and Technology Daejeon Republic of Korea Fulbright Canada Ottawa Canada Department of Architecture University of Cambridge Cambridge UK KAIST Smart City Research Center Korea Advanced Institute of Science and Technology Daejeon Republic of Korea

Understanding urban vibrancy has been considered crucial to promoting human activities and interactions in public open spaces. Recent advancements in urban big data have facilitated the potential to understand and measure vibrancy patterns throughout cities. While streets are considered the center stage of human activity, previous studies have often overlooked their multifaceted nature and their association with urban vibrancy. In this study, we incorporate multi-source big data and combine a set of features that comprehensively describe the scale, function, and topology of street segments in two Seoul districts: Jung-gu and Gangnam-gu. Using these features, we employ a machine learning clustering technique to classify them into five distinct typologies. Then, with street-level aggregated mobile phone tracking data, we investigate whether street typology characteristics are associated with urban vibrancy with respect to age groups, time of day, and day types (weekends/weekdays). The results show varying relationships between street characteristics with age-, time- and day-vibrancy measures by the identified street typology. Further, we contrast the results of the two districts to evaluate urban vibrancy differences in organic and planned urban layouts. This study enables a more nuanced understanding of urban streets to better comprehend their impact on people’s use of street space. The derived novel insights could assist planners and designers to better pinpoint street management solutions for different age- and time-dependent needs based on the complexities in urban vibrancy dynamics.

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A Multi-input Deep Neural Network Framework for Non-invasive Detection of Anemia using Finger Nail Images

A Multi-input Deep Neural Network Framework for Non-invasive...

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International Conference on Biosignals, Images and Instrumentation (ICBSII)

作者： Krithika S Ajay Kumar Reddy Poreddy Thunakala Balakrishna Priyanka Kokil Department of Computer Science and Engineering Amrita Vishwa Vidyapeetham Chennai India Department of Electronics and Communication Engineering Advanced Signal and Image Processing (ASIP) Lab Indian Institute of Information Technology Design and Manufacturing Kancheepuram Chennai

ISBN: (数字)9798350350951

ISBN: (纸本)9798350350968

Anemia, characterized by a deficiency in red blood corpuscles or hemoglobin, poses a significant global health challenge, particularly affecting vulnerable populations. Traditional diagnostic methods often involve invasive procedures, posing challenges in resource-limited settings. This study aims to explore non-invasive anemia detection using fingernail images and convolutional neural networks (CNNs) as a promising alternative to conventional diagnostic approaches. The study utilizes a dataset of fingernail images collected from hospitals in Ghana, comprising both anemic and non-anemic cases. The dataset undergoes preprocessing, including selective enhancement of red components, conversion to the CIElab color space, and feature extraction. A multi-input Deep Neural Network (DNN) framework employing pre-trained CNNs is proposed for anemia classification. The pre-trained CNN architectures include EfficientNet B1, EfficientNet B4, and MobileNet V3. The framework’s performance was assessed using two methodologies: The first involved random shuffling of the dataset, followed by division into training, testing, and validation sets, with evaluation metrics including Accuracy, Precision, F1 scores, and a Confusion Matrix. The second employed five-fold cross-validation, measured using accuracy. The evaluation of the proposed DNN framework using both of the methodologies indicates that EfficientNet B4 achieved the highest testing accuracy (97.87%), precision (97.88%), recall (97.87%), and F1 score (97.88%) and a cross-validation accuracy of 97.37% for the first and second methodologies respectively making it best fit for the proposed DNN framework. The findings demonstrate that the proposed framework yields promising results, especially under the second approach, and opens avenues for further exploration in transfer learning, fine-tuning of deep neural networks for multi-input feature integration, and cross-validation.

关键词： Training Accuracy Transfer learning Sociology Nails Quality assessment Convolutional neural networks

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Exponential Stability Criterion for State-space Interfered Discrete System through External Disturbance

Exponential Stability Criterion for State-space Interfered D...

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International Conference on Power, Control and Embedded Systems (ICPCES)

作者： Pulikonda Mounika Priyanka Kokil Department of Electronics and Communication Engineering Advanced Signal and Image Processing (ASIP) Lab Indian Institute of Information Technology Design and Manufacturing Kancheepuram Chennai India

ISBN: (数字)9798350310252

ISBN: (纸本)9798350310269

This article deals with stability investigation of state-space fixed-point discrete system using saturation nonlinearity and external interference. A criterion for exponential stability is proposed via a passivity-based approach for an externally interfered nonlinear discrete system. For the discrete system with saturation overflow nonlinearity, we have analyzed the passive behaviour under the effects of external interference and asymptotic stability with zero interference. A comparative study is made available with the previously reported result to highlight the worth and relaxed nature of the proposed work. The criterion developed is in linear matrix inequality (LMI) settings and therefore, numerically less complex. Numerical simulations are made available to showcase the productiveness of the obtained criterion.

关键词： Asymptotic stability Stability criteria Limit-cycles Interference Numerical simulation Control theory Linear matrix inequalities

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Thermal simulations of lock-in-thermography for failure analysis of integrated circuits

Thermal simulations of lock-in-thermography for failure anal...

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International Symposium on Physical & Failure Analysis of Integrated Circuits

作者： Wen Qiu Bernice Zee Kin Leong Pey Nagarajan Raghavan Device Analysis Lab Advanced Micro Devices (Singapore) Pte Ltd Singapore Engineering Product Development Pillar Singapore University of Technology and Design Singapore

This paper describes a methodology that uses ANSYS workbench as a finite element (FE) simulator together with lock-in thermography (LIT) for accurately determining defects that are deeply buried and situated near the die edge of a stacked die device. The correlation provides a baseline for determining the critical defect location in cases where the hottest thermal site is detected outside of the silicon die region.

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Ionic Liquid engineering in Perovskite Photovoltaics

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Energy & Environmental Materials 2023年第5期6卷 1-21页

作者： Fei Wang Dawei Duan Mriganka Singh Carolin M.Sutter-Fella Haoran Lin Liang Li Panče Naumov Hanlin Hu Hoffman Institute of Advanced Materials Shenzhen PolytechnicShenzhen 518000China Molecular Foundry Division Lawrence Berkeley National LaboratoryBerkeley California 94720USA Department of Sciences and Engineering Sorbonne University Abu Dhabi38044Abu DhabiUnited Arab Emirates Smart Materials Lab New York University Abu Dhabi129188Abu DhabiUnited Arab Emirates Molecular Design Institute Department of ChemistryNew York University100 Washington Square EastNew YorkNY 10003USA

Over the past decade,perovskite photovoltaics have approached other currently available technologies and proven to be the most prospective type of solar *** the many-sided research in this very active field has generated consistent results with regard to their undisputed consistently increasing power conversion efficiency,it also produced several rather contradictory *** other important details,debate surrounding their proneness to surface degradation and poor mechanical robustness,as well as the environmental footprint of this materials class,remains a moot *** application of ionic liquids appears as one of the potential remedies to some of these challenges due to their high conductivity,the opportunities for chemical"tuning"of the structure,and relatively lower environmental *** article provides an overview,classification,and applications of ionic liquids in perovskite solar *** summarize the use and role of ionic liquids as versatile additives,solvents,and modifiers in perovskite precursor solution,in charge transport layer,and in interfacial and stability ***,challenges and the future prospects for the design and/or selection of ionic liquids with a specific profile that meets the requirements for next-generation highly efficient and stable perovskite solar cells are proposed.

关键词： devices ionic liquids perovskites photovoltaics

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