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IEEE International Conference on robotics and Automation (ICrA)

作者： Gunhee Koo Jaehyeon Kang Bumchul Jang Nakju doh School of Electrical Engineering Korea University Seoul Republic of Korea Robot R&D Group Korea Institute of Industrial Technology Ansan Republic of Korea

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Planarity of checkerboards is a widely used feature for extrinsic calibration of camera and LidAr. In this study, we propose two analytically derived covariances of (i) plane parameters and (ii) plane measurement, for precise extrinsic calibration of camera and LidAr. These covariances allow the graded approach in planar feature correspondences by exploiting the uncertainty of a set of given features in calibration. To construct plane parameter covariance, we employ the error model of 3d corner points and the analytically formulated plane parameter errors. Next, plane measurement covariance is directly derived from planar regions of point clouds using the out-of-plane errors. In simulation validation, our method is compared to an existing uncertainty-excluding method using the different number of target poses and the different levels of noise. In field experiment, we validated the applicability of the proposed analytic plane covariances for precise calibration using the basic planarity-based method and the latest planarity-and-linearity-based method.

关键词： Three-dimensional displays Calibration Cameras Laser radar Linear programming Solid modeling Two dimensional displays

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Critical Conduction Mode Three-Phase Vienna rectifier

Critical Conduction Mode Three-Phase Vienna Rectifier

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International Conference on renewable Energy research and Applications (ICrErA)

作者： Jizhe Wang Shanghua Feng Fujio Kurokawa Institute for Innovative Science and Technology Nagasaki Institute of Applied Science Nagasaki Japan R&D Center Guangdong Giwee Group Co. Ltd. Foshan China

ISBN: (数字)9781728173696

ISBN: (纸本)9781728173702

This paper proposed a novel analog-based critical conduction mode (CrM) control method for the three-phase three-level Vienna rectifier. By the proposed method, the simple analog CrM control can be achieved in each phase of the Vienna rectifier. All the control schemes are implemented with three low-cost analog CrM PFC IC controllers. Experimental results demonstrate that zero-voltage-switching (ZVS) and valley-switching (VS) are indeed achieved, and a high power factor of 0.994 is tested at a 3.2 kW three-phase Vienna rectifier.

关键词： reactive power renewable energy sources Shape rectifiers Zero voltage switching Voltage control Field programmable gate arrays

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Circuit design based on Feature Similarity for Quantum Generative Modeling

arXiv

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arXiv 2025年

作者： Makarski, Mathis Kato, Jumpei Sato, Yuki Yamamoto, Naoki Graduate School of Science and Technology Keio University Hiyoshi 3-14-1 Kohoku Kanagawa Yokohama223-8522 Japan RWTH Aachen University Aachen Germany Mitsubishi UFJ Financial Group Inc. and MUFG Bank Ltd. 4-10-2 Nakano Nakano-ku Tokyo164-0001 Japan Quantum Computing Center Keio University Hiyoshi 3-14-1 Kohoku Kanagawa Yokohama223-8522 Japan Toyota Central R&D Labs. Inc. 1-4-14 Koraku Bunkyo-ku Tokyo112-0004 Japan Department of Applied Physics and Physico-Informatics Keio University Hiyoshi 3-14-1 Kohoku Kanagawa Yokohama223-8522 Japan

Quantum generative models may achieve an advantage on quantum devices by their inherent probabilistic nature and efficient sampling strategies. However, current approaches mostly rely on general-purpose circuits, such as the hardware efficient ansatz paired with a random initialization strategy, which are known to suffer from trainability issues such as barren plateaus. To address these issues, a tensor network pretraining framework that initializes a quantum circuit ansatz with a classically computed high-quality solution for a linear entanglement structure has been proposed in literature. In order to improve the classical solution, the quantum circuit needs to be extended, while it is still an open question how the extension affects trainability. In this work, we propose the metric-based extension heuristic to design an extended circuit based on a similarity metric measured between the dataset features. We validate this method on the bars and stripes dataset and carry out experiments on financial data. Our results underline the importance of problem-informed circuit design and show that the metric-based extension heuristic offers the means to introduce inductive bias while designing a circuit under limited resources. Copyright © 2025, The Authors. All rights reserved.

关键词： Quantum electronics

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TeO2: As a key component in improving radiation shielding of B2O3-based glass systems

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radiation Physics and Chemistry 2025年

作者： Sayyed, M.I. Yasmin, Sabina Faruque, M.r.I. Abdullah, S. Mahmoud, K.A. Khandaker, M.U. Department of Physics Faculty of Science Isra University Amman Jordan Renewable Energy and Environmental Technology Center University of Tabuk Tabuk47913 Saudi Arabia Universiti Kebangsaan Malaysia Selangor Bangi43600 UKM Malaysia R&D Office Vice Presidency for Scientific Research and Innovation Imam Abdulrahman Bin Faisal University P.O. Box 1982 Dammam31441 Saudi Arabia Ural Federal University 19 Mira St Yekaterinburg620002 Russia Applied Physics and Radiation Technologies Group CCDCU Faculty of Engineering and Technology Sunway University Selangor Bandar Sunway47500 Malaysia Faculty of Graduate Studies Daffodil International University Daffodil Smart City Birulia Savar Dhaka1216 Bangladesh Department of Physics College of Science Korea University 145 Anam-ro Seongbuk-gu Seoul02841 Korea Republic of Department of Physics and Technical Sciences Western Caspian University Baku Azerbaijan

New glasses with enhanced radiation shielding characteristics have potential applications in different fields requiring radiation protection. In the context of radiation shielding applications, this work aims to develop new lead-free B2O3–TeO2–Bi2O3–ZnO–CaO glass systems. A 15–30 mol% increase in TeO2 concentration results in a 4.070–4.498 g/cm3 density increase. The influence of increasing the TeO2 doping concentration on the mechanical properties of the prepared boro-tellurite glass was utilized using the Makishima-Makinze theory. Additionally, the influence of raising the TeO2 concentration on the radiation shielding properties of the prepared boro-tellurite glass was studied using the Monte Carlo simulation. The Monte Carlo simulation confirms that a 15–30 mol% TeO2 increase enhances LAC values, reducing half-value layer thickness (HVL), and improving radiation shielding. However, mechanical properties such as hardness and Young's modulus slightly decrease due to TeO2 substitution. © 2025 Elsevier Ltd

关键词： radiation shielding

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Green synthesis of multifunctional Cu/MnO@Biochar 3d structure as a high-performance anode material in Li-ion batteries and oxidative removal of Cango-red dye

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Case Studies in Chemical and Environmental Engineering 2024年 9卷

作者： Khasim, Syed dastager, Syed G. Alahmdi, Mohammed Issa Hamdalla, Taymour A. Ulla, Mohammad Fahad Panneerselvam, Chellasamy Makandar, Mohammad Basha Department of Physics Faculty of Science University of Tabuk Tabuk 71491 Saudi Arabia NCIM-Resource Center Biochemical Science Division CSIR-National Chemical Laboratory Dr Homi Bhabha Road Pune 411008 India Department of Chemistry Faculty of Science University of Tabuk Tabuk 71491 Saudi Arabia Department of Physics Faculty of Science Alexandria University Egypt Department of Medical Laboratory Technology Faculty of Applied Medical Science University of Tabuk Saudi Arabia Department of Biology Faculty of Science University of Tabuk Tabuk 71491 Saudi Arabia R&D Biotechnology Sami-Sabinsa Group Bangalore 560058 India

The thermochemical conversion of biomass into biochar (BC) provides a valuable platform towards green and sustainable synthesis of functional carbon nanomaterials for advanced technological applications. Herein, we report biosynthesis of Oryza sativa (rice husk) biochar nanocomposites incorporated with bimetallic Cu and MnO (Cu/MnO) nanoparticles as multifunctional materials (Cu/MnO@BC) towards high-performance anode in Li-ion batteries (LIBs) and oxidative removal of organic dyes from aqueous solutions. The 3d network of Cu/MnO@BC nanocomposite as an anode in LIBs shows excellent initial specific discharge capacity of 1126 mhA g⁻¹ at a current density of 0.1 Ag⁻¹ with negligible fade in specific capacity during charge-discharge cycles due to high surface area and mesoporous structure of the nanocomposite. Further the Cu/MnO@BC nanocomposite anode displays superior reversible rate capacity that exceeds 1060 mhA g⁻¹. The charge-discharge specific capacity and the coulombic efficiency shows excellent retention (almost 100 %) after 200 cycles of operation. The electrochemical impedance spectroscopy (EIS) at different cycles shows negligible decrease in Li⁺ diffusion coefficient thereby safeguarding the structural integrity of 3d Cu/MnO@BC after charge-discharge cycles. The textile industries widely utilize Congo-red (Cr) dye in their manufacturing processes which is a renowned pollutant that adversely affects the aquatic ecosystem. This mesoporous Cu/MnO@BC biochar nanocomposite provides a novel platform towards oxidative removal of Cr dye from aqueous solution. The catalytic activity of Cu/MnO@BC was explored for the efficient removal of Congo red, a prominent dye widely used in textile industries, known for its persistence and environmental impact. Coupling of the Cu/MnO@BC and H₂O₂ enhances the Cr removal possibly owing to the hydroxyl radical (^●OH) formation. 70 % of Cr is removed by Cu/Mn

关键词： Biochar Biochar composites Biosynthesis Cr dye Cu/MnO@BC LIBs

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A Novel Control Method to Change Motion of 3dOF Parallel robot Immediately and Flexibly

A Novel Control Method to Change Motion of 3DOF Parallel Rob...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyun-Su Kim Kwang-Hee Lee Tae-Yong Kuc Seon-Je Yang Kyung-Tae Nam Sungkyunkwan University Suwon Korea Robot R&D Group Korea Institute of Industrial Technology Ansan Korea

In this paper, we propose a new control method for manipulator that allows changing motion immediately and flexible even in sudden situations. The reason is that in the future production process, human and robots will collaborate, or the robot will recognize an environment by itself. We defined linear motion and curve motion method of a 3dOF parallel robot. This control method can be controlled in real time. We simulated to verify motion and experimented with parallel robots and laser trackers. Using this control method, the adept motion experiment of the robot was performed, and the cycle time was 0.395 secs. The new control method was applied to the factory of a beverage company.

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design and Implementation of Hydraulic-Cable driven Manipulator for disaster response Operation

Design and Implementation of Hydraulic-Cable driven Manipula...

引用

IEEE International Conference on robotics and Automation (ICrA)

作者： Jungyeong Kim Jaehong Seo Sangshin Park Sangchul Han Jungsan Cho Robotics and Virtual Engineering University of Science and Technology (UST) Daejon South Korea Intelligent Robot Engineering University of Science and Technology (UST) Daejon South Korea Robotics R&D Group Korea Institute of Industrial Technology (KITECH) Ansan South Korea Robotics Industrial Technology University of Science and Technology (UST) Daejon South Korea

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

This paper introduces a new hydraulic manipulator with hydraulic-cable driven actuation (HCA) modules for disaster response mobile-manipulation. The hydraulic actuation system has the potential to apply disaster-response application, because it has a higher power-to-weight ratio and robustness to external impacts than electric motor actuation. However, using a conventional hydraulic manipulators is inappropriate because the revolute joint uses conventional actuators, such as linear cylinders and vanes, which have some limitations: 1) linear cylinder: small range of motion, 2) vane: low torque-toweight ratio. To overcome these limitations, we propose new 3dOF manipulator which has a larger workspace than the conventional hydraulic manipulator and comparable payloadto-weight ratio. To this end, we use hydraulic-cable driven actuation modules from our previous research. Experimental results verify the basic performance of the actuator modules and manipulator and their capability to perform various disaster response tasks.

关键词： Manipulators Blades Actuators Hydraulic systems Torque Wires

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A New Semantic descriptor for data Association in Semantic SLAM

A New Semantic Descriptor for Data Association in Semantic S...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Hyun-Uk Lee Kwang-Hee Lee Tae-Yong Kuc SungKyunkwan University Suwon Korea Robot R&D Group Korea Institute of Industrial Technology Gyeonggi-do Korea

To successfully implement SLAM based on semantic information, object recognition is essential. In our semantic SLAM approach, the robot should localize itself knowing only the pose of the surrounding objects. The implicit information in TOSM contains conceptual knowledge, in which we stored data that cannot be perceived by sensors only. However, it needs to distinguish not only an object class, but also which specific object instance a given detected object is related to. In many approaches, objects are recognized by detecting feature points and representing them as descriptors. There are several types of descriptors for feature points, such as SIFT and SUrF. There are also descriptors describing a whole object instead of just feature points, like GOOd or HOOd. We suggest a new semantic descriptor, which includes more high-level information, and propose a process to recognize accurately through semantic analysis by semantic descriptors. In this paper, we introduce about our semantic descriptor model while giving some example cases, and then describe the process of data association by using the aforementioned descriptor.

关键词：

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Electrochemical immunosensing by carbon ink/carbon dot/ZnO-labeled-Ag@polypyrrole composite biomarker for CA-125 ovarian cancer detection

引用

Bioelectrochemistry 2023年 152卷 108430页

作者： Krathumkhet, Nattinee Imae, Toyoko Wang, Fu-ming Yuan, Chiou-Chung Manidae Lumban Gaol, Jusni Paradee, Nophawan Sustainable Polymer & Innovative Composite Materials Research Group Department of Chemistry Faculty of Science King Mongkut's University of Technology Thonburi 126 Pracha Uthit Road Bangmod Thungkru Bangkok10140 Thailand Graduate Institute of Applied Science and Technology National Taiwan University of Science and Technology 43 Keelung Road Section 4 Taipei10607 Taiwan Department of Materials Science and Engineering National Taiwan University of Science and Technology 43 Keelung Road Section 4 Taipei10607 Taiwan Department of Chemical Engineering National Taiwan University of Science and Technology 43 Keelung Road Section 4 Taipei10607 Taiwan Sustainable Energy Center National Taiwan University of Science and Technology 43 Keelung Road Section 4 Taipei10607 Taiwan Department of Chemical Engineering Chung Yuan Christian University 200 Zhongbei Rd Zhongli District Taoyuan32023 Taiwan R&D Center for Membrane Technology Chung Yuan Christian University 200 Zhongbei Rd Zhongli District Taoyuan32023 Taiwan Department of Obstetrics and Gynecology Cheng Hsin General Hospital 45 Zhenxing St Beitou Taipei11220 Taiwan

In this work, we demonstrated a novel cancer antigen 125 (CA125) biomarker detection based on electrochemical immunosensor. The biomarker on conductive composite materials of carbon ink/carbon dot/zine oxide (C-ink/Cd/ZnO) was employed as an electrode platform by using ITO substrate to enhance the interaction of antibodies (Ab) with supporting catalytic performance of ZnO as a labeling signal molecule. They were a scientist attention for biosensor with chemical stability, strong biocompatibility, high conductive signal, and accuracy. Moreover, the nanocomposite of silver@polypyrrole (Ag@PPy) was used as a potential redox mediator. The labeled construction with Ag@PPy was more accuracy than that of a free-labeled. The created immunosensor was a wide linear range as 1 ag·mL−1 − 100 ng·mL−1 and a low limitation of detection as 0.1 fg·mL−1 under the optimal condition. This suggested that the immunosensor is considered to be an accurate and efficient diagnostic tool for CA125 and other biomarkers detection in actual sample analysis for clinic. © 2023 Elsevier B.V.

关键词： Antigens

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Atomistic deformation behavior of single and twin crystalline Cu nanopillars with preexisting dislocations

arXiv

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arXiv 2021年

作者： Ko, Won-Seok Stukowski, Alexander Hadian, raheleh Nematollahi, Ali Jeon, Jong Bae Choi, Won Seok dehm, Gerhard Neugebauer, Jörg Kirchlechner, Christoph Grabowski, Blazej School of Materials Science and Engineering University of Ulsan Ulsan44610 Korea Republic of Department of Materials Science Technical University of Darmstadt Darmstadt64289 Germany Max-Planck-Institut für Eisenforschung GmbH Max-Planck-Str. 1 Düsseldorf40237 Germany Advanced Surface Coating and Processing R&D Group Korea Institute for Industrial Technology Busan46938 Korea Republic of Department of Materials Science and Engineering Korea Advanced Institute of Science and Technology Daejeon34141 Korea Republic of Institute for Applied Materials Karlsruhe Institute of Technology Karlsruhe Germany Institute of Materials Science University of Stuttgart Pfaffenwaldring 55 Stuttgart70569 Germany

Molecular dynamics simulations are performed to investigate the impact of a coherent Σ3 (111) twin boundary on the plastic deformation behavior of Cu nanopillars. Our work reveals that the mechanical response of pillars with and without the twin boundary is decisively driven by the characteristics of initial dislocation sources. In the condition of comparably large pillar size and abundant initial mobile dislocations, overall yield and flow stresses are controlled by the longest, available mobile dislocation. An inverse correlation of the yield and flow stresses with the length of the longest dislocation is established and compared to experimental data. The experimentally reported subtle differences in yield and flow stresses between pillars with and without the twin boundary are likely related to the maximum lengths of the mobile dislocations. In the condition of comparably small pillar size, for which a reduction of mobile dislocations during heat treatment and mechanical loading occurs, the mechanical response of pillars with and without the twin boundary can be clearly distinguished. dislocation starvation during deformation is more pronounced in pillars without the twin boundary than in pillars with the twin boundary because the twin boundary acts as a pinning surface for the dislocation network. © 2021, CC BY-NC-Nd.

关键词： Molecular dynamics

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